Mercurial > Kubik
changeset 157:3114416ffaa3
small fixes in joy
| author | Radomir Dopieralski <sheep-devel@sheep.art.pl> |
|---|---|
| date | Sat, 11 Oct 2014 18:21:50 +0200 |
| parents | 61e00a8f9255 |
| children | 132c727c0e26 |
| files | joy.py kubik.py |
| diffstat | 2 files changed, 8 insertions(+), 14 deletions(-) [+] |
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--- a/joy.py Thu Aug 07 18:05:04 2014 +0200 +++ b/joy.py Sat Oct 11 18:21:50 2014 +0200 @@ -21,7 +21,9 @@ def joy_anim(self): """This animation is for reading user input.""" + dz = 0 while True: + self.robot.shift[2] = max(-12, min(12, self.robot.shift[2] + dz)) for event in pygame.event.get(): if event.type == pygame.QUIT: raise SystemExit() @@ -34,27 +36,19 @@ else: self.gait = 'rotate_right' elif event.button == 0: - serial = self.robot.legs[0].hip.serial - serial.write('0xfd') - sensor = ord(serial.read(1)) - print "Sensor value: %d" % sensor - else: print "Button %d" % event.button elif event.type == pygame.JOYBUTTONUP: if event.button in (10, 11): self.gait = '' elif event.type == pygame.JOYAXISMOTION: if event.axis == 0: - self.speed[0] = event.value - self.rotation = 0.0 + self.speed[0] = -event.value elif event.axis == 1: - self.speed[1] = -event.value - self.rotation = 0.0 + self.speed[1] = event.value elif event.axis == 2: - self.robot.shift[2] = event.value * 12 + dz = event.value elif event.axis == 3: self.rotation = event.value - self.speed = [0.0, 0.0] yield
--- a/kubik.py Thu Aug 07 18:05:04 2014 +0200 +++ b/kubik.py Sat Oct 11 18:21:50 2014 +0200 @@ -31,10 +31,10 @@ class Leg(leg.Leg): # Lengths of leg segments, in mm - coxa = 16.0 # between the hip and the knee + coxa = 16.7 # between the hip and the knee femur = 50.0 # between the knee and the ankle - tibia = 70.0 # between the ankle and the foot - base = 45.0, 45.0 # from the center of body + tibia = 62.5 # between the ankle and the foot + base = 47.6, 47.6 # from the center of body class Robot(robot.Robot):