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rewrite wait_for_move, split robot file, check test_all.py

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Olivier R-D
2015-06-12 10:34:42 +02:00
parent 06644d96c8
commit 5e4c8a0696
8 changed files with 498 additions and 495 deletions
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33
examples/joystick_control.py
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@@ -69,7 +69,8 @@ class Service(object):
if abs(val) < 0.2:
val = 0
tmp = "self.cmd.axis" + str(i) + " = " + str(val)
#print(tmp)
if val != 0:
print(tmp)
exec(tmp)
#get button state
@@ -92,20 +93,20 @@ class Service(object):
speeds = [0, 0, 0, 0, 0, 0]
#get linear speed from joystick
speeds[0] = self.cmd.axis0 * self.linear_velocity
speeds[0] = -1 * self.cmd.axis0 * self.linear_velocity
speeds[1] = self.cmd.axis1 * self.linear_velocity
if self.cmd.btn4 and not self.cmd.btn6:
speeds[2] = self.linear_velocity
if self.cmd.btn6 and not self.cmd.btn4:
if self.cmd.btn4 and not self.cmd.axis2:
speeds[2] = -self.linear_velocity
if self.cmd.axis2 and not self.cmd.btn4:
speeds[2] = self.cmd.axis2 * self.linear_velocity
#get rotational speed from joystick
speeds[4] = -1 * self.cmd.axis2 * self.rotational_velocity
speeds[3] = self.cmd.axis3 * self.rotational_velocity
if self.cmd.btn1 and not self.cmd.btn2:
speeds[4] = -1 * self.cmd.axis3 * self.rotational_velocity
speeds[3] = -1 * self.cmd.axis4 * self.rotational_velocity
if self.cmd.btn5 and not self.cmd.axis5:
speeds[5] = self.rotational_velocity
if self.cmd.btn2 and not self.cmd.btn1:
speeds[5] = -self.rotational_velocity
if self.cmd.axis5 and not self.cmd.btn5:
speeds[5] = self.cmd.axis5 * -self.rotational_velocity
#for some reasons everything is inversed
speeds = [-i for i in speeds]
@@ -117,7 +118,6 @@ class Service(object):
else:
self.robot.speedl(speeds, acc=self.acceleration, min_time=2)
time.sleep(0.12)#URX secondday port accepts command at 10Hz, no need to go faster
def close(self):
if self.joystick:
@@ -125,13 +125,10 @@ class Service(object):
if __name__ == "__main__":
#create robot object
robot = urx.Robot('192.168.0.90')
#robot = urx.Robot('localhost')
#set a base transformation for robot (optional)
robot.set_tcp((0, 0, 0, 0, 0, 0))
robot.csys.orient.rotate_zb(-pi/4)
robot = urx.Robot("192.168.1.100")
r = robot
#start joystick service with given max speed and acceleration
service = Service(robot, linear_velocity=0.1, rotational_velocity=0.1, acceleration=0.1)
service.init_joystick()