def init_motion(self):
dm.initMotionManager()
dm.playMotion(1)
dm.headMoveToHome()
print("Dx:", dx)
print("Dy:", dy)
# Calculate average dx and dy with moving average parameters
self.avg_dx = (self.alpha * dx) + (self.beta * self.avg_dx)
self.avg_dy = (self.alpha * dy) + (self.beta * self.avg_dy)
self.ticks += 1
# Load tracker with .json color from command line
tracker = JHT(sys.argv[1])
# Load motion manager with archery walking offsets
dm.initMotionManager(WALKING_INI)
state = States.INIT
while True:
# Get button states
btn = dm.getButton()
# If reset button is pressed change state back to init state
if btn == Button.RESET:
dm.walkStop()
dm.motionLoadINI(WALKING_INI)
state = States.INIT
if state == States.INIT:
print("Init.")
sleep(2)
# Sets up robot initial robot. This state is run only once.
import darwin_motions as dm
from time import sleep
from head_tracker import JuarezHeadTracker as JHT
MAX_P = 15
MAX_X_SPEED = 15 # Max linear velocity
UPDATE_RATE = 3 # Number of ticks
UPDATE_STEP = 0.5 # Increment in speed each update
tracker = JHT()
dm.initMotionManager()
# Walk ready pose
dm.playMotion(51)
dm.headMoveToHome()
dm.headMoveByAngle(0.0, 105.0)
dm.walkSetPeriodTime(580.0)
initial_xOffset = -8.0
dm.walkSetXOffset(initial_xOffset)
sleep(5)
dm.walkPrintParams()
def updateLinearSpeed(cur_speed):
if cur_speed >= MAX_X_SPEED:
return MAX_X_SPEED
else:
import pygame
import sys
from pygame.locals import *
import darwin_motions as dm
from time import sleep
DELTA_VEL = 0.5
pygame.init()
screen = pygame.display.set_mode((300, 300))
CONFIG_INI = "/home/juarez/Darwin-tools/Data/config.ini"
# Sets up all the Action, Walking, Head and Motion Manager
dm.initMotionManager(CONFIG_INI)
# Stand up in a nice motion
dm.playMotion(51)
dm.headMoveToHome()
dm.walkPrintParams()
X_AMPLITUDE = 0.0
Y_AMPLITUDE = 0.0
A_AMPLITUDE = 0.0
while True:
# Get current values of pan and tilt
for event in pygame.event.get():
if event.type == QUIT:
sys.exit(1)
elif event.type == KEYDOWN:
def _init_motion(self):
dm.initMotionManager(DEFAULT_CONFIG)
dm.playMotion(52)
dm.headMoveToHome()