Sample Code For Locomotion
This is the content of the script used in Introduction to Junior and Dynamism for locomotion.
import dy import math import time import sys hostname = 'localhost' host = None speed = 1.0 walk_interval = 5.0 if len(sys.argv) >= 2: hostname = sys.argv[1] host = dy.network.connect(hostname,8650) ds = dy.data.path(hostname) dyspeed = dy.data.create_at(ds, dy.DY_FLOAT, 'gait.speed') while 1: dy.signal.send_to(host,'calibrate_start') raw_input('Hit ENTER once the calibration is done...') s=raw_input('Was the calibration succesful?(y or n)\n>>') if s == 'y': break dy.signal.send_to(host,'stand_start') raw_input('Hit ENTER once the robot is at a standing posture...') dy.signal.send_to(host,'gaitrunner_start') print 'Gaitrunner is activated' dy.data.set_float(dyspeed,speed) dy.network.push_to(host, '%s.gait.speed' % hostname) print 'Speed is set to:', speed time.sleep(walk_interval) dy.data.set_float(dyspeed,0.0) dy.network.push_to(host, '%s.gait.speed' % hostname) print 'Speed is set back to 0.0' time.sleep(1.0) dy.signal.send_to(host,"gaitrunner_stop") dy.signal.send_to(host,'stand_start') print 'Gaitrunner is deactivated' raw_input('Hit ENTER once the robot is at a standing posture...') dy.signal.send_to(host,'sit_start') time.sleep(2) print 'Robot is sitting now.' print 'Terminating the application'
page revision: 3, last edited: 29 Dec 2010 21:09