Mercurial > ukubik
changeset 50:6f765bd70359
Folding up
| author | Radomir Dopieralski <sheep-devel@sheep.art.pl> |
|---|---|
| date | Fri, 22 Aug 2014 10:08:53 +0200 |
| parents | 6ec1356c03ae |
| children | c3c959e09dc8 |
| files | fold.py servo/servo.ino |
| diffstat | 2 files changed, 18 insertions(+), 6 deletions(-) [+] |
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--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/fold.py Fri Aug 22 10:08:53 2014 +0200 @@ -0,0 +1,14 @@ +#!/usr/bin/env python +# -*- coding: utf-8 -*- + +import serial +import kubik + + +robot = kubik.Robot(serial.Serial('/dev/rfcomm0', 9600)) +for leg in robot.legs: + leg.hip.move_degrees(45 * leg.y_dir) + leg.knee.move_degrees(-90) + leg.ankle.move_degrees(90) + for joint in leg: + joint.update()
--- a/servo/servo.ino Thu Aug 21 20:58:00 2014 +0200 +++ b/servo/servo.ino Fri Aug 22 10:08:53 2014 +0200 @@ -1,8 +1,5 @@ /* -A very simple servo controller code. There is only one command, 0xff, followed -by the number of servo (from 0 to 11) and the position to set it to, in degrees -(from 0 to 180). The commands are received on the serial line as bytes, with -speed 115200. +A very simple servo controller code. */ #include <Servo.h> @@ -30,8 +27,9 @@ } void loop() { - while (!(command = Serial.read()) & 0x80) { - /* Just keep trying. */ + if (!(command = Serial.read()) & 0x80) { + /* Synchronize to the beginning of the command. */ + return; }; switch (command) { case 0xff: