def __init__(self): """ initializing the connection """ self.c = L.Cluster(names=nm, count=7)
import math
from time import sleep
import ckbot.logical as L
import numpy as np
nm = {
0x46 : 'F',
0x3C : 'S1',
0x14 : 'S2',
0x28 : 'M',
0x32 : 'S3',
0x1E : 'S4',
0x0A : 'H'
}
c = L.Cluster(names=nm, count=7)
Max_roll = 4000
#Max_roll = 0
Max_yaw = 2000
#Max_yaw = 0
phase = 0
r = 0
r0 = 200
y0 = 100
y = 0
tr = 250 #60deg twist angle, just input 6000
# tr=250 is stright forward and backward
be0 = 100
be = 0
be_max= 0 # bend spine angle
import ckbot.logical as L
import delta_robot
import sys
import time
SPEED = 10
c = L.Cluster()
c.populate(3)
FIRST = c.at.Nx15
SECOND = c.at.Nx16
THIRD = c.at.Nx17
FIRST.set_speed(SPEED)
SECOND.set_speed(SPEED)
THIRD.set_speed(SPEED)
mode = -1
while True:
if mode == 1:
positions = raw_input("enter positions seperated by commas: ")
pos_list = [float(x) for x in positions.split(',')]
target_angles = delta_robot.delta_calcInverse(pos_list[0], pos_list[1],
pos_list[2])
print target_angles
if (-1 in target_angles):
print "impossible position"
continue
else: