def __init__(self, app, arm, seg_1, seg_2, seg_3, square):
Plan.__init__(self, app)
self.arm = arm
self.corners = []
self.seg_1 = seg_1
self.seg_2 = seg_2
self.seg_3 = seg_3
self.square = square
def __init__(self, app, simIX):
Plan.__init__(self, app)
self.simIX = simIX
# Angle to turn [rad]
self.ang = 0.1
# Duration of travel [sec]
self.dur = 3.0
# Number of intermediate steps
self.N = 10
def __init__(self, app, simIX):
Plan.__init__(self, app)
self.simIX = simIX
# Distance to travel
self.dist = 10
# Duration of travel [sec]
self.dur = 3
# Number of intermediate steps
self.N = 10
def __init__(self,app,simIX): Plan.__init__(self,app) self.simIX = simIX # Angle to turn [rad] self.ang = 1j # Duration of travel [sec] self.dur = 3 # Number of intermediate steps self.N = 10 # Distance to travel RIGHT/LEFT self.dist = 10
def __init__(self,app,simIX,yMoveP,xMoveP):
Plan.__init__(self,app)
self.simIX = simIX
self.sensor = self.app.sensor
# Duration of travel [sec]
self.dur = 3.0
# Number of intermediate steps
self.N = 10
# Distance to travel
self.dist = 10
#Plans
self.yMove = yMoveP
self.xMove = xMoveP
def __init__(self,app,*arg,**kw):
Plan.__init__(self,app,*arg,**kw)
self.app = app
self.steps = []
#Make another arm with the same orientation and arm lenght segments as
#what is defined in armSpec. This is what is used for inverse kinematics.
self.moveArm = tinyik.Actuator(['z',[5.,0.,0.],'y',[5.,0.,0.],'y',[5.,0.,0.]])
self.moveArm.angles = self.app.armSpec[-1,:]
self.pos = [] #Goal position for move. Will either be grid point or square corner.
self.calibrated = False
self.CalDone = False
self.square = False
self.currentPos = []
self.curr = 0
def __init__(self, app, *argv, **kw):
Plan.__init__(self, app, *argv, **kw)
def __init__(self,app,*arg,**kw):
Plan.__init__(self,app,*arg,**kw)
self.app = app
#Initial angles for each motor of real arm
self.ang = self.app.armSpec[-1,:]
self.steps = []
def __init__(self, app):
Plan.__init__(self, app)
self.r = self.app.robot.at
self.torque = TURN_TORQUE
self.dur = TURN_DUR
self.wait = WAIT_DUR
def __init__(self, app):
Plan.__init__(self, app)
self.r = self.app.robot.at
self.turretSpeed = TURRET_TORQUE