def __init__(self, obj, parent=None):
logger.info('%s initialization' % obj.name)
# Call the constructor of the parent class
Actuator.__init__(self, obj, parent)
joysticks = blenderapi.joysticks()
if joysticks.count(None) == len(joysticks):
logger.error("No Joystick detected")
else:
logger.info("Found Joystick: " + repr(joysticks) )
# Correct the speed considering the Blender clock
if self._type == 'Position':
self._speed = self._speed / self.frequency
elif self._type == 'Differential':
self._stopped = True
# get track width for calculating wheel speeds from yaw rate
parent = self.robot_parent
self._trackWidth = parent._trackWidth
self._radius = parent._wheelRadius
""" Documentation says: ``bge.types.SCA_JoystickSensor.axisValues``
Each specifying the value of an axis between -32767 and 32767 depending
on how far the axis is pushed, 0 for nothing. The first 2 values are
used by most joysticks and gamepads for directional control. 3rd and
4th values are only on some joysticks and can be used for arbitary
controls.
"""
# speed_factor = - speed / max
self._speed_factor = - self._speed / 32767.0
logger.info('Component initialized')
def __init__(self, obj, parent=None):
logger.info('%s initialization' % obj.name)
# Call the constructor of the parent class
Actuator.__init__(self, obj, parent)
joysticks = blenderapi.joysticks()
if joysticks.count(None) == len(joysticks):
logger.error("No Joystick detected")
else:
logger.info("Found Joystick: " + repr(joysticks))
# Correct the speed considering the Blender clock
if self._type == 'Position':
self._speed = self._speed / self.frequency
elif self._type == 'Differential':
self._stopped = True
# get track width for calculating wheel speeds from yaw rate
parent = self.robot_parent
self._trackWidth = parent._trackWidth
self._radius = parent._wheelRadius
""" Documentation says: ``bge.types.SCA_JoystickSensor.axisValues``
Each specifying the value of an axis between -32767 and 32767 depending
on how far the axis is pushed, 0 for nothing. The first 2 values are
used by most joysticks and gamepads for directional control. 3rd and
4th values are only on some joysticks and can be used for arbitary
controls.
"""
# speed_factor = - speed / max
self._speed_factor = -self._speed / 32767.0
logger.info('Component initialized')
def __init__(self, obj, parent=None):
logger.info("%s initialization" % obj.name)
# Call the constructor of the parent class
Actuator.__init__(self, obj, parent)
# Correct the speed considering the Blender clock
if self._type == "Position":
self._speed = self._speed / self.frequency
logger.info("Component initialized")
def __init__(self, obj, parent=None):
logger.info('%s initialization' % obj.name)
# Call the constructor of the parent class
Actuator.__init__(self, obj, parent)
# Correct the speed considering the Blender clock
if self._type == 'Position':
self._speed = self._speed / self.frequency
logger.info('Component initialized')
def __init__(self, obj, parent=None):
logger.info("%s initialization" % obj.name)
# Call the constructor of the parent class
Actuator.__init__(self, obj, parent)
self.local_data['mode'] = obj['mode']
self._last_mode = None
logger.info('Component initialized')
def __init__(self, obj, parent=None):
logger.info("%s initialization" % obj.name)
# Call the constructor of the parent class
Actuator.__init__(self, obj, parent)
self.local_data['mode'] = obj['mode']
self._last_mode = None
logger.info('Component initialized')
def __init__(self, obj, parent=None):
logger.info("%s initialization" % obj.name)
# Call the constructor of the parent class
Actuator.__init__(self, obj, parent=)
self.left.eye = parent.bge_object,children["left_eye"]
self.right.eye = parent.bge_object,children["right_eye"]
logger.info('Component initialized')
def __init__(self, obj, parent=None):
logger.info('%s initialization' % obj.name)
# Call the constructor of the parent class
Actuator.__init__(self, obj, parent)
# Correct the speed considering the Blender clock
if self._type == 'Position':
self._speed = self._speed / self.frequency
self.zero_motion = True
logger.info('Component initialized')
def __init__(self, obj, parent=None):
logger.info('%s initialization' % obj.name)
# Call the constructor of the parent class
Actuator.__init__(self, obj, parent)
# Correct the speed considering the Blender clock
if self._type == 'Position':
self._speed = self._speed / self.frequency
elif self._type == 'Differential':
self._stopped = True
# get track width for calculating wheel speeds from yaw rate
parent = self.robot_parent
self._trackWidth = parent._trackWidth
self._radius = parent._wheel_radius
logger.info('Component initialized')
def __init__(self, obj, parent=None):
logger.info('%s initialization' % obj.name)
# Call the constructor of the parent class
Actuator.__init__(self, obj, parent)
# Correct the speed considering the Blender clock
if self._type == 'Position':
self._speed = self._speed / self.frequency
elif self._type == 'Differential':
self._stopped = True
# get track width for calculating wheel speeds from yaw rate
parent = self.robot_parent
self._trackWidth = parent._trackWidth
self._radius = parent._wheelRadius
logger.info('Component initialized')
def __init__(self, obj, parent=None):
logger.info('%s initialization' % obj.name)
# Call the constructor of the parent class
Actuator.__init__(self, obj, parent)
# Get the references (based on their name) to the childen object and
# store a transformation3d structure for their position
for child in self.bge_object.childrenRecursive:
if 'PanBase' in child.name:
self._pan_base = child
self._pan_orientation = child.localOrientation
elif 'TiltBase' in child.name:
self._tilt_base = child
self._tilt_orientation = child.localOrientation
# Any other objects children of the PTU are assumed
# to be mounted on top of it
for child in self.bge_object.children:
if not 'PanBase' in child.name:
child.setParent(self._tilt_base)
# Check the bases were found, or exit with a message
try:
logger.info("Using pan base: '%s'" % self._pan_base.name)
logger.info("Using tilt base: '%s'" % self._tilt_base.name)
except AttributeError:
logger.error(
"PTU is missing the pan and/or tilt bases. Module will not work!"
)
return
# Variables to store current angles
self._current_pan = 0.0
self._current_tilt = 0.0
logger.info('Component initialized')
def __init__(self, obj, parent=None):
logger.info('%s initialization' % obj.name)
# Call the constructor of the parent class
Actuator.__init__(self, obj, parent)
# Get the references (based on their name) to the childen object and
# store a transformation3d structure for their position
for child in self.bge_object.childrenRecursive:
if 'PanBase' in child.name:
self._pan_base = child
self._pan_orientation = child.localOrientation
elif 'TiltBase' in child.name:
self._tilt_base = child
self._tilt_orientation = child.localOrientation
# Any other objects children of the PTU are assumed
# to be mounted on top of it
for child in self.bge_object.children:
if not 'PanBase' in child.name:
child.setParent(self._tilt_base)
# Check the bases were found, or exit with a message
try:
logger.info("Using pan base: '%s'" % self._pan_base.name)
logger.info("Using tilt base: '%s'" % self._tilt_base.name)
except AttributeError:
logger.error("PTU is missing the pan and/or tilt bases. Module will not work!")
return
# Variables to store current angles
self._current_pan = 0.0
self._current_tilt = 0.0
logger.info('Component initialized')
