{
 "cells": [
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "#How to reach a position with the maximum speed\n",
    "###Differences between goal_position / goto_position in minjerk / goto_position in dummy"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "from poppy.creatures import Poppy4dofArmMini"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "With the goto_position method, you can set an angle and a time. But you can not be absolutely sure that the position will be effectively reach. Because the priority is on the time. \n",
    "\n",
    "More precisely, if you are in minjerk mode for the goto_behavior the movement is a succession of goal position, so you can be confident about the position reach, but it is not certain. For example, if you overspeed the motor."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "metadata": {
    "collapsed": false
   },
   "outputs": [],
   "source": [
    "mini_dof = Poppy4dofArmMini()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 4,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "for m in mini_dof.motors:\n",
    "    m.compliant = False\n",
    "    m.goto_position(0,1)"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "We need to adjust the PID of the motors, because if not you can have more than 3 degrees to difference between the present_position and the goal_position.\n",
    "To know more, have a look on the activities : How to adjust the PID parameters for the motors."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 77,
   "metadata": {
    "collapsed": false
   },
   "outputs": [],
   "source": [
    "for m in mini_dof.motors:\n",
    "    m.pid=(4,1,0.1)"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "####Minjerk behavior :"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "Check, the goto_behavior :"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 99,
   "metadata": {
    "collapsed": false
   },
   "outputs": [],
   "source": [
    "mini_dof.m3.goto_behavior= 'minjerk'"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 4,
   "metadata": {
    "collapsed": false
   },
   "outputs": [
    {
     "data": {
      "text/plain": [
       "'minjerk'"
      ]
     },
     "execution_count": 4,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "mini_dof.m3.goto_behavior"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "Make a primitive to record data from motors :"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 15,
   "metadata": {
    "collapsed": false
   },
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Populating the interactive namespace from numpy and matplotlib\n"
     ]
    }
   ],
   "source": [
    "from pypot.primitive import Primitive\n",
    "import time\n",
    "%pylab inline"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 16,
   "metadata": {
    "collapsed": 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",
    "        \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.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.python_time.append(time.time()-t0)\n",
    "            self.pypot_time.append(self.elapsed_time)\n",
    "            time.sleep(0.02)\n",
    "            \n",
    "            "
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 17,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "graph = Graph_primitive(mini_dof,['m3',])"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "Do a simple movement :"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 58,
   "metadata": {
    "collapsed": false
   },
   "outputs": [],
   "source": [
    "graph.start()\n",
    "mini_dof.m3.goto_position(90,1,wait=True)\n",
    "mini_dof.m3.goto_position(0,1)\n",
    "graph.stop()"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "Display the graph :"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 59,
   "metadata": {
    "collapsed": false
   },
   "outputs": [
    {
     "data": {
      "text/plain": [
       "<matplotlib.text.Text at 0xa3911b0>"
      ]
     },
     "execution_count": 59,
     "metadata": {},
     "output_type": "execute_result"
    },
    {
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      ],
      "text/plain": [
       "<matplotlib.figure.Figure at 0xa35a230>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "figure(1)\n",
    "plot(graph.pypot_time,graph.position['m3'])\n",
    "xlabel('elapsed time seconds')\n",
    "ylabel('position')\n",
    "title ('Record position function of elapsed time')"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "But with :"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 64,
   "metadata": {
    "collapsed": false
   },
   "outputs": [],
   "source": [
    "graph.start()\n",
    "mini_dof.m3.goto_position(90,0.1,wait=True)\n",
    "mini_dof.m3.goto_position(0,1,wait=True)\n",
    "graph.stop()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 65,
   "metadata": {
    "collapsed": false
   },
   "outputs": [
    {
     "data": {
      "text/plain": [
       "<matplotlib.text.Text at 0xa545f10>"
      ]
     },
     "execution_count": 65,
     "metadata": {},
     "output_type": "execute_result"
    },
    {
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       "AAAAAElFTkSuQmCC\n"
      ],
      "text/plain": [
       "<matplotlib.figure.Figure at 0xa378d30>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "figure(1)\n",
    "plot(graph.pypot_time,graph.position['m3'])\n",
    "xlabel('elapsed time seconds')\n",
    "ylabel('position')\n",
    "title ('Record position function of elapsed time')"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "The position is definitely not reach."
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "####Dummy behavior"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "This is different in goto_behavior dummy. With this mode, there is not a succession of goal_position and time but only one command : A goal_position and a moving_speed. We can remark here that using the dummy mode certainly reduce the communication on the bus to the motors (could be a good thing).\n",
    "    "
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "Change the behavior"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 13,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "mini_dof.m3.goto_behavior = 'dummy'"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "Do a simple movement :"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 18,
   "metadata": {
    "collapsed": false
   },
   "outputs": [],
   "source": [
    "graph.start()\n",
    "mini_dof.m3.goto_position(90,1,wait=True)\n",
    "mini_dof.m3.goto_position(0,1)\n",
    "graph.stop()"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "Display the graph :"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 19,
   "metadata": {
    "collapsed": false
   },
   "outputs": [
    {
     "data": {
      "text/plain": [
       "<matplotlib.text.Text at 0x8db8c30>"
      ]
     },
     "execution_count": 19,
     "metadata": {},
     "output_type": "execute_result"
    },
    {
     "data": {
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       "mZlV5ERhZmYVOVGYmVlF/x8CT31ZzqSjuwAAAABJRU5ErkJggg==\n"
      ],
      "text/plain": [
       "<matplotlib.figure.Figure at 0x8d2f510>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "figure(1)\n",
    "plot(graph.pypot_time,graph.position['m3'])\n",
    "xlabel('elapsed time seconds')\n",
    "ylabel('position')\n",
    "title ('Record position function of elapsed time')"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "You can see that the 90 degree is not reach in one second. So the movement"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "And with :"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 69,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "graph.start()\n",
    "for i in range(3):\n",
    "    mini_dof.m3.goto_position(90,0.5,wait=True)\n",
    "    mini_dof.m3.goto_position(-90,0.5,wait=True)\n",
    "mini_dof.m3.goto_position(0,1,wait=True)\n",
    "graph.stop()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 70,
   "metadata": {
    "collapsed": false
   },
   "outputs": [
    {
     "data": {
      "text/plain": [
       "<matplotlib.text.Text at 0xa834bf0>"
      ]
     },
     "execution_count": 70,
     "metadata": {},
     "output_type": "execute_result"
    },
    {
     "data": {
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       "TmmRtMjM1kwth+N0O+56csqMP+U4Tg64ReE4juM0xS0Kx3EcpymuKBzHcZymuKJwHMdxmuKKwnEc\n",
       "x2mKKwrHcRynKa4oHMdxnKb8//SaQdWilpt7AAAAAElFTkSuQmCC\n"
      ],
      "text/plain": [
       "<matplotlib.figure.Figure at 0xa784270>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "figure(1)\n",
    "plot(graph.pypot_time,graph.position['m3'])\n",
    "xlabel('elapsed time seconds')\n",
    "ylabel('position')\n",
    "title ('Record position function of elapsed time')"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "This is awful ! The position are really far from desired position. Because, pypot calcule a theorical speed wich seems to be always under the real one."
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "If you want to put the priority to the position and not the time, you can add an instruction to wait until the position is reach :"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 35,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "def wait_position(motor) :\n",
    "    while abs(motor.present_position-motor.goal_position) > 2: # the precision in degree is 2° , you can change but usually XL-320 motors have not a precision more than 1°\n",
    "        time.sleep(0.02)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 36,
   "metadata": {
    "collapsed": false
   },
   "outputs": [],
   "source": [
    "graph.start()\n",
    "for i in range(3):\n",
    "    mini_dof.m3.goto_position(90,0.5)\n",
    "    wait_position(mini_dof.m3)\n",
    "    mini_dof.m3.goto_position(-90,0.5,wait=True)\n",
    "    wait_position(mini_dof.m3)\n",
    "mini_dof.m3.goto_position(0,1,wait=True)\n",
    "graph.stop()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 37,
   "metadata": {
    "collapsed": false
   },
   "outputs": [
    {
     "data": {
      "text/plain": [
       "<matplotlib.text.Text at 0x8f59710>"
      ]
     },
     "execution_count": 37,
     "metadata": {},
     "output_type": "execute_result"
    },
    {
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       "jJV0S7wW0yS9La4/XNLtku6RdHEsXYGkfWI7U+NxRytM4nRenAjo3lrxw+g5XCrp6mjXmXXtfjza\n",
       "fiehZlRt/fuiHVMl3Tycz9cZUMzM//yvUH/ALoRaYCPi8tnA8fH1Y8CG8fUG8f9IQn2f2vIbhAm0\n",
       "AL4B/Ci+ng+sEV+vG/9/B/hIfL0+YSKuUcAXgZ/F9ZOAV4E9m9i63J76ZWC7uM+uBKG5m1CyBuBo\n",
       "4LJ27Te08UXg1Ph6NWAdYGPgZmBkXP/VeK5rAI8SJvwhbjsC+FLd+ewEzAXWAk4klIMYE5eHCFMD\n",
       "jI3bbBSP+Wfgh3H/B4Cx9dfR/6rxV4paUk7pOJQwe9vdsYbPSGBBk+0+J+nY+HprYDxwF0EwfhvX\n",
       "/wq4NL5+APiNpMuBWkXcw4H3SPpyXF4L2AY4EPgBgJlNk/TAMM7jMTN7CEDSQ8D1cf2DBEFp1f7W\n",
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       "fFudT72dr0fbGvM1y/c1s3+WtC/het4jqbTTlzor4zkMp4jcALxX0iYAMSewTcM26wLPRbHYGaif\n",
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       "M7O7zOxbwCLCpFBOBXAPwykcZjZD0teBP8Vk96vAScDjdZtdA3wmhlBmAX+pe+9FYN94jIWE+VFW\n",
       "By5QmMNYwA/MbImk04Hvx5DTaoT4/9HAOcB58fgzCDmIZvwUuEbSfDM7tPFU2izXXrdqv57JwFck\n",
       "vUoQqI+Z2WJJJwIXSlorbvdvZjZH0geAHyl0932JMMfB2cA5sZ3XgBPM7FVJTXt/mdkCSacRruvz\n",
       "rDx/x79HcRJwvZkNJ1znDCBe3twpHZJeMLMxedvhOGXDQ1JOGfGnIMdJAfcwHMdxnK5wD8NxHMfp\n",
       "ChcMx3EcpytcMBzHcZyucMFwHMdxusIFw3Ecx+kKFwzHcRynK/4/lzl7pGVgM7oAAAAASUVORK5C\n",
       "YII=\n"
      ],
      "text/plain": [
       "<matplotlib.figure.Figure at 0x8dc7b50>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "figure(1)\n",
    "plot(graph.pypot_time,graph.position['m3'])\n",
    "xlabel('elapsed time seconds')\n",
    "ylabel('position')\n",
    "title ('Record position function of elapsed time')"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "Positions are now respected (+/- : 2°) but time is not."
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "####goal_position and moving_speed"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "Set the moving_speed of the motors :"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 39,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "for m in mini_dof.motors:\n",
    "    m.moving_speed = 100 # degrees per seconde"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 79,
   "metadata": {
    "collapsed": false
   },
   "outputs": [],
   "source": [
    "def wait_position(robot) :\n",
    "    while abs(\n",
    "        robot.m1.present_position-robot.m1.goal_position) > 5 or abs(\n",
    "        robot.m2.present_position-robot.m2.goal_position) > 5 or abs(\n",
    "        robot.m3.present_position-robot.m3.goal_position) >5 or abs(\n",
    "        robot.m4.present_position-robot.m4.goal_position) >5 : # the precision in degree is 2° , you can change but usually XL-320 motors have not a precision more than 1°\n",
    "        time.sleep(0.02)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 85,
   "metadata": {
    "collapsed": false
   },
   "outputs": [],
   "source": [
    "for i in range(10):\n",
    "    mini_dof.m1.goal_position = 90\n",
    "    mini_dof.m2.goal_position = 10\n",
    "    mini_dof.m3.goal_position = 80\n",
    "    mini_dof.m4.goal_position = -40\n",
    "    wait_position(mini_dof)\n",
    "    for m in mini_dof.motors:\n",
    "        m.goal_position = 0\n",
    "    wait_position(mini_dof)\n",
    "    mini_dof.m1.goal_position = -30\n",
    "    mini_dof.m2.goal_position = 10\n",
    "    mini_dof.m3.goal_position = 80\n",
    "    mini_dof.m4.goal_position = -40\n",
    "    wait_position(mini_dof)\n",
    "    for m in mini_dof.motors:\n",
    "        m.goal_position = 0\n",
    "    wait_position(mini_dof)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 65,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "for m in mini_dof.motors:\n",
    "    m.moving_speed = 0 # degrees per seconde"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 86,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "mini_dof.close()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": []
  }
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