{ "cells": [ { "cell_type": "code", "execution_count": 1, "metadata": { "collapsed": false }, "outputs": [], "source": [ "from poppy.creatures import Poppy4dofArmMini" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Pour un robot simulé :" ] }, { "cell_type": "code", "execution_count": 2, "metadata": { "collapsed": false }, "outputs": [ { "ename": "VrepConnectionError", "evalue": "Could not connect to V-REP server on 127.0.0.1:19997. This could also means that you still have a previously opened connection running! (try pypot.vrep.close_all_connections())", "output_type": "error", "traceback": [ "\u001b[1;31m---------------------------------------------------------------------------\u001b[0m", "\u001b[1;31mVrepConnectionError\u001b[0m Traceback (most recent call last)", "\u001b[1;32m\u001b[0m in \u001b[0;36m\u001b[1;34m()\u001b[0m\n\u001b[1;32m----> 1\u001b[1;33m \u001b[0mmini_dof\u001b[0m \u001b[1;33m=\u001b[0m \u001b[0mPoppy4dofArmMini\u001b[0m\u001b[1;33m(\u001b[0m\u001b[0msimulator\u001b[0m\u001b[1;33m=\u001b[0m\u001b[1;34m'vrep'\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0m", "\u001b[1;32mc:\\python27\\lib\\site-packages\\poppy_creature-1.6.0-py2.7.egg\\poppy\\creatures\\abstractcreature.pyc\u001b[0m in \u001b[0;36m__new__\u001b[1;34m(cls, base_path, config, simulator, scene, host, port, id, use_snap, snap_host, snap_port, snap_quiet, use_http, http_host, http_port, http_quiet, use_remote, remote_host, remote_port, sync)\u001b[0m\n\u001b[0;32m 89\u001b[0m \u001b[1;31m# TODO: use the id so we can have multiple poppy creatures\u001b[0m\u001b[1;33m\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0;32m 90\u001b[0m \u001b[1;31m# inside a single vrep scene\u001b[0m\u001b[1;33m\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[1;32m---> 91\u001b[1;33m \u001b[0mpoppy_creature\u001b[0m \u001b[1;33m=\u001b[0m \u001b[0mfrom_vrep\u001b[0m\u001b[1;33m(\u001b[0m\u001b[0mconfig\u001b[0m\u001b[1;33m,\u001b[0m \u001b[0mhost\u001b[0m\u001b[1;33m,\u001b[0m \u001b[0mport\u001b[0m\u001b[1;33m,\u001b[0m \u001b[0mscene\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0m\u001b[0;32m 92\u001b[0m \u001b[0mpoppy_creature\u001b[0m\u001b[1;33m.\u001b[0m\u001b[0msimulated\u001b[0m \u001b[1;33m=\u001b[0m \u001b[0mTrue\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0;32m 93\u001b[0m \u001b[1;33m\u001b[0m\u001b[0m\n", "\u001b[1;32mc:\\python27\\lib\\site-packages\\pypot-2.10.0-py2.7.egg\\pypot\\vrep\\__init__.pyc\u001b[0m in \u001b[0;36mfrom_vrep\u001b[1;34m(config, vrep_host, vrep_port, scene, tracked_objects, tracked_collisions)\u001b[0m\n\u001b[0;32m 73\u001b[0m \u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0;32m 74\u001b[0m \"\"\"\n\u001b[1;32m---> 75\u001b[1;33m \u001b[0mvrep_io\u001b[0m \u001b[1;33m=\u001b[0m \u001b[0mVrepIO\u001b[0m\u001b[1;33m(\u001b[0m\u001b[0mvrep_host\u001b[0m\u001b[1;33m,\u001b[0m \u001b[0mvrep_port\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0m\u001b[0;32m 76\u001b[0m \u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0;32m 77\u001b[0m \u001b[0mvreptime\u001b[0m \u001b[1;33m=\u001b[0m \u001b[0mvrep_time\u001b[0m\u001b[1;33m(\u001b[0m\u001b[0mvrep_io\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n", "\u001b[1;32mc:\\python27\\lib\\site-packages\\pypot-2.10.0-py2.7.egg\\pypot\\vrep\\io.pyc\u001b[0m in \u001b[0;36m__init__\u001b[1;34m(self, vrep_host, vrep_port, scene, start)\u001b[0m\n\u001b[0;32m 67\u001b[0m \u001b[1;31m# self.load_scene(scene, start)\u001b[0m\u001b[1;33m\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0;32m 68\u001b[0m \u001b[1;33m\u001b[0m\u001b[0m\n\u001b[1;32m---> 69\u001b[1;33m \u001b[0mself\u001b[0m\u001b[1;33m.\u001b[0m\u001b[0mopen_io\u001b[0m\u001b[1;33m(\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0m\u001b[0;32m 70\u001b[0m \u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0;32m 71\u001b[0m \u001b[1;32mdef\u001b[0m \u001b[0mopen_io\u001b[0m\u001b[1;33m(\u001b[0m\u001b[0mself\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m:\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n", "\u001b[1;32mc:\\python27\\lib\\site-packages\\pypot-2.10.0-py2.7.egg\\pypot\\vrep\\io.pyc\u001b[0m in \u001b[0;36mopen_io\u001b[1;34m(self)\u001b[0m\n\u001b[0;32m 78\u001b[0m '(try pypot.vrep.close_all_connections())')\n\u001b[0;32m 79\u001b[0m raise VrepConnectionError(\n\u001b[1;32m---> 80\u001b[1;33m msg.format(self.vrep_host, self.vrep_port))\n\u001b[0m\u001b[0;32m 81\u001b[0m \u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0;32m 82\u001b[0m \u001b[1;32mif\u001b[0m \u001b[0mself\u001b[0m\u001b[1;33m.\u001b[0m\u001b[0mscene\u001b[0m \u001b[1;32mis\u001b[0m \u001b[1;32mnot\u001b[0m \u001b[0mNone\u001b[0m\u001b[1;33m:\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n", "\u001b[1;31mVrepConnectionError\u001b[0m: Could not connect to V-REP server on 127.0.0.1:19997. This could also means that you still have a previously opened connection running! (try pypot.vrep.close_all_connections())" ] } ], "source": [ "mini_dof = Poppy4dofArmMini(simulator='vrep')" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Pour un robot réel :" ] }, { "cell_type": "code", "execution_count": 189, "metadata": { "collapsed": true }, "outputs": [], "source": [ "mini_dof = Poppy4dofArmMini()" ] }, { "cell_type": "code", "execution_count": 190, "metadata": { "collapsed": false }, "outputs": [], "source": [ "for m in mini_dof.motors:\n", " m.compliant = False\n", " m.goto_position(0,1)\n", " " ] }, { "cell_type": "code", "execution_count": 191, "metadata": { "collapsed": true }, "outputs": [], "source": [ "import time" ] }, { "cell_type": "code", "execution_count": 192, "metadata": { "collapsed": false }, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "Populating the interactive namespace from numpy and matplotlib\n" ] } ], "source": [ "%pylab inline" ] }, { "cell_type": "code", "execution_count": 125, "metadata": { "collapsed": true }, "outputs": [], "source": [ "from pypot.primitive import Primitive" ] }, { "cell_type": "code", "execution_count": 126, "metadata": { "collapsed": false, "scrolled": true }, "outputs": [], "source": [ "class graph_primitive(Primitive):\n", " def __init__(self,robot,motors_name):\n", " self.robot = robot\n", " Primitive.__init__(self, robot)\n", " self.fake_motors={}\n", " for name in motors_name:\n", " self.fake_motors[name] = getattr(self.robot, name) \n", " self.position={}\n", " self.load={}\n", " self.speed={}\n", " self.goal_speed={}\n", " self.moving_speed={}\n", " \n", " def setup(self):\n", " for m in self.fake_motors.keys():\n", " self.position[m] = []\n", " self.speed[m] = []\n", " self.load[m] = []\n", " self.goal_speed[m] = []\n", " self.moving_speed[m]= []\n", " self.python_time=[]\n", " self.pypot_time=[]\n", " \n", " def run(self):\n", " t0 = time.time()\n", " while not self.should_stop():\n", " for m in self.fake_motors.keys():\n", " self.position[m].append(self.fake_motors[m].present_position)\n", " self.load[m].append(self.fake_motors[m].present_load)\n", " self.speed[m].append(self.fake_motors[m].present_speed)\n", " self.goal_speed[m].append(self.fake_motors[m].goal_speed)\n", " self.moving_speed[m].append(self.fake_motors[m].moving_speed)\n", " \n", " self.python_time.append(time.time()-t0)\n", " self.pypot_time.append(self.elapsed_time)\n", " time.sleep(0.02)\n", " \n", " " ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "## Tracking a loaded motor : m2" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "###Fast movement :" ] }, { "cell_type": "code", "execution_count": 164, "metadata": { "collapsed": true }, "outputs": [], "source": [ "graph = graph_primitive(mini_dof,['m1','m2'])" ] }, { "cell_type": "code", "execution_count": 171, "metadata": { "collapsed": false }, "outputs": [], "source": [ "graph.start()\n", "mini_dof.m2.goto_position(90,1,wait=True)\n", "graph.stop()\n", "\n" ] }, { "cell_type": "code", "execution_count": 172, "metadata": { "collapsed": false }, "outputs": [ { "data": { "text/plain": [ "" ] }, "execution_count": 172, "metadata": {}, "output_type": "execute_result" }, { "data": { "image/png": [ "iVBORw0KGgoAAAANSUhEUgAAAaIAAAEZCAYAAADVBiHZAAAABHNCSVQICAgIfAhkiAAAAAlwSFlz\n", "AAALEgAACxIB0t1+/AAAIABJREFUeJzt3XeYXHXZxvHvnUYRQhKQAKEjQYh0qQqEHpBiQ4ySNyCg\n", "oqIIKgSUzaoUQQWUVxSVFqUXBaRFIIBUE6pU4SVCKKF3kJDc7x+/szDZbDm7O2fOzOzzua69Mmfm\n", "zDnPmd2cZ35dtgkhhBDKMqDsAEIIIfRvkYhCCCGUKhJRCCGEUkUiCiGEUKpIRCGEEEoViSiEEEKp\n", "IhGFhiBpnqRVa3i+SZJ+38XrX5Z0da3i6S1JMyVt28lrZ0j6SQHnHCvpyWofNzSvSERhPtmN6y1J\n", "r0t6VtIUSUPLjqvWbB9je38ASStniXBAxet/tr1jeRHm5uynp6+FUDORiEJ7BnaxvTiwLrA28MNa\n", "nVzSoFqdqxdUdgAFaMZrCg0mElHolO3ZwDXAmLbnJG0q6RZJL0u6W9JWFa+NkHS6pKckvSTpkorX\n", "9pf0b0kvSvqrpGUrXpsn6RuS/g08nD33fUlPS5ol6StdxSlpmqRjJN0u6VVJf5E0vOL13STdn8V8\n", "vaSPVrx2aHaO1yQ9JGmb7PnJkqZku92Y/ftKtt+mkvaWdFPFcTaX9E9Jr0i6Q9Jm7eL7saR/ZO+/\n", 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load')\n", "figure(2)\n", "plot(graph.pypot_time,graph.position['m2'])\n", "xlabel('elapsed time seconds')\n", "ylabel('Position')\n", "title ('Record with elapsed time')\n", "\n", "figure(3)\n", "plot(graph.python_time,graph.pypot_time)\n", "xlabel('time seconds')\n", "ylabel('elapsed time seconds')\n", "title ('Time vs elapsed')\n" ] }, { "cell_type": "code", "execution_count": 173, "metadata": { "collapsed": false }, "outputs": [], "source": [ "for m in mini_dof.motors:\n", " m.goto_position(0,1)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "###Slow movement :" ] }, { "cell_type": "code", "execution_count": 174, "metadata": { "collapsed": true }, "outputs": [], "source": [ "graph.start()\n", "mini_dof.m2.goto_position(90,5,wait=True)\n", "graph.stop()" ] }, { "cell_type": "code", "execution_count": 175, "metadata": { "collapsed": false }, "outputs": [ { "data": { "text/plain": [ "" ] }, "execution_count": 175, "metadata": {}, "output_type": "execute_result" }, { 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"plot(graph.python_time,graph.position['m2'],\"b-\")\n", "xlabel('python time seconds')\n", "ylabel('position')\n", "twinx()\n", "plot(graph.python_time,graph.load['m2'],\"r-\")\n", "ylabel('load')\n", "plot(graph.python_time,graph.speed['m2'],\"g-\")\n", "title ('Record position and load')\n", "figure(2)\n", "plot(graph.pypot_time,graph.position['m2'])\n", "xlabel('elapsed time seconds')\n", "ylabel('Position')\n", "title ('Record with elapsed time')\n", "\n", "figure(3)\n", "plot(graph.python_time,graph.pypot_time)\n", "xlabel('time seconds')\n", "ylabel('elapsed time seconds')\n", "title ('Time vs elapsed')\n" ] }, { "cell_type": "code", "execution_count": 176, "metadata": { "collapsed": true }, "outputs": [], "source": [ "for m in mini_dof.motors:\n", " m.goto_position(0,1)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "## Tracking an unloaded motor : m4" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "###Fast movement :" ] }, { "cell_type": "code", "execution_count": 17, "metadata": { "collapsed": true }, "outputs": [], "source": [ "graph = graph_primitive(mini_dof,['m4',])" ] }, { "cell_type": "code", "execution_count": 18, "metadata": { "collapsed": true }, "outputs": [], "source": [ "graph.start()\n", "mini_dof.m4.goto_position(90,1,wait=True)\n", "graph.stop()\n", "\n" ] }, { "cell_type": "code", "execution_count": 19, "metadata": { "collapsed": false }, "outputs": [ { "data": { "text/plain": [ "" ] }, "execution_count": 19, "metadata": {}, "output_type": "execute_result" }, { "data": { "image/png": [ "iVBORw0KGgoAAAANSUhEUgAAAaIAAAEZCAYAAADVBiHZAAAABHNCSVQICAgIfAhkiAAAAAlwSFlz\n", "AAALEgAACxIB0t1+/AAAIABJREFUeJzt3Xm8XfO9//HXOxFzIkIbESGouKiaU1pDihKtolzFbVFD\n", "e3/looNW6HBy2luUFtWWTobUrRhqKDXGEFKKGqNiSiuIIeahhjZ4//74rsPOcYZ9Ts5e3z18no/H\n", "fmTvvdZe38/a52R9zndY369sE0IIIeQyKHcAIYQQWlskohBCCFlFIgohhJBVJKIQQghZRSIKIYSQ\n", "VSSiEEIIWUUiCg1B0juSViuxvCMl/aaH7Z+XdFVZ8fSXpDmStulm25mSflCDMidIenygjxuaVySi\n", 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"ylabel('elapsed time seconds')\n", "title ('Time vs elapsed')\n" ] }, { "cell_type": "code", "execution_count": 20, "metadata": { "collapsed": true }, "outputs": [], "source": [ "for m in mini_dof.motors:\n", " m.goto_position(0,1)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "###Slow movement :" ] }, { "cell_type": "code", "execution_count": 21, "metadata": { "collapsed": true }, "outputs": [], "source": [ "graph.start()\n", "mini_dof.m4.goto_position(90,5,wait=True)\n", "graph.stop()" ] }, { "cell_type": "code", "execution_count": 22, "metadata": { "collapsed": false }, "outputs": [ { "data": { "text/plain": [ "" ] }, "execution_count": 22, "metadata": {}, "output_type": "execute_result" }, { "data": { "image/png": [ "iVBORw0KGgoAAAANSUhEUgAAAaIAAAEZCAYAAADVBiHZAAAABHNCSVQICAgIfAhkiAAAAAlwSFlz\n", "AAALEgAACxIB0t1+/AAAIABJREFUeJztnXe4XFXV/z/fNNJIIEAIvQlIk85LEYgIioAUfSkqiIoF\n", "AYGf9CI3FwsBC+hrRQEBIYIUBZUSkVClEwgtiBAgQEIgNGlJyPr9sfckc+dOOVPOnCnr8zzz3Dlt\n", 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"plot(graph.pypot_time,graph.position['m4'])\n", "xlabel('elapsed time seconds')\n", "ylabel('Position')\n", "title ('Record with elapsed time')\n", "\n", "figure(3)\n", "plot(graph.python_time,graph.pypot_time)\n", "xlabel('time seconds')\n", "ylabel('elapsed time seconds')\n", "title ('Time vs elapsed')\n" ] }, { "cell_type": "code", "execution_count": 50, "metadata": { "collapsed": true }, "outputs": [], "source": [ "for m in mini_dof.motors:\n", " m.goto_position(0,1)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "##Time dependant movement :" ] }, { "cell_type": "code", "execution_count": 129, "metadata": { "collapsed": true }, "outputs": [], "source": [ "graph = graph_primitive(mini_dof,['m2',])" ] }, { "cell_type": "code", "execution_count": 37, "metadata": { "collapsed": true }, "outputs": [], "source": [ "graph.start()\n", "mini_dof.m2.goto_position(90,1,wait=True)\n", "mini_dof.m2.goto_position(-90,1,wait=True)\n", "mini_dof.m2.goto_position(90,1,wait=True)\n", "mini_dof.m2.goto_position(-90,1,wait=True)\n", "mini_dof.m2.goto_position(0,1,wait=True)\n", "graph.stop()" ] }, { "cell_type": "code", "execution_count": 38, "metadata": { "collapsed": false }, "outputs": [ { "data": { "text/plain": [ "" ] }, "execution_count": 38, "metadata": {}, "output_type": "execute_result" }, { "data": { "image/png": [ "iVBORw0KGgoAAAANSUhEUgAAAbYAAAEZCAYAAAD7QwBLAAAABHNCSVQICAgIfAhkiAAAAAlwSFlz\n", "AAALEgAACxIB0t1+/AAAIABJREFUeJzsnXe4XGW1/z/fhHQS0khISCWEEnpXEQwoRUWKCjYQ1J/c\n", "KyreiyLllsNYUK/KVbmKSAcFBFQEBSQCQYr0ToAkQEghgUASkpCQQtbvj3dPMmfOlD1zZmbvmVmf\n", "5znPOWfXNTPnvN+91rvetWRmOI7jOE6r0CNpAxzHcRynlriwOY7jOC2FC5vjOI7TUriwOY7jOC2F\n", "C5vjOI7TUriwOY7jOC2FC5vT0kjaIGmbBt7vLEkXldj/OUl/a5Q91SJpjqQPFtl3uaTv1uGeUyXN\n", "q/V1nfbDhc2pCdFAuErSCkmLJF0laVDSdjUaM/uBmX0ZQNKESFh75Oz/nZkdlpyFsbHoq9J9jpM4\n", "LmxOrTDgCDMbCOwG7AL8Z6NuLmmzRt2rCpS0AXWgFV+T0yK4sDk1x8xeA24Hdspuk/QeSfdLWirp\n", 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"plot(graph.python_time,graph.load['m2'],\"r-\")\n", "ylabel('load')\n", "plot(graph.python_time,graph.speed['m2'],\"g-\")\n", "title ('Record position and load')\n", "figure(2)\n", "plot(graph.pypot_time,graph.position['m2'])\n", "xlabel('elapsed time seconds')\n", "ylabel('Position')\n", "title ('Record with elapsed time position and speed')\n", "twinx()\n", "plot(graph.pypot_time,graph.goal_speed['m2'],\"r-\")\n", "ylabel('goal_speed')\n", "plot(graph.pypot_time,graph.moving_speed['m2'],\"r-\")\n", "\n", "\n", "figure(3)\n", "plot(graph.python_time,graph.pypot_time)\n", "xlabel('time seconds')\n", "ylabel('elapsed time seconds')\n", "title ('Time vs elapsed')\n" ] }, { "cell_type": "code", "execution_count": 130, "metadata": { "collapsed": true }, "outputs": [], "source": [ "for m in mini_dof.motors:\n", " m.goto_behavior='dummy'" ] }, { "cell_type": "code", "execution_count": 159, "metadata": { "collapsed": false }, "outputs": [], "source": [ "graph.start()\n", "mini_dof.m2.goto_position(90,1,wait=True)\n", "mini_dof.m2.goto_position(-90,1,wait=True)\n", "mini_dof.m2.goto_position(90,1,wait=True)\n", "mini_dof.m2.goto_position(-90,1,wait=True)\n", "mini_dof.m2.goto_position(0,1,wait=True)\n", "graph.stop()" ] }, { "cell_type": "code", "execution_count": 132, "metadata": { "collapsed": false }, "outputs": [ { "data": { "text/plain": [ "" ] }, "execution_count": 132, "metadata": {}, "output_type": "execute_result" }, { "data": { "image/png": [ "iVBORw0KGgoAAAANSUhEUgAAAbAAAAEZCAYAAAD2XXAMAAAABHNCSVQICAgIfAhkiAAAAAlwSFlz\n", "AAALEgAACxIB0t1+/AAAIABJREFUeJzsvXe8XGW1///+JDlphJCEHkIJJSBSlBZAkIAISPWiCCgd\n", "vd+fKAgqUvQ6Ga+igFdBvShKR+CKokiXUEKVFjohkAABAiSUkBBIT9bvj7UnzJmzp++ZPTPneb9e\n", "88qZXZ69zszJ/uy1nvWsJTMjEAgEAoF2o0/aBgQCgUAgUAtBwAKBQCDQlgQBCwQCgUBbEgQsEAgE\n", "Am1JELBAIBAItCVBwAKBQCDQlgQBC3QEkpZL2rCJ1ztD0p9K7P+apH81y55akTRd0ueK7LtM0n83\n", "4JrjJL2e9LiB3kcQsEBVRDe8+ZLmSZop6UpJQ9O2q9mY2c/N7BsAkjaIBLRP3v6rzGzv9CysGIte\n", 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"plot(graph.python_time,graph.speed['m2'],\"g-\")\n", "title ('Record position and load')\n", "figure(2)\n", "plot(graph.pypot_time,graph.position['m2'])\n", "xlabel('elapsed time seconds')\n", "ylabel('Position')\n", "title ('Record with elapsed time position and speed')\n", "twinx()\n", "plot(graph.pypot_time,graph.goal_speed['m2'],\"r-\")\n", "ylabel('goal_speed')\n", "plot(graph.pypot_time,graph.moving_speed['m2'],\"g-\")\n", "\n", "\n", "figure(3)\n", "plot(graph.python_time,graph.pypot_time)\n", "xlabel('time seconds')\n", "ylabel('elapsed time seconds')\n", "title ('Time vs elapsed')\n" ] }, { "cell_type": "code", "execution_count": 158, "metadata": { "collapsed": false }, "outputs": [], "source": [ "graph.start()\n", "mini_dof.m2.goal_speed=90\n", "time.sleep(1)\n", "mini_dof.m2.goal_speed=-180\n", "time.sleep(1)\n", "mini_dof.m2.goal_speed=180\n", "time.sleep(1)\n", "mini_dof.m2.goal_speed=-90\n", "time.sleep(1)\n", "mini_dof.m2.goal_speed=0\n", "time.sleep(1)\n", "graph.stop()" ] }, { "cell_type": "code", "execution_count": 72, "metadata": { "collapsed": false }, "outputs": [ { "data": { "text/plain": [ "" ] }, "execution_count": 72, "metadata": {}, "output_type": "execute_result" }, { "data": { "image/png": [ "iVBORw0KGgoAAAANSUhEUgAAAbYAAAEZCAYAAAD7QwBLAAAABHNCSVQICAgIfAhkiAAAAAlwSFlz\n", "AAALEgAACxIB0t1+/AAAIABJREFUeJzsnXecXHXV/9+fTe8QIJTQAoQSekeKhN6bSlNRhMfGT3zs\n", "gqjDoKLiA4Io2OgCSpEOgVACKEovgRAgQICEhJZKejm/P753ktnZO7MzO3Pnzsye9+s1r8zc8r1n\n", "djf33NNlZjiO4zhOq9CWtgCO4ziOU0tcsTmO4zgthSs2x3Ecp6VwxeY4juO0FK7YHMdxnJbCFZvj\n", "OI7TUrhic1oaScslbVTH650p6S8l9n9O0r31kqerSJosab8i+66U9LMErjla0ju1Xtfpfrhic2pC\n", "dCOcL2mupOmSrpE0OG256o2Z/dLMvgwgacNIsbbl7b/WzA5KT8KysehV6T7HSR1XbE6tMOBwMxsE\n", "bAtsDfy4XheX1LNe1+oCSluABGjF7+S0CK7YnJpjZu8B9wFb5rZJ2k3SY5JmSnpO0t55+4ZKukLS\n", "VEkzJN2St+/Lkl6T9JGk2yStnbdvuaTTJL0GvBJt+76kdyVNkXRKKTkljZP0S0mPS5ot6VZJq+bt\n", "P1LSS5HMD0naPG/fD6NrzJE0UdK+0fazJV0THfZI9O+s6LjdJJ0s6dG8dXaX9KSkWZKekPSJAvnO\n", 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"display_data" } ], "source": [ "figure(1) \n", "plot(graph.python_time,graph.position['m2'],\"b-\")\n", "xlabel('python time seconds')\n", "ylabel('position')\n", "twinx()\n", "plot(graph.python_time,graph.load['m2'],\"r-\")\n", "ylabel('load')\n", "plot(graph.python_time,graph.speed['m2'],\"g-\")\n", "title ('Record position and load')\n", "figure(2)\n", "plot(graph.pypot_time,graph.position['m2'])\n", "xlabel('elapsed time seconds')\n", "ylabel('Position')\n", "title ('Record with elapsed time position and speed')\n", "twinx()\n", "plot(graph.pypot_time,graph.goal_speed['m2'],\"r-\")\n", "ylabel('goal_speed')\n", "plot(graph.pypot_time,graph.moving_speed['m2'],\"g-\")\n", "\n", "\n", "figure(3)\n", "plot(graph.python_time,graph.pypot_time)\n", "xlabel('time seconds')\n", "ylabel('elapsed time seconds')\n", "title ('Time vs elapsed')\n" ] }, { "cell_type": "code", "execution_count": 170, "metadata": { "collapsed": true }, "outputs": [], "source": [ "for m in mini_dof.motors:\n", " m.goto_position(0,1)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "En minjerk, le controle est purement basé sur la position.\n", "\n", "En dummy, le controle est basé sur la vitesse. Une vitesse est définie afin d'atteindre la position en un temps donné. Cependant la position n'est pas atteinte car le contrôle en vitesse n'est pas fiable sur les positions ! Les tests de vitesse montre bien que la position n'est pas atteinte." ] }, { "cell_type": "code", "execution_count": 177, "metadata": { "collapsed": false }, "outputs": [], "source": [ "mini_dof.m2.pid=(3,0.4,0.1)" ] }, { "cell_type": "code", "execution_count": 187, "metadata": { "collapsed": false }, "outputs": [], "source": [ "mini_dof.m3.goal_position=90" ] }, { "cell_type": "code", "execution_count": 115, "metadata": { "collapsed": false }, "outputs": [], "source": [ "mini_dof.m2.goal_speed=0" ] }, { "cell_type": "code", "execution_count": 180, "metadata": { "collapsed": true }, "outputs": [], "source": [ "mini_dof.m2.moving_speed=200" ] }, { "cell_type": "code", "execution_count": 140, "metadata": { "collapsed": false }, "outputs": [ { "data": { "text/plain": [ "0.0" ] }, "execution_count": 140, "metadata": {}, "output_type": "execute_result" } ], "source": [ "mini_dof.m2.goal_position" ] }, { "cell_type": "code", "execution_count": 141, "metadata": { "collapsed": false }, "outputs": [ { "data": { "text/plain": [ "0.0" ] }, "execution_count": 141, "metadata": {}, "output_type": "execute_result" } ], "source": [ "mini_dof.m2.goal_speed" ] }, { "cell_type": "code", "execution_count": 142, "metadata": { "collapsed": false }, "outputs": [ { "data": { "text/plain": [ "0" ] }, "execution_count": 142, "metadata": {}, "output_type": "execute_result" } ], "source": [ "mini_dof.m2.moving_speed" ] }, { "cell_type": "code", "execution_count": 204, "metadata": { "collapsed": true }, "outputs": [], "source": [ "for m in mini_dof.motors:\n", " m.goto_behavior='dummy'" ] }, { "cell_type": "code", "execution_count": 214, "metadata": { "collapsed": true }, "outputs": [], "source": [ "for m in mini_dof.motors:\n", " m.goto_position(0,0.5)" ] }, { "cell_type": "code", "execution_count": 212, "metadata": { "collapsed": true }, "outputs": [], "source": [ "for m in mini_dof.motors:\n", " m.pid=(3,0.4,0.1)" ] }, { "cell_type": "code", "execution_count": 215, "metadata": { "collapsed": false }, "outputs": [ { "data": { "text/plain": [ "[,\n", " ,\n", " ,\n", " ]" ] }, "execution_count": 215, "metadata": {}, "output_type": "execute_result" } ], "source": [ "mini_dof.motors" ] }, { "cell_type": "code", "execution_count": 1, "metadata": { "collapsed": false }, "outputs": [ { "ename": "NameError", "evalue": "name 'mini_dof' is not defined", "output_type": "error", "traceback": [ "\u001b[1;31m---------------------------------------------------------------------------\u001b[0m", "\u001b[1;31mNameError\u001b[0m Traceback (most recent call last)", "\u001b[1;32m\u001b[0m in \u001b[0;36m\u001b[1;34m()\u001b[0m\n\u001b[1;32m----> 1\u001b[1;33m \u001b[0mmini_dof\u001b[0m\u001b[1;33m.\u001b[0m\u001b[0mclose\u001b[0m\u001b[1;33m(\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0m", "\u001b[1;31mNameError\u001b[0m: name 'mini_dof' is not defined" ] } ], "source": [ "mini_dof.close()" ] }, { "cell_type": "code", "execution_count": null, "metadata": { "collapsed": true }, "outputs": [], "source": [] } ], "metadata": { "kernelspec": { "display_name": "Python 2", "language": "python", "name": "python2" }, "language_info": { "codemirror_mode": { "name": "ipython", "version": 2 }, "file_extension": ".py", "mimetype": "text/x-python", "name": "python", "nbconvert_exporter": "python", "pygments_lexer": "ipython2", "version": "2.7.9" } }, "nbformat": 4, "nbformat_minor": 0 }