def __init__(self, wphAddr=WAYPOINT_HOST, *arg, **kw): JoyApp.__init__( self, confPath="$/cfg/JoyApp.yml", ) self.srvAddr = (wphAddr, APRIL_DATA_PORT) self.auto = False
def __init__(self,wphAddr=WAYPOINT_HOST,*arg,**kw): """ Initialize the simulator """ JoyApp.__init__( self, confPath="$/cfg/JoyApp.yml", *arg, **kw ) self.srvAddr = (wphAddr, APRIL_DATA_PORT)
def __init__(self): JoyApp.__init__( self, confPath="$/cfg/JoyApp.yml",) #self.c = ckbot.logical.Cluster() #program recognises how many and which modules are attached self.nservos = 4 self.watchdogTick = 2 self.c = ckbot.logical.Cluster() self.c.populate(3,{ 0x03 : 'D0', 0x04 : 'D1', 0x0B : 'D3'} ) #for i in range(0,self.nservos): #self.c.populate() # node IDs of modules are stored self.state = (0.,0., 0.,0.) # State (x,y,theta,phi) #TODO: Check for motor enumeration #self.dMot = [self.c.at.Nx03, self.c.at.Nx04, self.c.at.Nx0B] # Drive motors #self.lMot = self.c.at.Nx08 # Laser Turret self.watchdogTime = self.onceEvery(4) self.controls = {'up':False, 'down':False, 'left':False, 'right':False, 'cw':False, 'ccw':False}
def __init__(self, wlc, Tws2w, Tp2ws, *arg, **kw): if 'cfg' not in kw: kw['cfg'] = {} kw['cfg'].update(windowSize=[1200, 800]) JoyApp.__init__(self, *arg, **kw) self.arm = ArmSim(wlc) self.Tp2w = dot(Tws2w, Tp2ws) # World to paper self.Tw2p = inv(self.Tp2w) # Paper with origin at origin self.paper_p = asarray([[8, 11, -1 / 2.56, 1]]) * xyzCube self.paper_w = dot(self.paper_p, self.Tp2w.T) # Workspace box L = 12 # Workspace in arm units self.ws_w = dot(asarray([[L, L, L, 1]]) * xyzCube, Tws2w.T) self.ws_p = dot(self.ws_w, self.Tw2p.T) # Projection onto paper in world self.Tprj = dot(self.Tp2w, asarray([[1, 1, 0, 1]]).T * self.Tw2p) # World to relative paper (i.e. paper is unit cube) self.Tw2rp = self.Tw2p / self.paper_p[-1][:, newaxis]
def __init__(self,wphAddr=WAYPOINT_HOST,*arg,**kw): JoyApp.__init__( self, confPath="$/cfg/JoyApp.yml", ) self.srvAddr = (wphAddr, APRIL_DATA_PORT)
def __init__(self, camera): self.ncam = camera self.controls = {'up':False, 'down':False, 'left':False, 'right':False, 'cw':False, 'ccw':False} JoyApp.__init__( self, confPath="$/cfg/JoyApp.yml")
def __init__(self, *arg, **kw): JoyApp.__init__(self, *arg, **kw)
def __init__(self,*arg,**kw): if 'cfg' not in kw: kw['cfg'] = dict(remote=False) else: kw['cfg'].update(remote=False) return JoyApp.__init__(self,*arg,**kw)