def __init__(self, wphAddr=WAYPOINT_HOST, *arg, **kw):
JoyApp.__init__(
self,
confPath="$/cfg/JoyApp.yml",
)
self.srvAddr = (wphAddr, APRIL_DATA_PORT)
self.auto = False
def __init__(self,wphAddr=WAYPOINT_HOST,*arg,**kw):
"""
Initialize the simulator
"""
JoyApp.__init__( self,
confPath="$/cfg/JoyApp.yml", *arg, **kw
)
self.srvAddr = (wphAddr, APRIL_DATA_PORT)
def __init__(self):
JoyApp.__init__( self, confPath="$/cfg/JoyApp.yml",)
#self.c = ckbot.logical.Cluster() #program recognises how many and which modules are attached
self.nservos = 4
self.watchdogTick = 2
self.c = ckbot.logical.Cluster()
self.c.populate(3,{ 0x03 : 'D0', 0x04 : 'D1', 0x0B : 'D3'} )
#for i in range(0,self.nservos):
#self.c.populate() # node IDs of modules are stored
self.state = (0.,0., 0.,0.) # State (x,y,theta,phi)
#TODO: Check for motor enumeration
#self.dMot = [self.c.at.Nx03, self.c.at.Nx04, self.c.at.Nx0B] # Drive motors
#self.lMot = self.c.at.Nx08 # Laser Turret
self.watchdogTime = self.onceEvery(4)
self.controls = {'up':False, 'down':False, 'left':False, 'right':False, 'cw':False, 'ccw':False}
def __init__(self, wlc, Tws2w, Tp2ws, *arg, **kw):
if 'cfg' not in kw:
kw['cfg'] = {}
kw['cfg'].update(windowSize=[1200, 800])
JoyApp.__init__(self, *arg, **kw)
self.arm = ArmSim(wlc)
self.Tp2w = dot(Tws2w, Tp2ws)
# World to paper
self.Tw2p = inv(self.Tp2w)
# Paper with origin at origin
self.paper_p = asarray([[8, 11, -1 / 2.56, 1]]) * xyzCube
self.paper_w = dot(self.paper_p, self.Tp2w.T)
# Workspace box
L = 12 # Workspace in arm units
self.ws_w = dot(asarray([[L, L, L, 1]]) * xyzCube, Tws2w.T)
self.ws_p = dot(self.ws_w, self.Tw2p.T)
# Projection onto paper in world
self.Tprj = dot(self.Tp2w, asarray([[1, 1, 0, 1]]).T * self.Tw2p)
# World to relative paper (i.e. paper is unit cube)
self.Tw2rp = self.Tw2p / self.paper_p[-1][:, newaxis]
def __init__(self,wphAddr=WAYPOINT_HOST,*arg,**kw):
JoyApp.__init__( self,
confPath="$/cfg/JoyApp.yml",
)
self.srvAddr = (wphAddr, APRIL_DATA_PORT)
def __init__(self, camera):
self.ncam = camera
self.controls = {'up':False, 'down':False, 'left':False, 'right':False, 'cw':False, 'ccw':False}
JoyApp.__init__( self, confPath="$/cfg/JoyApp.yml")
def __init__(self, *arg, **kw):
JoyApp.__init__(self, *arg, **kw)
def __init__(self,*arg,**kw):
if 'cfg' not in kw:
kw['cfg'] = dict(remote=False)
else:
kw['cfg'].update(remote=False)
return JoyApp.__init__(self,*arg,**kw)
