import nstbot import numpy as np periods = [2860, 4000, 5000, 6670] freqs = 1000000 / np.array(periods, dtype=float) use_bot = True if not hasattr(nstbot, 'mybot'): if use_bot: bot = nstbot.OmniArmBot() bot.connect( nstbot.SocketList({ 'motors': ['10.162.177.29', 54322], 'retina_left': ['10.162.177.29', 54320], 'retina_right': ['10.162.177.29', 54321], 'retina_arm': ['10.162.177.29', 54323], })) bot.tracker('retina_left', True, tracking_freqs=freqs, streaming_period=10000) bot.tracker('retina_right', True, tracking_freqs=freqs, streaming_period=10000) bot.tracker('retina_arm', True, tracking_freqs=freqs, streaming_period=10000) else:
import nstbot import numpy as np bot = nstbot.OmniArmBot() bot.connect(nstbot.SocketList({'motors': ['10.162.177.29', 54322], 'retina_left': ['10.162.177.29', 54320]})) bot.tracker('retina_left', True, tracking_freqs=[200], streaming_period=10000) bot.send('motors', 'init_motors', '!G31610\n!G41170\n!G51276\n!G6210\n') import nengo model = nengo.Network() with model: #def bot_base(t, x): # bot.base_pos(x, msg_period=0.1) # return x #base = nengo.Node(bot_base, size_in=3) #ctrl_base = nengo.Node([0,0,0]) #nengo.Connection(ctrl_base, base) def bot_arm(t, x): offset = np.array([np.pi+1, np.pi-1.5, np.pi-1, 1]) bot.arm(x+offset, msg_period=0.1) return x arm = nengo.Node(bot_arm, size_in=4) ctrl_arm = nengo.Node([0,0,0,0]) nengo.Connection(ctrl_arm, arm)