def main():
# Call the logs function to start logging.
functions.logs()
# Create the Updater and pass the bot token.
updater = Updater(token=TOKEN, use_context=True)
dispatcher = updater.dispatcher
# Call the function that contains the handlers for the commands.
functions.handlersProcess(updater, dispatcher)
def main():
# Call the logs function to start logging.
functions.logs()
# Create the Updater and pass the bot token.
f = open("TOKEN", "r")
TOKEN=f.readline().rstrip()
f.close()
updater = Updater(token=TOKEN, use_context=True)
dispatcher = updater.dispatcher
# Call the function that contains the handlers for the commands.
functions.handlers(updater, dispatcher)
def main():
# Call the logs function to start logging.
functions.logs()
# Create the Updater and pass the bot token.
updater = Updater(token=TOKEN)
dispatcher = updater.dispatcher
jobqueue = updater.job_queue
# Call the function that controls the jobs.
functions.jobsManager(jobqueue)
# Call the function that contains the handlers for the commands.
functions.handlersProcess(updater, dispatcher)
def error(update, context):
logger = functions.logs()
logger.warning('Update "%s" caused error "%s"', update, context.error)
def drink(s, num, homepos, timelog, countlog, freqlog, commandlog, positionlog,
keylog, keytimelog):
#レーザーを床に撃つ:3
#ws.Beep(1000, 300)
#num = func.logs(s, num, timelog, countlog, freqlog, commandlog)
#num = timer(num, timelog, countlog, freqlog, commandlog)
"""
#進行方向調整
theta0 = MeasureTheta(homepos[2])
print "theta0:", theta0
DisToTable = MeasureDistance(1.2, 1)
print "DisToTable:", DisToTable
"""
"""
#前進:4
time.sleep(2.0)
ws.Beep(1000, 300)
num = func.logs(s, num, timelog, countlog, freqlog, commandlog)
#num = timer(num, timelog, countlog, freqlog, commandlog)
m.moveTo(1.4, 0.0, 0.0, 8.0)
time.sleep(2.0)
positionlog.append(l.getRobotPosition(True))
#position = l.getRobotPosition(True)
print "position:", positionlog
"""
#肩調節の姿勢へ:6
ws.Beep(1000, 300)
num = func.logs(s, num, timelog, countlog, freqlog, commandlog)
#num = timer(num, timelog, countlog, freqlog, commandlog)
position = l.getRobotPosition(True)
positionlog.append(l.getRobotPosition(True))
#print "position2:", positionlog[2]
#------------------肩調節----------------------------------
ThetaDis = Aiming(position[2], s, num, timelog, countlog, freqlog,
commandlog, keylog, keytimelog, positionlog)
#------------手首調節開始:11----------------------
time.sleep(1.0)
ws.Beep(1000, 300)
num = func.logs(s, num, timelog, countlog, freqlog, commandlog)
#num = timer(num)
#----------------つかむ準備姿勢:14-----------------------
#ws.Beep(1000, 300)
#num = func.logs(s, num, timelog, countlog, freqlog, commandlog)
#num = timer(num)
m.setAngles(jointnames, pos.Rsearch_curtain, 0.2)
time.sleep(2.0)
SPERDis = ReachingPet(ThetaDis[1])
#手を伸ばす
m.setAngles([jointnames[6], jointnames[9], jointnames[10], jointnames[11]],
[SPERDis[0], SPERDis[1], -0.5, 1.0], 0.2)
time.sleep(1.5)
#手を下ろす
SPtheta2 = SPERDis[0] + 0.65
print "SPtheta2:", SPtheta2
m.setAngles(jointnames[6], SPtheta2, 0.05)
time.sleep(3.0)
#持ち上げる
m.setAngles([jointnames[9], jointnames[10], jointnames[11]],
[1.0, 1.0, 0.0], 0.05)
time.sleep(3.0)
m.setAngles([jointnames[6], jointnames[9]], [1.0, 1.5], 0.1)
time.sleep(1.0)
#近づいた分戻って補正:18
ws.Beep(1000, 300)
num = func.logs(s, num, timelog, countlog, freqlog, commandlog)
#num = timer(num)
#m.moveTo(-d2*math.cos(theta1[0]), -d2*math.sin(theta1[0]), 0.0)
m.moveTo(-SPERDis[2], 0.0, 0.0)
m.moveTo(0.0, 0.0, -(l.getRobotPosition(True)[2] - homepos[2]))
time.sleep(2.0)
#回転の補正
#m.moveTo(0.0, 0.0, -theta1)
#m.moveTo(0.0, 0.0, (position1[2]-position[2])+math.radians(3.3))
#position = l.getRobotPosition(True)
#print position
#併進移動の補正
#m.moveTo(position1[0]-position[0], position1[1]-position[1], 0.0)
#position = l.getRobotPosition(True)
#print (position)
#終了
ws.Beep(1000, 300)
time.sleep(1.0)
ws.Beep(1000, 300)
time.sleep(1.0)
ws.Beep(1000, 700)
num = func.logs(s, num, timelog, countlog, freqlog, commandlog)
#csvファイルへ書き込み
now = datetime.datetime.now()
filename = "log" + now.strftime("%Y%m%d%H%M%S") + ".csv"
with open(filename, "w") as f:
writer = csv.writer(f, lineterminator="\n")
writer.writerow(commandlog)
writer.writerow(timelog)
writer.writerow(countlog)
writer.writerow(freqlog)
writer.writerow(keylog)
writer.writerow(keytimelog)
del commandlog[1:]
del timelog[1:]
del countlog[1:]
del freqlog[1:]
del keylog[1:]
del keytimelog[1:]
def Aiming(PosTheta, s, num, timelog, countlog, freqlog, commandlog, keylog,
keytimelog, positionlog):
frag = 0
m.setAngles(jointnames, pos.b2, 0.2)
time.sleep(2.0)
ws.Beep(1000, 300)
num = func.logs(s, num, timelog, countlog, freqlog, commandlog)
keylog.append("start")
keytimelog.append(time.time() - s)
print("command 0:OK, 2:down, 4:left, 5:stop, 6:right, 8:up")
while (1):
x = g() #デバッグ用
"""
x = DB.toPepper
time.sleep(delay)
idx = DB.toPepper
if(x != idx): #一瞬だけ出力されるような間違ったコマンドを排除
continue
"""
if (str(x) == "2"): #右 5の次に入力すると停止 4の次に入力すると掴みに行く
keylog.append(x)
keytimelog.append(time.time() - s)
num = func.logs(s, num, timelog, countlog, freqlog, commandlog)
if (frag == 0 or frag == 2):
print "right", x
m.moveToward(0.0, 0.0, -0.1)
frag = 2
elif (frag == 5):
print "stop", x
m.moveToward(0.0, 0.0, 0.0)
frag = 0
elif (frag == 1):
print "stop", x
frag = 9
elif (str(x) == "5"): #左 ２の次に入力すると停止
keylog.append(x)
keytimelog.append(time.time() - s)
num = func.logs(s, num, timelog, countlog, freqlog, commandlog)
if (frag == 0 or frag == 5):
print "left", x
m.moveToward(0.0, 0.0, 0.1)
frag = 5
elif (frag == 2):
print "stop", x
m.moveToward(0.0, 0.0, 0.0)
frag = 0
elif (str(x) == "3"): #上 ４の次に入力すると停止
keylog.append(x)
keytimelog.append(time.time() - s)
num = func.logs(s, num, timelog, countlog, freqlog, commandlog)
if (frag == 1 or frag == 3):
print "up", x
m.setAngles(jointnames[10], -1.5, 0.01)
frag = 3
elif (frag == 4):
print "stop", x
phi = m.getAngles(jointnames[10], False)[0]
m.setAngles(jointnames[10], phi, 0.5)
Distance = (0.05 * math.cos(math.radians(phi * 60)) +
0.1) / math.tan(math.radians(
phi * 60)) + 0.05 * math.sin(
math.radians(phi * 60)) + 0.06
frag = 1
elif (str(x) == "4"): #下 ３の次に入力すると停止 2or5の次に入力するとレーザーを横に
keylog.append(x)
keytimelog.append(time.time() - s)
num = func.logs(s, num, timelog, countlog, freqlog, commandlog)
if (frag == 1 or frag == 4):
print "down", x
m.setAngles(jointnames[10], 1.5, 0.01)
frag = 4
elif (frag == 3):
print "stop", x
phi = m.getAngles(jointnames[10], False)[0]
m.setAngles(jointnames[10], phi, 0.5)
Distance = (0.05 * math.cos(math.radians(phi * 60)) +
0.1) / math.tan(math.radians(
phi * 60)) + 0.05 * math.sin(
math.radians(phi * 60)) + 0.06
frag = 1
elif (frag == 0):
print "change", x
m.setAngles([jointnames[8], jointnames[10]], [0.0, 1.0], 0.2)
frag = 1
else:
if (frag == 9):
break
print "no input", x
Theta = 0
return [Theta, Distance]