def doLimits(self, e=None):
if self.doChecks(["project","port"]) == 0:
return
else:
print "Relax servos for capture..."
self.parent.doRelax()
print "Capturing limits..."
self.parent.project.poses["ik_min"] = project.pose("",self.parent.project.count)
self.parent.project.poses["ik_max"] = project.pose("",self.parent.project.count)
self.parent.project.save = True
self.captureLimits(1)
def doLimits(self, e=None):
if self.doChecks(["project","port"]) == 0:
return
else:
print "Relax servos for capture..."
self.parent.doRelax()
print "Capturing limits..."
self.parent.project.poses["ik_min"] = project.pose("",self.parent.project.count)
self.parent.project.poses["ik_max"] = project.pose("",self.parent.project.count)
self.parent.project.save = True
self.captureLimits(1)
def doNeutral(self, e=None):
""" Capture the Neutral Position. """
if self.doChecks(["project", "port"]) > 0:
print "Relax servos for capture..."
self.parent.doRelax()
print "Capturing neutral..."
# show dialog with what neutral should like for this bot
modelClassName = iKmodels[self.ikType.GetValue()].folder
dlg = NeutralDialog(
self.parent, 'Capture Neutral Position',
"tools/models/" + modelClassName + "/neutral.jpg")
#dlg = wx.MessageDialog(self.parent, 'Click OK when ready!', 'Capture Neutral Position', wx.OK | wx.CANCEL)
if dlg.ShowModal() == wx.ID_OK:
self.parent.project.poses["ik_neutral"] = project.pose(
"", self.parent.project.count)
errors = "could not read servos: "
for servo in range(self.parent.project.count):
pos = self.port.getReg(servo + 1, P_PRESENT_POSITION_L, 2)
if pos != -1:
self.parent.project.poses["ik_neutral"][
servo] = pos[0] + (pos[1] << 8)
else:
errors = errors + str(servo + 1) + ", "
if errors != "could not read servos: ":
self.parent.sb.SetStatusText(errors[0:-2], 0)
def addPose(self, e=None):
""" Add a new pose. """
if self.parent.project.name != "":
dlg = wx.TextEntryDialog(self,'Pose Name:', 'New Pose Settings')
dlg.SetValue("")
if dlg.ShowModal() == wx.ID_OK:
self.posebox.Append(dlg.GetValue())
self.parent.project.poses[dlg.GetValue()] = project.pose("",self.parent.project.count)
dlg.Destroy()
self.parent.project.save = True
else:
dlg = wx.MessageDialog(self, 'Please create a new robot first.', 'Error', wx.OK|wx.ICON_EXCLAMATION)
dlg.ShowModal()
dlg.Destroy()
def advancePose(self, e=None):
""" Create a new pose, with a default name. """
if self.parent.project.name != "":
i = 0
while True:
if "pose"+str(i) in self.parent.project.poses.keys():
i = i + 1
else:
break
# have name, create pose
self.parent.project.poses["pose"+str(i)] = project.pose("",self.parent.project.count)
self.posebox.Append("pose"+str(i))
# select pose
self.loadPose("pose"+str(i))
self.posebox.SetSelection(self.posebox.FindString("pose"+str(i)))
def advancePose(self, e=None):
""" Create a new pose, with a default name. """
if self.parent.project.name != "":
i = 0
while True:
if "pose" + str(i) in self.parent.project.poses.keys():
i = i + 1
else:
break
# have name, create pose
self.parent.project.poses["pose" + str(i)] = project.pose(
"", self.parent.project.count)
self.posebox.Append("pose" + str(i))
# select pose
self.loadPose("pose" + str(i))
self.posebox.SetSelection(self.posebox.FindString("pose" + str(i)))
def addPose(self, e=None):
""" Add a new pose. """
if self.parent.project.name != "":
dlg = wx.TextEntryDialog(self, 'Pose Name:', 'New Pose Settings')
dlg.SetValue("")
if dlg.ShowModal() == wx.ID_OK:
self.posebox.Append(dlg.GetValue())
self.parent.project.poses[dlg.GetValue()] = project.pose(
"", self.parent.project.count)
dlg.Destroy()
self.parent.project.save = True
else:
dlg = wx.MessageDialog(self, 'Please create a new robot first.',
'Error', wx.OK | wx.ICON_EXCLAMATION)
dlg.ShowModal()
dlg.Destroy()
def doNeutral(self, e = None):
""" Capture the Neutral Position. """
if self.doChecks(["project","port"]) > 0:
print "Relax servos for capture..."
self.parent.doRelax()
print "Capturing neutral..."
# show dialog with what neutral should like for this bot
modelClassName = iKmodels[self.ikType.GetValue()].folder
dlg = NeutralDialog(self.parent, 'Capture Neutral Position', "tools/models/"+modelClassName+"/neutral.jpg")
#dlg = wx.MessageDialog(self.parent, 'Click OK when ready!', 'Capture Neutral Position', wx.OK | wx.CANCEL)
if dlg.ShowModal() == wx.ID_OK:
self.parent.project.poses["ik_neutral"] = project.pose("",self.parent.project.count)
errors = "could not read servos: "
for servo in range(self.parent.project.count):
pos = self.port.getReg(servo+1,P_PRESENT_POSITION_L, 2)
if pos != -1:
self.parent.project.poses["ik_neutral"][servo] = pos[0] + (pos[1]<<8)
else:
errors = errors + str(servo+1) + ", "
if errors != "could not read servos: ":
self.parent.sb.SetStatusText(errors[0:-2],0)
