def __init__(self):
self.state = 0
self.idle = 0
self.speed = 0
self.idle_threshold = 200
self.robot = Hexapod()
self.driver = ServoDriver()
self.robot.connectDriver(self.driver)
self.action = [
True, False, False, False, False, False, False, False, False,
False, False
]
self.pad = XboxController.XboxController(
None, deadzone=30, scale=100,
invertYAxis=True) #only for the pygame init...
self.mode = self.Mode.NORMAL
self.calibration = 0
self.loadCalibrationData()
self.display = Display()
print self.robot.legs[0].coxa.getCommand()
#Action mapping
self.command = {
self.Mode.NORMAL: {
self.EventTypes.ANALOG: {
self.Axis.LS_X: self.moveStrafe,
self.Axis.LS_Y: self.moveForward,
self.Axis.LT: self.moveLower,
self.Axis.RT: self.moveRise
},
self.EventTypes.BUTTON: {
self.Button.SELECT: self.calibrationMode
}
},
self.Mode.CALIBRATION: {
self.EventTypes.ANALOG: {
self.Axis.LS_Y: self.adjust,
},
self.EventTypes.BUTTON: {
self.Button.SELECT: self.normalMode,
self.Button.Y: self.selectJoint
}
}
}
def __init__(self):
self.state = 0
self.idle = 0
self.speed = 0
self.idle_threshold = 200
self.robot = Hexapod()
self.driver = ServoDriver()
self.robot.connectDriver(self.driver)
self.action = [True,False,False,False,False,False,False,False,False,False,False]
self.pad = XboxController.XboxController(None, deadzone = 30, scale = 100, invertYAxis = True) #only for the pygame init...
self.mode = self.Mode.NORMAL
self.calibration = 0;
self.loadCalibrationData()
self.display = Display()
print self.robot.legs[0].coxa.getCommand()
#Action mapping
self.command = {
self.Mode.NORMAL: {
self.EventTypes.ANALOG: {
self.Axis.LS_X: self.moveStrafe,
self.Axis.LS_Y: self.moveForward,
self.Axis.LT: self.moveLower,
self.Axis.RT: self.moveRise
},
self.EventTypes.BUTTON: {
self.Button.SELECT: self.calibrationMode
}
},
self.Mode.CALIBRATION: {
self.EventTypes.ANALOG: {
self.Axis.LS_Y: self.adjust,
},
self.EventTypes.BUTTON: {
self.Button.SELECT: self.normalMode,
self.Button.Y: self.selectJoint
}
}
}
class Controller(object):
class Axis():
LS_X = 0
LS_Y = 1
LT = 4
RT = 5
class EventTypes():
ANALOG = 7
BUTTON = 11
class Button():
SELECT = 6
Y = 3
class Action():
STAND = 0
FORWARD = 1
BACKWARD = 2
STRAFE_LEFT = 3
STRAFE_RIGHT = 4
TURN_LEFT = 5
TURN_RIGHT = 6
UP = 7
DOWN = 8
INCREASE = 9
DECREASE = 10
class Mode():
STANDBY = 0
NORMAL = 1
CALIBRATION = 2
def moveForward(self, val):
if val < -0.3:
self.action[self.Action.FORWARD]=True
self.speed = 2 if abs(val)>0.9 else 1
elif val >= -0.3 and val <= 0.3:
self.action[self.Action.FORWARD]=False
self.speed = 0
else:
self.action[self.Action.FORWARD]=True
self.speed = -2 if abs(val)>0.9 else -1
def moveStrafe(self, val):
if val < -0.3:
self.action[self.Action.STRAFE_RIGHT]=True
self.speed = 2 if abs(val)>0.9 else 1
elif val >= -0.3 and val <= 0.3:
self.action[self.Action.STRAFE_RIGHT]=False
self.speed = 0
else:
self.action[self.Action.STRAFE_RIGHT]=True
self.speed = -2 if abs(val)>0.9 else -1
def moveRise(self, val):
if val > 0:
self.action[self.Action.UP]=True
else:
self.action[self.Action.UP]=False
def moveLower(self, val):
if val > 0:
self.action[self.Action.DOWN]=True
else:
self.action[self.Action.DOWN]=False
def calibrationMode(self):
print "Calibration mode on"
self.display.calibration(0)
self.mode = self.Mode.CALIBRATION
print self.mode
def normalMode(self):
print "Calibration mode off"
self.saveCalibrationData()
self.mode = self.Mode.NORMAL
def selectJoint(self):
if self.calibration == 17:
self.calibration = 0
else:
self.calibration += 1
print "Limb %d selected" % self.calibration
self.display.calibration(self.calibration)
def adjust(self, val):
if val < -0.3:
self.action[self.Action.INCREASE]=True
self.speed = 2 if abs(val)>0.9 else 1
elif val >= -0.3 and val <= 0.3:
self.action[self.Action.FORWARD]=False
self.speed = 0
else:
self.action[self.Action.DECREASE]=True
self.speed = -2 if abs(val)>0.9 else -1
def __init__(self):
self.state = 0
self.idle = 0
self.speed = 0
self.idle_threshold = 200
self.robot = Hexapod()
self.driver = ServoDriver()
self.robot.connectDriver(self.driver)
self.action = [True,False,False,False,False,False,False,False,False,False,False]
self.pad = XboxController.XboxController(None, deadzone = 30, scale = 100, invertYAxis = True) #only for the pygame init...
self.mode = self.Mode.NORMAL
self.calibration = 0;
self.loadCalibrationData()
self.display = Display()
print self.robot.legs[0].coxa.getCommand()
#Action mapping
self.command = {
self.Mode.NORMAL: {
self.EventTypes.ANALOG: {
self.Axis.LS_X: self.moveStrafe,
self.Axis.LS_Y: self.moveForward,
self.Axis.LT: self.moveLower,
self.Axis.RT: self.moveRise
},
self.EventTypes.BUTTON: {
self.Button.SELECT: self.calibrationMode
}
},
self.Mode.CALIBRATION: {
self.EventTypes.ANALOG: {
self.Axis.LS_Y: self.adjust,
},
self.EventTypes.BUTTON: {
self.Button.SELECT: self.normalMode,
self.Button.Y: self.selectJoint
}
}
}
def saveCalibrationData(self):
f = open("calib.dat", "w+")
for i in range(6):
f.write("%d\n" % self.robot.legs[i].coxa.calibration)
f.write("%d\n" % self.robot.legs[i].femur.calibration)
f.write("%d\n" % self.robot.legs[i].tibia.calibration)
f.close()
def speak(self, text):
call(["espeak", "-ven+m5", "-k6", "-s150", text])
def loadCalibrationData(self):
f = open("calib.dat", "r")
lines = f.read().splitlines()
print "Loading calibration data: "
for i in range(6):
print("Leg %d: [%s] [%s] [%s]" % (i,lines[i*3],lines[i*3+1],lines[i*3+2]))
self.robot.legs[i].coxa.calibration = int(lines[i*3])
self.robot.legs[i].femur.calibration = int(lines[i*3+1])
self.robot.legs[i].tibia.calibration = int(lines[i*3+2])
f.close()
def getInput(self):
for event in pygame.event.get():
print event
if event.type in self.command[self.mode]:
if event.type == self.EventTypes.ANALOG and event.axis in self.command[self.mode][event.type]:
self.command[self.mode][event.type][event.axis](event.value)
elif event.type == self.EventTypes.BUTTON and event.button in self.command[self.mode][event.type]:
self.command[self.mode][event.type][event.button]()
if sum(self.action) == 0:
self.action[self.Action.STAND] = True
def run(self):
print("Controller support is running")
while True:
self.getInput()
if self.mode == self.Mode.NORMAL:
if self.action[self.Action.FORWARD]:
self.state += self.speed
self.robot.moveForward(self.state)
elif self.action[self.Action.STRAFE_RIGHT]:
self.state += self.speed
self.robot.strafeRight(self.state)
elif self.action[self.Action.UP]:
self.robot.up()
elif self.action[self.Action.DOWN]:
self.robot.down()
elif self.action[self.Action.STAND]:
self.state = 0
self.robot.stand()
if self.mode == self.Mode.CALIBRATION:
if self.action[self.Action.INCREASE]:
c = 0
f = 0
t = 0
leg = int(self.calibration / 3)
if self.calibration % 3 == 0:
c = self.speed
elif self.calibration % 3 == 1:
f = self.speed
else:
t = self.speed
self.robot.calibrate(leg, c, f, t)
self.driver.executeCommand()
#pygame.event.clear()
time.sleep(0.020)
class Controller(object):
class Axis():
LS_X = 0
LS_Y = 1
LT = 4
RT = 5
class EventTypes():
ANALOG = 7
BUTTON = 11
class Button():
SELECT = 6
Y = 3
class Action():
STAND = 0
FORWARD = 1
BACKWARD = 2
STRAFE_LEFT = 3
STRAFE_RIGHT = 4
TURN_LEFT = 5
TURN_RIGHT = 6
UP = 7
DOWN = 8
INCREASE = 9
DECREASE = 10
class Mode():
STANDBY = 0
NORMAL = 1
CALIBRATION = 2
def moveForward(self, val):
if val < -0.3:
self.action[self.Action.FORWARD] = True
self.speed = 2 if abs(val) > 0.9 else 1
elif val >= -0.3 and val <= 0.3:
self.action[self.Action.FORWARD] = False
self.speed = 0
else:
self.action[self.Action.FORWARD] = True
self.speed = -2 if abs(val) > 0.9 else -1
def moveStrafe(self, val):
if val < -0.3:
self.action[self.Action.STRAFE_RIGHT] = True
self.speed = 2 if abs(val) > 0.9 else 1
elif val >= -0.3 and val <= 0.3:
self.action[self.Action.STRAFE_RIGHT] = False
self.speed = 0
else:
self.action[self.Action.STRAFE_RIGHT] = True
self.speed = -2 if abs(val) > 0.9 else -1
def moveRise(self, val):
if val > 0:
self.action[self.Action.UP] = True
else:
self.action[self.Action.UP] = False
def moveLower(self, val):
if val > 0:
self.action[self.Action.DOWN] = True
else:
self.action[self.Action.DOWN] = False
def calibrationMode(self):
print "Calibration mode on"
self.display.calibration(0)
self.mode = self.Mode.CALIBRATION
print self.mode
def normalMode(self):
print "Calibration mode off"
self.saveCalibrationData()
self.mode = self.Mode.NORMAL
def selectJoint(self):
if self.calibration == 17:
self.calibration = 0
else:
self.calibration += 1
print "Limb %d selected" % self.calibration
self.display.calibration(self.calibration)
def adjust(self, val):
if val < -0.3:
self.action[self.Action.INCREASE] = True
self.speed = 2 if abs(val) > 0.9 else 1
elif val >= -0.3 and val <= 0.3:
self.action[self.Action.FORWARD] = False
self.speed = 0
else:
self.action[self.Action.DECREASE] = True
self.speed = -2 if abs(val) > 0.9 else -1
def __init__(self):
self.state = 0
self.idle = 0
self.speed = 0
self.idle_threshold = 200
self.robot = Hexapod()
self.driver = ServoDriver()
self.robot.connectDriver(self.driver)
self.action = [
True, False, False, False, False, False, False, False, False,
False, False
]
self.pad = XboxController.XboxController(
None, deadzone=30, scale=100,
invertYAxis=True) #only for the pygame init...
self.mode = self.Mode.NORMAL
self.calibration = 0
self.loadCalibrationData()
self.display = Display()
print self.robot.legs[0].coxa.getCommand()
#Action mapping
self.command = {
self.Mode.NORMAL: {
self.EventTypes.ANALOG: {
self.Axis.LS_X: self.moveStrafe,
self.Axis.LS_Y: self.moveForward,
self.Axis.LT: self.moveLower,
self.Axis.RT: self.moveRise
},
self.EventTypes.BUTTON: {
self.Button.SELECT: self.calibrationMode
}
},
self.Mode.CALIBRATION: {
self.EventTypes.ANALOG: {
self.Axis.LS_Y: self.adjust,
},
self.EventTypes.BUTTON: {
self.Button.SELECT: self.normalMode,
self.Button.Y: self.selectJoint
}
}
}
def saveCalibrationData(self):
f = open("calib.dat", "w+")
for i in range(6):
f.write("%d\n" % self.robot.legs[i].coxa.calibration)
f.write("%d\n" % self.robot.legs[i].femur.calibration)
f.write("%d\n" % self.robot.legs[i].tibia.calibration)
f.close()
def speak(self, text):
call(["espeak", "-ven+m5", "-k6", "-s150", text])
def loadCalibrationData(self):
f = open("calib.dat", "r")
lines = f.read().splitlines()
print "Loading calibration data: "
for i in range(6):
print("Leg %d: [%s] [%s] [%s]" %
(i, lines[i * 3], lines[i * 3 + 1], lines[i * 3 + 2]))
self.robot.legs[i].coxa.calibration = int(lines[i * 3])
self.robot.legs[i].femur.calibration = int(lines[i * 3 + 1])
self.robot.legs[i].tibia.calibration = int(lines[i * 3 + 2])
f.close()
def getInput(self):
for event in pygame.event.get():
print event
if event.type in self.command[self.mode]:
if event.type == self.EventTypes.ANALOG and event.axis in self.command[
self.mode][event.type]:
self.command[self.mode][event.type][event.axis](
event.value)
elif event.type == self.EventTypes.BUTTON and event.button in self.command[
self.mode][event.type]:
self.command[self.mode][event.type][event.button]()
if sum(self.action) == 0:
self.action[self.Action.STAND] = True
def run(self):
print("Controller support is running")
while True:
self.getInput()
if self.mode == self.Mode.NORMAL:
if self.action[self.Action.FORWARD]:
self.state += self.speed
self.robot.moveForward(self.state)
elif self.action[self.Action.STRAFE_RIGHT]:
self.state += self.speed
self.robot.strafeRight(self.state)
elif self.action[self.Action.UP]:
self.robot.up()
elif self.action[self.Action.DOWN]:
self.robot.down()
elif self.action[self.Action.STAND]:
self.state = 0
self.robot.stand()
if self.mode == self.Mode.CALIBRATION:
if self.action[self.Action.INCREASE]:
c = 0
f = 0
t = 0
leg = int(self.calibration / 3)
if self.calibration % 3 == 0:
c = self.speed
elif self.calibration % 3 == 1:
f = self.speed
else:
t = self.speed
self.robot.calibrate(leg, c, f, t)
self.driver.executeCommand()
#pygame.event.clear()
time.sleep(0.020)