from PyControl import * from xboxController import * import numpy as np zeke = PyControl() zeke.stop() maxStates = [6.58991792126, .3, 0.3, 6.61606370861, 0.0348490572685, 6.83086639225]; minStates = [0,.02,.01,0.183086039735,-.01,0.197775641646]; #POSITION CONTROL def kinematicControl(): c = XboxController([.06,.005,.01,.08,.002,.05]) target = np.array(zeke.getState()) j = 0; while True: j+=1 updates = c.getUpdates() #print updates if updates is None: print "Done" zeke.stop() break target = target+updates for i in range(0,6): if target[i]>maxStates[i]: target[i] = maxStates[i]
# -*- coding: utf-8 -*- """ Created on Tue Nov 17 14:37:41 2015 @author: David """ from TurnTableControl import * from PyControl import * from xboxController import * import numpy as np t = TurnTableControl( ) # the com number may need to be changed. Default of com7 is used izzy = PyControl("/dev/cu.usbmodem14111", 115200, .04, [0, 0, 0, 0, 0], [0, 0, 0]) #same with this #DIRECT CONTROL def directControl(): # use this to c = XboxController([40, 155, 120, 155, 90, 100]) #c = XboxController([100,155,155,155,100]) while True: controls = c.getUpdates() print controls if controls is None: print "Done" izzy.stop()
from TurnTableControl import * from PyControl import * from xboxController import * import numpy as np zeke = PyControl()#"COM6",115200, .04, [.505, .2601, .234-.0043, 0.0164], [.12, 0, -.08]) t = TurnTableControl() izzy = PyControl("COM3",115200, .04, [0,0,0,0,0],[0,0,0]); maxStates = [6.58991792126, .3, 0.3, 6.61606370861, 0.0348490572685, 6.83086639225] minStates = [0,.02,.01,0.183086039735,-.01,0.197775641646] #POSITION CONTROL def kinematicControl(): c = XboxController([.06,.005,.01,.08,.002,.05]) time.sleep(1) tableState = t.getState() target1 = np.array(zeke.getState()) target2 = np.array(izzy.getState()) select = True while True: updates = c.getUpdates() if updates is "switch": select = not select #target1 = np.array(zeke.getState()) #target2 = np.array(izzy.getState()) #tableState = t.getState()
# -*- coding: utf-8 -*- """ Created on Tue Nov 17 14:37:41 2015 @author: David """ from TurnTableControl import * from PyControl import * from xboxController import * import numpy as np t = TurnTableControl() # the com number may need to be changed. Default of com7 is used izzy = PyControl("/dev/cu.usbmodem14111",115200, .04, [0,0,0,0,0],[0,0,0]); #same with this #DIRECT CONTROL def directControl(): # use this to c = XboxController([40,155,120,155,90,100]) #c = XboxController([100,155,155,155,100]) while True: controls = c.getUpdates() print controls if controls is None: print "Done" izzy.stop() break controls[1] = 0 controls[3] = 0 izzy.control(controls)
from PyControl import * import numpy as np import time pi = 3.14159 r = PyControl("/dev/ttyACM0")#"COM6",115200, .04, [.505, .2601, .234-.0043, 0.0164], [.12, 0, -.08]) # #print r.getState() # a = r.getState() speed = 40*pi/180.0 r.traj(0,3,speed) #time.sleep(1) #r.sendStateRequest([1,2,3,4,5,6]) #time.sleep(.5) #print r.getTarget() #for i in range(0,100): # print r.getState() # r.sendStateRequest([1,2,3,4,5,6]) # print r.getTarget() r.traj(0,4,speed) #r.sendControls([30,0,0,0,0,0]) #time.sleep(.8) #time.sleep(.8) #time.sleep(2) r.stop()