def calibration(simulation=False):
"""calibration"""
if simulation:
dyn.enable_vrep()
ctrl = init_ctrl()
if simulation:
peter = SymbiotSpidey(ctrl)
else:
peter = Spidey(ctrl)
if simulation:
ctrl.start_sim()
peter.compliant = True
ctrl.wait(10)
leg = peter.legs[0]
leg.led = True
ctrl.wait(10)
raw_input("Calibration. Press enter when done...")
peter.compliant = False
ctrl.wait(10)
references = (motor.position for motor in leg.motors)
print("references :", references)
if simulation:
ctrl.stop_sim()
def test(simulation=False): """test of inverse model""" simulation = False if simulation: dyn.enable_vrep() ctrl = init_ctrl() if simulation: peter = SymbiotSpidey(ctrl) else: peter = Spidey(ctrl) if simulation: ctrl.start_sim() peter.compliant = False print peter.legs_references leg = peter.legs[0] pos = leg.position() pos = Vector3D(pos.x+6, pos.y, pos.z) leg.move(pos) ctrl.wait(200) print pos.x, leg.position().x, pos.x == leg.position().x peter.compliant = True if simulation: ctrl.stop_sim()