def setActuator(self, name, val):
"""
Sets CKBot configurations.
"""
print name + " is set to " + val
if name[0]== "T" and val==True:
self.trueTraits.add(name.lstrip("T_"))
elif name[0] == "T" and val==False:
self.trueTraits.discard(name.lstrip("T_"))
print "Current trait list:"
print self.trueTraits
#if name=="slinky" and val==True:
# self.simulator.reconfigure("FoldOver")
#elif name=="snake" and val==True:
# CKBotSimHelper.reconfigure(self.simulator,"Snake")
#elif name=="play_dead" and val==True:
# self.simulator.reconfigure("Plus3")
#elif name=="hexapod" and val==True:
# self.simulator.reconfigure("Hexapod")
#elif name=="cross" and val==True:
# self.simulator.reconfigure("Plus3")
libs = self.library
libs.readLibe()
config = libs.findGait(self.trueTraits)
if (type(config) != type(None)) and (self.simulator.config != config):
print "Reconfiguring to:" + config
CKBotSimHelper.reconfigure(self.simulator, config)
# # Use library if actuator name starts with T
# if name[0] == "T" and val==True:
# words = name.split("_and_")
# words[0] = words[0].lstrip("T_")
# print "name is " + name
# print "desired words are "
# print words
# config = libs.findGait(words)
# if (type(config) != type(None)) and (self.simulator.config != config) and (val==True):
# print "reconfiguring to:" + config
# self.simulator.reconfigure(config)
# If no gait is found from traits library, then it will just continue with whatever config-gait it's in
# Make the default configuration Hexapod
# After we're done with any gait, switch back to default
elif (type(config) == type(None)) and (self.simulator.config != self.default_config):
print "Reconfiguring to default configuration."
CKBotSimHelper.reconfigure(self.simulator, self.default_config)
print "(ACT) Actuator %s is now %s!" % tuple(map(str, (name, val)))
def setActuator(self, name, val):
"""
Sets CKBot configurations.
"""
print name + " is set to " + val
if name[0] == "T" and val == True:
self.trueTraits.add(name.lstrip("T_"))
elif name[0] == "T" and val == False:
self.trueTraits.discard(name.lstrip("T_"))
print "Current trait list:"
print self.trueTraits
#if name=="slinky" and val==True:
# self.simulator.reconfigure("FoldOver")
#elif name=="snake" and val==True:
# CKBotSimHelper.reconfigure(self.simulator,"Snake")
#elif name=="play_dead" and val==True:
# self.simulator.reconfigure("Plus3")
#elif name=="hexapod" and val==True:
# self.simulator.reconfigure("Hexapod")
#elif name=="cross" and val==True:
# self.simulator.reconfigure("Plus3")
libs = self.library
libs.readLibe()
config = libs.findGait(self.trueTraits)
if (type(config) != type(None)) and (self.simulator.config != config):
print "Reconfiguring to:" + config
CKBotSimHelper.reconfigure(self.simulator, config)
# # Use library if actuator name starts with T
# if name[0] == "T" and val==True:
# words = name.split("_and_")
# words[0] = words[0].lstrip("T_")
# print "name is " + name
# print "desired words are "
# print words
# config = libs.findGait(words)
# if (type(config) != type(None)) and (self.simulator.config != config) and (val==True):
# print "reconfiguring to:" + config
# self.simulator.reconfigure(config)
# If no gait is found from traits library, then it will just continue with whatever config-gait it's in
# Make the default configuration Hexapod
# After we're done with any gait, switch back to default
elif (type(config) == type(None)) and (self.simulator.config !=
self.default_config):
print "Reconfiguring to default configuration."
CKBotSimHelper.reconfigure(self.simulator, self.default_config)
print "(ACT) Actuator %s is now %s!" % tuple(map(str, (name, val)))
def getPose(self, cached=False):
""" Returns the most recent (x,y,theta) reading from the simulator """
plist = CKBotSimHelper.get2DPose(self.simulator, 0)
self.pose = array([plist[0],plist[1],plist[2]])
return self.pose
def sendCommand(self, cmd): # Command the robot based on the gait given by the drive handler. CKBotSimHelper.setGait(self.simulator, cmd) self.simulator.run_once()
