-
Notifications
You must be signed in to change notification settings - Fork 0
/
Copy path1
130 lines (121 loc) · 3.33 KB
/
1
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
import pypot.dynamixel
import time
from bluedot import BlueDot
from signal import pause
from ps3 import *
ports = pypot.dynamixel.get_available_ports()
print(ports)
dxl = pypot.dynamixel.DxlIO(ports[0])
hand = 65
dxl.set_moving_speed({1:70, 2:70, 3:100, 4:100})
def prone_back():
dxl.set_moving_speed({1:50, 2:50, 3:50, 4:50, 5:50, 6:50, 7:50, 8:50})
dxl.set_goal_position({1:0, 2:0, 3:90, 4:-90, 5:0, 6:0,7: 90, 8:-90})
time.sleep(5)
dxl.set_goal_position({7:0, 8:0, 3:-30, 4:30})
time.sleep(2)
dxl.set_goal_position({3:0, 4:0})
time.sleep(2)
dxl.set_goal_position({1:0, 2:0, 5:0, 6:0, 7:45, 8:-45})
def back():
dxl.set_goal_position({1:0,2:0,3:0,4:0, 5:90, 6:-90})
dxl.set_goal_position({7:45,8:-45})
c,d=35,25
a,b=25,25
for i in range(4):
dxl.set_moving_speed({1:100,2:100,3:100,4:100})
dxl.set_goal_position({3:a,4:b})
time.sleep(0.3)
a,b=-a,-b
dxl.set_goal_position({1:c,2:d})
c,d=-d,-c
time.sleep(0.3)
dxl.set_goal_position({1:0,2:0,3:0,4:0})
def right():
dxl.set_goal_position({5:90, 6:-90, 7:10, 8:-10})
a,b = -25,-35
dxl.set_moving_speed({1:120, 2:120, 3:150, 4:150})
c = 55
dxl.set_goal_position({3:-a, 4:-b})
# time.sleep(0.5)
dxl.set_goal_position({1:-b, 2: -a})
time.sleep(0.7)
dxl.set_goal_position({4:0})
time.sleep(0.7)
dxl.set_goal_position({1: 0,2:0, 3: 0})
time.sleep(0.7)
def left():
b,a = 25,35
dxl.set_goal_position({5:90, 6:-90, 7:18, 8:-18})
dxl.set_moving_speed({1:120, 2:120, 3:150, 4:150})
c = -55
dxl.set_goal_position({3:-a, 4:-b})
# time.sleep(0.5)
dxl.set_goal_position({1:-b, 2:-a})
time.sleep(0.7)
dxl.set_goal_position({3:0})
time.sleep(0.7)
dxl.set_goal_position({1:0,2: 0, 4: 0})
time.sleep(0.7)
def forward():
dxl.set_goal_position({1:0,2:0,3:0,4:0, 5:90, 6:-90})
dxl.set_goal_position({7:45,8:-45})
c,d=35,25
a,b=-25,-25
for i in range(4):
dxl.set_moving_speed({1:150,2:150,3:150,4:150})
dxl.set_goal_position({3:a,4:b})
time.sleep(0.3)
a,b=-a,-b
dxl.set_goal_position({1:c,2:d})
c,d=-d,-c
time.sleep(0.3)
dxl.set_goal_position({1:0,2:0,3:0,4:0})
def balance():
dxl.set_goal_position({1:-0.73, 2:3.67, 3:47.36, 4:-45.01, 5:90, 6:-90, 7:45, 8:-45})
def hand_turn_in():
global hand
if hand < 22:
hand += 5
dxl.set_goal_position({7:hand, 8:-hand})
def dpad(pos):
if pos.top:
forward()
elif pos.bottom:
back()
elif pos.left:
left()
elif pos.right:
right()
elif pos.middle:
prone_back()
# bd = BlueDot()
# bd.when_pressed = dpad
# pause()
#-1.03, 3.96, 47.36, -45.6, 89.3, -90.18, -21.85, 21.55
if __name__ == '__main__':
# dxl.set_goal_position({1:0,2:0,3:0,4:0, 5: 40, 6: -40})
print dxl.get_present_position((1,2,3,4,5,6,7,8,))
# bd = BlueDot()
# bd.when_pressed = dpad
# pause()
p = ps3()
while True:
p.update()
if p.up:
forward()
elif p.down:
back()
elif p.left:
left()
elif p.right:
right()
elif p.triangle:
balance()
time.sleep(0.2)
# print(dxl.scan(range(20)))
# forward()
# left()
# right()
# back()
# prone_back()