def execute(self): if "l" in self.modifiers or "left" in self.modifiers: self.pid = BasicMotion.closeLeftHand() elif "r" in self.modifiers or "right" in self.modifiers: self.pid = BasicMotion.closeRightHand() else: raise ParseError, "right/left expected"
def execute(self): if "l" in self.command: self.pid = BasicMotion.openLeftHand() elif "r" in self.command: self.pid = BasicMotion.openRightHand() else: raise ParseError, "right/left expected"
def execute(self): modifiers = self.command[len(Util.StringTokenizer(self.command).nextToken()):] if "l" in modifiers: self.pid = BasicMotion.unflexLeftArm() elif "r" in modifiers: self.pid = BasicMotion.unflexRightArm() else: raise ParseError, "right/left expected"
def execute(self): # TODO: Fix. if len(self.modifiers) < 1: raise ParseError, "distance expected" distance = float(self.modifiers[0]) if len(self.modifiers) == 1: self.pid = BasicMotion.slowStraightWalk(distance) else: gait = self.modifiers[1] if gait in ["slow", "slowly", "s"]: self.pid = BasicMotion.slowStraightWalk(distance) elif gait in ["fast", "f", "quick", "quickly", "q"]: self.pid = BasicMotion.fastStraightWalk(distance) else: print "Unsupport gait. Choose either slow, fast, or leave empty to default to slow."
def trigger(clazz, joystickStatus):
global robotStatus
if robotStatus == "turning left":
BasicMotion.addTurn(1.0)
else:
if "walking" in robotStatus or "turning" in robotStatus:
BasicMotion.stopWalking()
BasicMotion.turn(1.0)
robotStatus = "turning left"
def trigger(clazz, joystickStatus):
global robotStatus
if robotStatus == "walking backwards":
BasicMotion.addWalkStraight(-0.1, 60)
else:
if "walking" in robotStatus or "turning" in robotStatus:
BasicMotion.stopWalking()
BasicMotion.slowStraightWalk(-1.0)
robotStatus = "walking backwards"
def execute(self): if len(self.modifiers) == 0: BasicMotion.getUp() elif self.modifiers[0] == "front": BasicMotion.getUpFromFront() elif self.modifiers[0] == "back": BasicMotion.getUpFromBack() else: raise ParseError, self.command + " accepts the following modifiers: front/back."
def execute(self): self.pid = BasicMotion.initPosition()
def execute(self): if len(self.modifiers) < 1: raise ParseError, "how much should I turn?" self.pid = BasicMotion.turn(self.modifiers[0])
def wait(self): BasicMotion.wait(self.pid)
def execute(self): BasicMotion.stopWalking()
def execute(self): BasicMotion.killAllTasks()
def trigger(clazz, joystickStatus):
global robotStatus
# BasicMotion.clearPendingTasks()
BasicMotion.getUp()
robotStatus = "getting up"
def execute(self): self.pid = BasicMotion.setStiffness(0.0)
def trigger(clazz, joystickStatus):
global robotStatus
if "walking" in robotStatus or "turning" in robotStatus:
BasicMotion.stopWalking()
robotStatus = "at rest"
def execute(self): if len(self.modifiers) < 2: raise ParseError, "coordinates expected" x = self.modifiers[0] y = self.modifiers[1] self.pid = BasicMotion.moveHead(x, y)
def execute(self): self.pid = BasicMotion.zeroPosition()
from burst import burst_exceptions
from burst.burst_exceptions import *
#import Util
# TODO: If running on the robot, user 127.0.0.1 as the address?
burst.init()
print "Controlling the robot at " + burst.ip + ":" + str(burst.port)
import BasicMotion
# Let the user choose an action, perform that action, repeat.
import Commands
from Commands import *
BasicMotion.headStiffnessOff()
try:
while True:
selection = raw_input("> ")
try:
x = Commands.CommandParser.parse(selection)
x.execute()
except UnsupportedCommand, e:
print "Error: Unsupported command (" + str(e) + ")."
except ParseError, e:
print "Error: Could not parse the command (" + str(e) + ")."
except NotLyingDownException, e:
print "Not lying down."
except UnsafeToGetUpException, e:
print "It's not safe to get up - the robot is probably lying on its side."
def trigger(clazz, joystickStatus):
global robotStatus
if "walking" in robotStatus or "turning" in robotStatus:
BasicMotion.stopWalking()
robotStatus = "exiting"
raise QuitException
