def onEvent(self, evt):
###
### TEAM CODE GOES HERE
### Handle events as you see fit, and return after
# Ignore everything except keydown events
if evt.type != KEYDOWN:
return
if evt.key == K_1:
print("\nset corner 1")
# x_pos has not been set
if not self.corner_1:
self.corner_1.append(self.arm[0].get_goal())
self.corner_1.append(self.arm[1].get_goal())
self.corner_1.append(self.arm[2].get_goal())
print("\n{},{},{}".format(self.corner_1[0], self.corner_1[1],
self.corner_1[2]))
return
# already set, override
self.corner_1[0] = self.arm[0].get_goal()
self.corner_1[1] = self.arm[1].get_goal()
self.corner_1[2] = self.arm[2].get_goal()
print("\n{},{},{}".format(self.corner_1[0], self.corner_1[1],
self.corner_1[2]))
return
if evt.key == K_2:
print("\nset corner 2")
# x_pos has not been set
if not self.corner_2:
self.corner_2.append(self.arm[0].get_goal())
self.corner_2.append(self.arm[1].get_goal())
self.corner_2.append(self.arm[2].get_goal())
print("\n{},{},{}".format(self.corner_2[0], self.corner_2[1],
self.corner_2[2]))
return
# already set, override
self.corner_2[0] = self.arm[0].get_goal()
self.corner_2[1] = self.arm[1].get_goal()
self.corner_2[2] = self.arm[2].get_goal()
print("\n{},{},{}".format(self.corner_2[0], self.corner_2[1],
self.corner_2[2]))
return
if evt.key == K_3:
print("\nset corner 3")
# x_pos has not been set
if not self.corner_3:
self.corner_3.append(self.arm[0].get_goal())
self.corner_3.append(self.arm[1].get_goal())
self.corner_3.append(self.arm[2].get_goal())
print("\n{},{},{}".format(self.corner_3[0], self.corner_3[1],
self.corner_3[2]))
return
# already set, override
self.corner_3[0] = self.arm[0].get_goal()
self.corner_3[1] = self.arm[1].get_goal()
self.corner_3[2] = self.arm[2].get_goal()
print("\n{},{},{}".format(self.corner_3[0], self.corner_3[1],
self.corner_3[2]))
return
if evt.key == K_4:
print("\nset corner 4")
# x_pos has not been set
if not self.corner_4:
self.corner_4.append(self.arm[0].get_goal())
self.corner_4.append(self.arm[1].get_goal())
self.corner_4.append(self.arm[2].get_goal())
print("\n{},{},{}".format(self.corner_4[0], self.corner_4[1],
self.corner_4[2]))
return
# already set, override
self.corner_4[0] = self.arm[0].get_goal()
self.corner_4[1] = self.arm[1].get_goal()
self.corner_4[2] = self.arm[2].get_goal()
print("\n{},{},{}".format(self.corner_4[0], self.corner_4[1],
self.corner_4[2]))
return
# move to programmed corners in plan
if evt.key == K_SPACE:
# self.movePlan.square = self.square
self.movePlan.start()
return
# append points and begin drawing square
if evt.key == K_5:
self.append_points(4, 3, 3, 2.0)
return
return ArmAnimatorApp.onEvent(self, evt)
def onEvent(self, evt):
###
### TEAM CODE GOES HERE
### Handle events as you see fit, and return after
return ArmAnimatorApp.onEvent(self, evt)
def onEvent(self, evt):
###
### TEAM CODE GOES HERE
### Handle events as you see fit, and return after
#activate autonomous mode and move to a square corner by pressing 'w','e','r','t'
if evt.type == KEYDOWN:
progress('in keydown')
p = "wert".find(evt.unicode)
if p >= 0:
if self.move.isRunning():
progress('Move running!')
return
self.move.pos = self.square_w[
p] #set square corner as goal position
self.move.start()
self.move.square = True
#after each move, set the previous goal position as your new starting position
self.move.currentPos = self.move.pos
progress('Move plan started!')
return
#Press 'k' to move to grid point for calibration
if evt.key == K_k:
self.move.pos = self.calib_grid[
self.calib_idx] #set next grid point as goal position
self.move.start()
progress('Moving to calibration point')
for i, motor in enumerate(self.arm):
self.calib_ang[self.calib_idx, i] = motor.get_goal() * (
pi / 18000
) #convert angles from centidegrees to radians
#Manual adjustment before this step
#Press 'o' to calculate error between where arm moved and where it was supposed to be
if evt.key == K_o:
#Calculate error
progress('Calculate error')
if self.calib_idx < len(self.calib_ang):
real_ang = zeros(len(self.arm))
for i, motor in enumerate(self.arm):
real_ang[i] = motor.get_goal() * (pi / 18000)
self.calib_ang[self.calib_idx] = real_ang - self.calib_ang[
self.calib_idx]
self.calib_idx += 1
self.move.calDone = True
self.move.currentPos = self.move.pos
progress('Error calculation complete')
if self.calib_idx == len(self.calib_ang):
progress('Calibration_complete!')
self.move.calibrated = True
save("calib_array.npy",
self.calib_ang) #save calibration array
return
#manual movements
# row of 'a' on QWERTY keyboard increments motors
p = "asdf".find(evt.unicode)
if p >= 0:
progress('manual move')
self.arm[p].set_pos(self.arm[p].get_goal() + 300)
return
# row of 'z' in QWERTY keyboard decrements motors
p = "zxcv".find(evt.unicode)
if p >= 0:
progress('manual move')
self.arm[p].set_pos(self.arm[p].get_goal() - 300)
return
return ArmAnimatorApp.onEvent(self, evt)