msg="Se ha detectado un golpe en el dispositivo"
popupmsg(msg)
if mensaje_4int == 3.0 and mensaje_anterior4 == 0.0:
if Sensor_d2==False:
msg = "Se ha inhabilitado el movimiento del brazo"
popupmsg(msg)
if Sensor_d2 == True:
msg = "Se ha habilitado el movimiento del brazo"
popupmsg(msg)
Sensor_d2 = not Sensor_d2
if Sensor_d2 == True:
n=0; m=0
ua_image, ua_rect = upperarm.rotate(n)
ua_rect.center += np.asarray(origin)
ua_rect.center -= np.array([-np.cos(upperarm.rotation) * upperarm.offset,
np.sin(upperarm.rotation) * upperarm.offset])
fa_image, fa_rect = forearm.rotate((n+m))
h_image, h_rect = hand.rotate((n+m))
# generate (x,y) positions of each of the joints
joints_x = np.cumsum([0,
upperarm.scale * np.cos(upperarm.rotation),
forearm.scale * np.cos(forearm.rotation),
hand.length * np.cos(hand.rotation)]) + origin[0]
joints_y = np.cumsum([0,
upperarm.scale * np.sin(upperarm.rotation),
forearm.scale * np.sin(forearm.rotation),
hand.length * np.sin(hand.rotation)]) * -1 + origin[1]
height = 750
display = pygame.display.set_mode((width, height))
fpsClock = pygame.time.Clock()
upperarm = ArmPart('upperarm.png', scale=.7)
forearm = ArmPart('forearm.png', scale=.8)
hand = ArmPart('hand.png', scale=1.0)
origin = (width / 2, height / 2)
while 1:
display.fill(white)
# rotate our joints
ua_image, ua_rect = upperarm.rotate(.03)
fa_image, fa_rect = forearm.rotate(-.02)
h_image, h_rect = hand.rotate(.03)
# generate (x,y) positions of each of the joints
joints_x = np.cumsum([0,
upperarm.scale * np.cos(upperarm.rotation),
forearm.scale * np.cos(forearm.rotation),
hand.length * np.cos(hand.rotation)]) + origin[0]
joints_y = np.cumsum([0,
upperarm.scale * np.sin(upperarm.rotation),
forearm.scale * np.sin(forearm.rotation),
hand.length * np.sin(hand.rotation)]) * -1 + origin[1]
joints = [(int(x), int(y)) for x,y in zip(joints_x, joints_y)]
def transform(rect, base, arm_part):
pygame.init()
width = 500
height = 500
display = pygame.display.set_mode((width, height))
fpsClock = pygame.time.Clock()
upperarm = ArmPart('upperarm.png', scale=.7)
base = (width / 2, height / 2)
while 1:
display.fill(white)
ua_image, ua_rect = upperarm.rotate(.01)
ua_rect.center += np.asarray(base)
ua_rect.center -= np.array([np.cos(upperarm.rotation) * upperarm.offset,
-np.sin(upperarm.rotation) * upperarm.offset])
display.blit(ua_image, ua_rect)
pygame.draw.circle(display, black, base, 30)
# check for quit
for event in pygame.event.get():
if event.type == pygame.locals.QUIT:
pygame.quit()
sys.exit()
pygame.display.update()
fpsClock.tick(30)
def transform(rect, base, arm_part):
rect.center += np.asarray(base)
rect.center += np.array([
np.cos(arm_part.rotation) * arm_part.offset,
-np.sin(arm_part.rotation) * arm_part.offset
])
def transform_lines(rect, base, arm_part):
transform(rect, base, arm_part)
rect.center += np.array([-rect.width / 2.0, -rect.height / 2.0])
hand_rot = 1.57
ua_image, ua_rect = upperarm.rotate(1.57)
fa_image, fa_rect = forearm.rotate(3.14)
h_image, h_rect = hand.rotate(hand_rot)
while 1:
display.fill(white)
# rotate our joints
ua_image, ua_rect = upperarm.rotate(0.)
fa_image, fa_rect = forearm.rotate(0.)
hand_rot = .03
print(np.degrees(hand.rotation))
if np.degrees(hand.rotation) >= 180:
h_image, h_rect = hand.rotate(-1.57)
white = (255, 255, 255)
pygame.init()
width = 500
height = 500
display = pygame.display.set_mode((width, height))
fpsClock = pygame.time.Clock()
upperarm = ArmPart('upperarm.png', scale=.7)
base = (width / 2, height / 2)
while 1:
display.fill(white)
tecla = sys.stdin.read(1)
if tecla == 'a':
ua_image, ua_rect = upperarm.rotate(-.1)
ua_rect.center += np.asarray(base)
ua_rect.center -= np.array([
-np.cos(upperarm.rotation) * upperarm.offset,
np.sin(upperarm.rotation) * upperarm.offset
])
if tecla == 'h':
ua_image, ua_rect = upperarm.rotate(.1)
ua_rect.center += np.asarray(base)
ua_rect.center -= np.array([
-np.cos(upperarm.rotation) * upperarm.offset,
np.sin(upperarm.rotation) * upperarm.offset
])
#ua_rect.center -= np.array([np.cos(upperarm.rotation) * upperarm.offset,
# -np.sin(upperarm.rotation) * upperarm.offset])
