def idle(self): GLWidgetProgram.idle(self) t = time.time()-self.t0 if motion.robot.left_mq.moving(): self.lastLeftMove = t if motion.robot.right_mq.moving(): self.lastRightMove = t if t < self.lastLeftMove + 3: #print "Saving left",t qsensed = motion.robot.left_limb.sensedPosition() qcmd = motion.robot.left_limb.commandedPosition() self.outputFileLeft.write(str(t)+",") self.outputFileLeft.write(','.join(str(v) for v in qsensed+qcmd)) self.outputFileLeft.write('\n') if t < self.lastRightMove + 3: #print "Saving right",t qsensed = motion.robot.right_limb.sensedPosition() qcmd = motion.robot.right_limb.commandedPosition() self.outputFileRight.write(str(t)+",") self.outputFileRight.write(','.join(str(v) for v in qsensed+qcmd)) self.outputFileRight.write('\n')
def idle(self): GLWidgetProgram.idle(self)