from PyControl import *
from xboxController import *
import numpy as np
zeke = PyControl()
zeke.stop()
maxStates = [6.58991792126, .3, 0.3, 6.61606370861, 0.0348490572685, 6.83086639225];
minStates = [0,.02,.01,0.183086039735,-.01,0.197775641646];
#POSITION CONTROL
def kinematicControl():
c = XboxController([.06,.005,.01,.08,.002,.05])
target = np.array(zeke.getState())
j = 0;
while True:
j+=1
updates = c.getUpdates()
#print updates
if updates is None:
print "Done"
zeke.stop()
break
target = target+updates
for i in range(0,6):
if target[i]>maxStates[i]:
target[i] = maxStates[i]
# -*- coding: utf-8 -*-
"""
Created on Tue Nov 17 14:37:41 2015
@author: David
"""
from TurnTableControl import *
from PyControl import *
from xboxController import *
import numpy as np
t = TurnTableControl(
) # the com number may need to be changed. Default of com7 is used
izzy = PyControl("/dev/cu.usbmodem14111", 115200, .04, [0, 0, 0, 0, 0],
[0, 0, 0])
#same with this
#DIRECT CONTROL
def directControl(): # use this to
c = XboxController([40, 155, 120, 155, 90, 100])
#c = XboxController([100,155,155,155,100])
while True:
controls = c.getUpdates()
print controls
if controls is None:
print "Done"
izzy.stop()
from TurnTableControl import *
from PyControl import *
from xboxController import *
import numpy as np
zeke = PyControl()#"COM6",115200, .04, [.505, .2601, .234-.0043, 0.0164], [.12, 0, -.08])
t = TurnTableControl()
izzy = PyControl("COM3",115200, .04, [0,0,0,0,0],[0,0,0]);
maxStates = [6.58991792126, .3, 0.3, 6.61606370861, 0.0348490572685, 6.83086639225]
minStates = [0,.02,.01,0.183086039735,-.01,0.197775641646]
#POSITION CONTROL
def kinematicControl():
c = XboxController([.06,.005,.01,.08,.002,.05])
time.sleep(1)
tableState = t.getState()
target1 = np.array(zeke.getState())
target2 = np.array(izzy.getState())
select = True
while True:
updates = c.getUpdates()
if updates is "switch":
select = not select
#target1 = np.array(zeke.getState())
#target2 = np.array(izzy.getState())
#tableState = t.getState()
# -*- coding: utf-8 -*-
"""
Created on Tue Nov 17 14:37:41 2015
@author: David
"""
from TurnTableControl import *
from PyControl import *
from xboxController import *
import numpy as np
t = TurnTableControl() # the com number may need to be changed. Default of com7 is used
izzy = PyControl("/dev/cu.usbmodem14111",115200, .04, [0,0,0,0,0],[0,0,0]); #same with this
#DIRECT CONTROL
def directControl(): # use this to
c = XboxController([40,155,120,155,90,100])
#c = XboxController([100,155,155,155,100])
while True:
controls = c.getUpdates()
print controls
if controls is None:
print "Done"
izzy.stop()
break
controls[1] = 0
controls[3] = 0
izzy.control(controls)
from PyControl import *
import numpy as np
import time
pi = 3.14159
r = PyControl("/dev/ttyACM0")#"COM6",115200, .04, [.505, .2601, .234-.0043, 0.0164], [.12, 0, -.08])
#
#print r.getState()
# a = r.getState()
speed = 40*pi/180.0
r.traj(0,3,speed)
#time.sleep(1)
#r.sendStateRequest([1,2,3,4,5,6])
#time.sleep(.5)
#print r.getTarget()
#for i in range(0,100):
# print r.getState()
# r.sendStateRequest([1,2,3,4,5,6])
# print r.getTarget()
r.traj(0,4,speed)
#r.sendControls([30,0,0,0,0,0])
#time.sleep(.8)
#time.sleep(.8)
#time.sleep(2)
r.stop()
