Python MotorSet.pose示例

示例#1

文件： go_to.py 项目： humm/dovecot

import dotdot
import dovecot
from dovecot.ext import powerswitch
from dovecot.stemsim import stemcfg

uid = dovecot.stem_uid()

pose = [float(sys.argv[i + 1]) for i in range(6)]

stem = stemcfg.stems[uid]
stem.cycle_usb()

ps = powerswitch.Eps4m(mac_address=stemcfg.stems[stem.uid].powerswitch_mac, load_config=True)
ps_port = stemcfg.stems[stem.uid].powerswitch
if ps.is_off(ps_port):
    ps.set_on(ps_port)
    time.sleep(1)
while ps.is_restarting(ps_port):
    time.sleep(1)

ms = MotorSet(serial_id=stem.serial_id, motor_range=stem.motorid_range, timeout=10, verbose=True)
ms.zero_pose = stem.zero_pose

ms.moving_speed = 100
ms.max_torque = 100
ms.torque_limit = 100
ms.pose = pose

time.sleep(2.0)
print("pos: [{}]".format(", ".join("{:.1f}".format(p) for p in ms.pose)))

示例#2

uid = dovecot.stem_uid()

pose = [float(sys.argv[i + 1]) for i in range(6)]

stem = stemcfg.stems[uid]
stem.cycle_usb()

ps = powerswitch.Eps4m(mac_address=stemcfg.stems[stem.uid].powerswitch_mac,
                       load_config=True)
ps_port = stemcfg.stems[stem.uid].powerswitch
if ps.is_off(ps_port):
    ps.set_on(ps_port)
    time.sleep(1)
while ps.is_restarting(ps_port):
    time.sleep(1)

ms = MotorSet(serial_id=stem.serial_id,
              motor_range=stem.motorid_range,
              timeout=10,
              verbose=True)
ms.zero_pose = stem.zero_pose

ms.moving_speed = 100
ms.max_torque = 100
ms.torque_limit = 100
ms.pose = pose

time.sleep(2.0)
print("pos: [{}]".format(', '.join('{:.1f}'.format(p) for p in ms.pose)))

示例#3

文件： freeze.py 项目： dtbinh/dovecot

from __future__ import division, print_function
import sys
import time

from dovecot.ext.pydyn import MotorSet
import dotdot
import dovecot
from dovecot.stemsim import stemcfg

if len(sys.argv) >= 2:
    uid = int(sys.argv[1])
else:
    uid = dovecot.stem_uid()

stem = stemcfg.stems[uid]
stem.cycle_usb()

ms = MotorSet(serial_id=stem.serial_id,
              motor_range=stem.motorid_range,
              verbose=True)

ms.compliant = False
ms.pose = ms.pose
ms.torque_limit = 50
time.sleep(1.0)

示例#4

文件： zero.py 项目： dtbinh/dovecot

if len(sys.argv) >= 2:
    uid = int(sys.argv[1])
else:
    uid = dovecot.stem_uid()

stem = stemcfg.stems[uid]
stem.cycle_usb()

ps = powerswitch.Eps4m(mac_address=stemcfg.stems[stem.uid].powerswitch_mac,
                       load_config=True)
ps_port = stemcfg.stems[stem.uid].powerswitch
if ps.is_off(ps_port):
    ps.set_on(ps_port)
    time.sleep(1)
while ps.is_restarting(ps_port):
    time.sleep(1)

ms = MotorSet(serial_id=stem.serial_id,
              motor_range=stem.motorid_range,
              timeout=10,
              verbose=True)
ms.zero_pose = stem.zero_pose

ms.moving_speed = 100
ms.max_torque = 100
ms.torque_limit = 100
ms.pose = (0.0, ) * 6

time.sleep(2.0)
print("pos: [{}]".format(', '.join('{:.1f}'.format(p) for p in ms.pose)))

示例#5

文件： freeze.py 项目： humm/dovecot

from __future__ import division, print_function
import sys
import time

from dovecot.ext.pydyn import MotorSet
import dotdot
import dovecot
from dovecot.stemsim import stemcfg

if len(sys.argv) >= 2:
    uid = int(sys.argv[1])
else:
    uid = dovecot.stem_uid()

stem = stemcfg.stems[uid]
stem.cycle_usb()

ms = MotorSet(serial_id=stem.serial_id, motor_range=stem.motorid_range, verbose=True)

ms.compliant = False
ms.pose = ms.pose
ms.torque_limit = 50
time.sleep(1.0)

示例#6

文件： rest.py 项目： humm/dovecot

    time.sleep(1)
while ps.is_restarting(ps_port):
    time.sleep(1)

ms = MotorSet(serial_id=stem.serial_id, motor_range=stem.motorid_range, verbose=True)
ms.zero_pose = stem.zero_pose
ms.angle_limits = stem.angle_limits

ms.compliant = False
time.sleep(0.1)

ms.moving_speed    = 100
ms.torque_limit = 50

rest_pose = [5.3, 96.3, -97.8, 0.6, -46.5, -10]
ms.pose = rest_pose

while max(abs(p - tg) for p, tg in zip(ms.pose, rest_pose)) > 10:
    time.sleep(0.1)

ms.moving_speed = 20
ms.torque_limit = 5

start_time = time.time()
while max(abs(p - tg) for p, tg in zip(ms.pose, rest_pose)) > 2.0 and time.time()-start_time < 1.0:
    time.sleep(0.05)

ms.compliant = True
time.sleep(0.3)
print(ms.compliant)
# for m in ms.motors:

示例#7

文件： zero.py 项目： humm/dovecot

import dovecot
from dovecot.ext import powerswitch
from dovecot.stemsim import stemcfg

if len(sys.argv) >= 2:
    uid = int(sys.argv[1])
else:
    uid = dovecot.stem_uid()

stem = stemcfg.stems[uid]
stem.cycle_usb()

ps = powerswitch.Eps4m(mac_address=stemcfg.stems[stem.uid].powerswitch_mac, load_config=True)
ps_port = stemcfg.stems[stem.uid].powerswitch
if ps.is_off(ps_port):
    ps.set_on(ps_port)
    time.sleep(1)
while ps.is_restarting(ps_port):
    time.sleep(1)

ms = MotorSet(serial_id=stem.serial_id, motor_range=stem.motorid_range, timeout=10, verbose=True)
ms.zero_pose = stem.zero_pose

ms.moving_speed = 100
ms.max_torque   = 100
ms.torque_limit = 100
ms.pose = (0.0,)*6

time.sleep(2.0)
print("pos: [{}]".format(', '.join('{:.1f}'.format(p) for p in ms.pose)))