class BowPrimitive(pypot.primitive.LoopPrimitive):
def __init__(self, robot, steps, freq=1000):
self.robot = robot
self.left_right_controller = EasingController(robot.left_right, SinusoidalEase, steps)
self.left_right_controller.goal = 55
self.left_right_controller.__iter__()
self.knee_controller = EasingController(robot.knee, SinusoidalEase, steps)
self.knee_controller.goal = 25
self.knee_controller.__iter__()
self.anticipate = True #hacky hack
pypot.primitive.LoopPrimitive.__init__(self, robot, freq)
# The update function is automatically called at the frequency given on the constructor
def update(self):
try:
print("moves motor")
self.robot.left_right.goal_position = self.left_right_controller.__next__()
self.robot.knee.goal_position = self.knee_controller.__next__()
except StopIteration:
print("Stops iterator")
if self.anticipate:
self.left_right_controller.goal = 5
self.left_right_controller.__iter__()
self.knee_controller.goal = -10
self.knee_controller.__iter__()
self.anticipate = False
else:
self.stop()
def __init__(self, robot, steps, freq=0.5, goal=0):
self.robot = robot
self.freq = freq
self.controller = EasingController(robot.left_right, BounceEase(), steps)
self.controller.goal = goal
self.controller.__iter__()
pypot.primitive.LoopPrimitive.__init__(self, robot, freq)
def __init__(self, robot, motor_id, action, steps, freq=1000):
self.robot = robot
self.motor = getattr(self.robot, motor_id)
print('motor position:', self.motor.present_position)
self.state = action
settings = {
-1: {
'pos': self.motor.angle_limit[0],
'controller': EasingController(self.motor, SinusoidalEase,
steps)
},
0: {
'pos':
self.calculate_stop(),
'controller':
EasingController(self.motor, SinusoidalEaseOut, steps)
},
1: {
'pos': self.motor.angle_limit[1],
'controller': EasingController(self.motor, SinusoidalEase,
steps)
}
}[action]
print('Pos:', settings['pos'])
self.freq = freq
self.controller = settings['controller']
self.controller.goal = settings['pos']
self.controller.__iter__()
print('Go to posisiont: ', motor_id, settings['pos'])
pypot.primitive.LoopPrimitive.__init__(self, robot, freq)
def dry_run(self):
motor = self.robot.m4
controller = EasingController(motor, BounceEase())
controller.goal = 50
for move in controller:
print(move)
time.sleep(0.002)
def config_controller_test_array(self):
res = {}
for motor in self.robot.motors:
key = motor.name
controller = EasingController(motor)
controller.goal = 70
controller.__iter__()
res[key] = controller
return res
def __init__(self, robot, motor_id, pos, steps, freq=1000):
self.robot = robot
self.motor = getattr(self.robot, motor_id)
self.freq = freq
self.controller = EasingController(self.motor, BounceEase(), steps)
#self.controller = EasingController(self.motor, BackEase(), steps)
#self.controller = EasingController(self.motor, SinusoidalEase, steps)
self.controller.goal = pos
self.controller.__iter__()
print('Go to posisiont: ', motor_id, pos)
pypot.primitive.LoopPrimitive.__init__(self, robot, freq)
def __init__(self, robot, steps, freq=1000):
self.robot = robot
self.left_right_controller = EasingController(robot.left_right, SinusoidalEase, steps)
self.left_right_controller.goal = 70
self.left_right_controller.__iter__()
self.knee_controller = EasingController(robot.knee, SinusoidalEase, steps)
self.knee_controller.goal = -10
self.knee_controller.__iter__()
pypot.primitive.LoopPrimitive.__init__(self, robot, freq)
def __init__(self, robot, steps, freq=1000):
self.robot = robot
self.left_right_controller = EasingController(robot.left_right, SinusoidalEase, steps)
self.left_right_controller.goal = 55
self.left_right_controller.__iter__()
self.knee_controller = EasingController(robot.knee, SinusoidalEase, steps)
self.knee_controller.goal = 25
self.knee_controller.__iter__()
self.anticipate = True #hacky hack
pypot.primitive.LoopPrimitive.__init__(self, robot, freq)
class EasePrimitive(pypot.primitive.LoopPrimitive):
def __init__(self, robot, steps, freq=0.5, goal=0):
self.robot = robot
self.freq = freq
self.controller = EasingController(robot.left_right, BounceEase(), steps)
self.controller.goal = goal
self.controller.__iter__()
pypot.primitive.LoopPrimitive.__init__(self, robot, freq)
# The update function is automatically called at the frequency given on the constructor
def update(self):
try:
print("moves motorrr")
next_step = self.controller.__next__()
self.robot.left_right.goal_position = next_step
except StopIteration:
print("Stops iterator")
self.stop()
class GoToPositionPrimitive(pypot.primitive.LoopPrimitive):
def __init__(self, robot, motor_id, pos, steps, freq=1000):
self.robot = robot
self.motor = getattr(self.robot, motor_id)
self.freq = freq
self.controller = EasingController(self.motor, BounceEase(), steps)
#self.controller = EasingController(self.motor, BackEase(), steps)
#self.controller = EasingController(self.motor, SinusoidalEase, steps)
self.controller.goal = pos
self.controller.__iter__()
print('Go to posisiont: ', motor_id, pos)
pypot.primitive.LoopPrimitive.__init__(self, robot, freq)
# The update function is automatically called at the frequency given on the constructor
def update(self):
try:
print("moves motor")
next_step = self.controller.__next__()
self.motor.goal_position = next_step
except StopIteration:
print("Stops iterator")
self.stop()
def move_first(self):
motor = self.robot.m5
controller = EasingController(motor, LinearEase(), 5000)
controller.goal = -50
for move in controller:
motor.goal_position = move
time.sleep(0.0002)
else:
print("Move done")
controller.goal = -70
time.sleep(2)
for move in controller:
motor.goal_position = move
time.sleep(0.0002)
else:
print("Move done")
self.robot.stop_sync()
def __init__(self, robot, refresh_freq):
self.robot = robot
self.up_down_controller = EasingController(robot.up_down,
SinusoidalEase)
self.up_down_controller.goal = 0
self.up_down_controller.__iter__()
self.left_right_controller = EasingController(robot.left_right,
SinusoidalEase)
self.left_right_controller.goal = 0
self.left_right_controller.__iter__()
self.rotation_controller = EasingController(robot.rotation,
SinusoidalEase)
self.rotation_controller.goal = 0
self.rotation_controller.__iter__()
self.knee_controller = EasingController(robot.knee, SinusoidalEase)
self.knee_controller.goal = 25
self.knee_controller.__iter__()
pypot.primitive.LoopPrimitive.__init__(self, robot, refresh_freq)
class MainPositionPrimitive(pypot.primitive.LoopPrimitive):
def __init__(self, robot, refresh_freq):
self.robot = robot
self.up_down_controller = EasingController(robot.up_down,
SinusoidalEase)
self.up_down_controller.goal = 0
self.up_down_controller.__iter__()
self.left_right_controller = EasingController(robot.left_right,
SinusoidalEase)
self.left_right_controller.goal = 0
self.left_right_controller.__iter__()
self.rotation_controller = EasingController(robot.rotation,
SinusoidalEase)
self.rotation_controller.goal = 0
self.rotation_controller.__iter__()
self.knee_controller = EasingController(robot.knee, SinusoidalEase)
self.knee_controller.goal = 25
self.knee_controller.__iter__()
pypot.primitive.LoopPrimitive.__init__(self, robot, refresh_freq)
# The update function is automatically called at the frequency given on the constructor
def update(self):
try:
print("moves motor")
self.robot.up_down.goal_position = self.up_down_controller.__next__(
)
self.robot.left_right.goal_position = self.left_right_controller.__next__(
)
self.robot.rotation.goal_position = self.rotation_controller.__next__(
)
self.robot.knee.goal_position = self.knee_controller.__next__()
except StopIteration:
print("Stops iterator")
self.stop()