INIT = -1
READY = 0
TRACK_TARGET = 1
AIM_TARGET = 2
SHOOT = 3
FINISH = 4
class Button:
START = 2
RESET = 1
NONE = 0
# Load tracker with .json color from command line
tracker = JHT(mode='single', sys.argv[1])
# Load motion manager with archery walking offsets
dm.initMotionManager(WALKING_INI)
state = States.INIT
while True:
# Get button states
btn = dm.getButton()
# If reset button is pressed change state back to init state
if btn == Button.RESET:
dm.walkStop()
dm.motionLoadINI(WALKING_INI)
state = States.INIT
self.last_x = x
self.last_y = y
print("Dx:", dx)
print("Dy:", dy)
# Calculate average dx and dy with moving average parameters
self.avg_dx = (self.alpha * dx) + (self.beta * self.avg_dx)
self.avg_dy = (self.alpha * dy) + (self.beta * self.avg_dy)
self.ticks += 1
# Load tracker with .json color from command line
tracker = JHT(sys.argv[1])
# Load motion manager with archery walking offsets
dm.initMotionManager(WALKING_INI)
state = States.INIT
while True:
# Get button states
btn = dm.getButton()
# If reset button is pressed change state back to init state
if btn == Button.RESET:
dm.walkStop()
dm.motionLoadINI(WALKING_INI)
state = States.INIT
import darwin_motions as dm
from time import sleep
from head_tracker import JuarezHeadTracker as JHT
MAX_P = 15
MAX_X_SPEED = 15 # Max linear velocity
UPDATE_RATE = 3 # Number of ticks
UPDATE_STEP = 0.5 # Increment in speed each update
tracker = JHT()
dm.initMotionManager()
# Walk ready pose
dm.playMotion(51)
dm.headMoveToHome()
dm.headMoveByAngle(0.0, 105.0)
dm.walkSetPeriodTime(580.0)
initial_xOffset = -8.0
dm.walkSetXOffset(initial_xOffset)
sleep(5)
dm.walkPrintParams()
def updateLinearSpeed(cur_speed):
if cur_speed >= MAX_X_SPEED:
return MAX_X_SPEED
else:
self.lowest_tick = lowest_tick
self.lowest_pos = lowest_pos
self.highest_tick = highest_tick
self.highest_pos = highest_pos
self.leftmost_pos = leftmost_pos
self.leftmost_tick = leftmost_tick
self.rightmost_pos = rightmost_pos
self.rightmost_tick = rightmost_tick
self.x_amplitude = highest_X - lowest_X
self.y_amplitude = highest_Y - lowest_Y
# Load tracker with .json color from command line
tracker = JHT(sys.argv[1], mode='single')
# Load motion manager with archery walking offsets
dm.initMotionManager(WALKING_INI)
state = States.INIT
while True:
# Get button states
btn = dm.getButton()
# If reset button is pressed change state back to init state
if btn == Button.RESET:
dm.walkStop()
dm.motionLoadINI(WALKING_INI)
state = States.INIT
class States:
INIT = -1
READY = 0
RUNNING_FORWARD = 1
RUNNING_BACKWARDS = 2
BACKWARDS_RECENTER = 3
FINISHED = 4
class Button:
START = 2
RESET = 1
NONE = 0
tracker = JHT(sys.argv[1], mode="sprint")
dm.initMotionManager(CONFIG_INI)
def updateLinearSpeed(cur_speed):
if cur_speed >= MAX_X_SPEED:
return MAX_X_SPEED
else:
return cur_speed + UPDATE_STEP
state = States.INIT
while True:
btn = dm.getButton()
if btn == Button.START: state = States.INIT
CONFIG_INI = os.path.abspath("sprint.ini")
class States:
INIT = -1
READY = 0
RUNNING_FORWARD = 1
RUNNING_BACKWARDS = 2
BACKWARDS_RECENTER = 3
FINISHED = 4
class Button:
START = 2
RESET = 1
NONE = 0
tracker = JHT(sys.argv[1], mode="single")
dm.initMotionManager(CONFIG_INI)
def updateLinearSpeed(cur_speed):
if cur_speed >= MAX_X_SPEED:
return MAX_X_SPEED
else:
return cur_speed + UPDATE_STEP
state = States.INIT
while True:
btn = dm.getButton()
if btn == Button.RESET: state = States.INIT
if state == States.INIT:
self.lowest_tick = lowest_tick
self.lowest_pos = lowest_pos
self.highest_tick = highest_tick
self.highest_pos = highest_pos
self.leftmost_pos = leftmost_pos
self.leftmost_tick = leftmost_tick
self.rightmost_pos = rightmost_pos
self.rightmost_tick = rightmost_tick
self.x_amplitude = highest_X - lowest_X
self.y_amplitude = highest_Y - lowest_Y
# Load tracker with .json color from command line
tracker = JHT(sys.argv[1], step_size=0.01, mode='single')
# Load motion manager with archery walking offsets
dm.initMotionManager(WALKING_INI)
debug_ticks = 0
state = States.INIT
while True:
# Get button states
btn = dm.getButton()
debug_ticks += 1
print(btn, debug_ticks)
debug_ticks += 1