from inmoov.Humanoid import Humanoid
from inmoov.PwmHatHumanoid import PwmHatHumanoid
h = PwmHatHumanoid()
h.initialize()
h.reset_all_servos()
print 'Preparing...'
# TODO: flush output
h.finger_tension(Humanoid.RIGHT_FINGERS, position = 50)
end = False
step = 10
print 'Commands:'
print 'q e r t y u ---> tighter - ---> smaller step'
print '^ d f g h j ---> middle position + ---> bigger step'
print '| c v b n m ---> looser'
print '| ^ ^ ^ ^ ^'
print 'exit | | | | |'
print ' | | | | +--> pinky'
print ' | | | +-----> ring'
print ' | | +--------> middle'
print ' | +-----------> index'
print ' +--------------> thumb'
while not end:
print "Step = %d, Fingers' positions: %d, %d, %d, %d, %d" % (step, h.servoPWM[0], h.servoPWM[1], h.servoPWM[2], h.servoPWM[3], h.servoPWM[4])
key = raw_input('> Command, master?')
if key == 'q':
end = True
elif key == 'e':
h.finger_tension_delta(Humanoid.RIGHT_FINGER_THUMB, delta = -step)
from inmoov.Humanoid import Humanoid
from inmoov.PwmHatHumanoid import PwmHatHumanoid
h = PwmHatHumanoid()
h.initialize()
h.reset_all_servos()
# bad stuff, don't run this ;)
#h.finger_tension(Humanoid.RIGHT_FINGER_MIDDLE, position = 100)
# thumb tremor
#h.finger_tension(Humanoid.RIGHT_FINGER_THUMB, position = 100)
#for x in range(7):
# h.finger_tension_delta(Humanoid.RIGHT_FINGER_THUMB, direction = Humanoid.DIR_TIGHTEN, delta = 10)
# time.sleep(1)
# decimal counting
#while True:
#for number in range(5):
#print('Actual number: '+str(number))
for i in range(5):
print('Digit: ' +str(i))
h.finger_tension([i], 90)
time.sleep(1)
h.finger_tension([i], 30)
time.sleep(1)
h.stop()
if (number/(2**i))&1 == 1:
h.finger_tension([i], 85)
else:
h.finger_tension([i], 15)
# bad stuff, don't run this ;)
#h.finger_tension(Humanoid.RIGHT_FINGER_MIDDLE, position = 100)
# thumb tremor
#h.finger_tension(Humanoid.RIGHT_FINGER_THUMB, position = 100)
#for x in range(7):
# h.finger_tension_delta(Humanoid.RIGHT_FINGER_THUMB, direction = Humanoid.DIR_TIGHTEN, delta = 10)
# time.sleep(1)
# binary counting
h.finger_tension(Humanoid.RIGHT_WRIST_ROTATION, 50)
for number in range(32):
print('Actual number: '+str(number))
DecToFingerBin(number)
time.sleep(1)
# wrist moves
#for x in range(3):
# h.finger_tension(Humanoid.RIGHT_WRIST_ROTATION, 40)
# time.sleep(1)
# h.finger_tension(Humanoid.RIGHT_WRIST_ROTATION, 60)
# time.sleep(1)
# clock
#minute = datetime.datetime.now().minute
#print("actual time (minutes): " + str(minute))
