{ "metadata": { "name": "", "signature": "sha256:b0c3d5b1e224252a084a368e1eec8579db0889da6b38e5feeab39603ec211247" }, "nbformat": 3, "nbformat_minor": 0, "worksheets": [ { "cells": [ { "cell_type": "code", "collapsed": false, "input": [ "import pypot.dynamixel\n", "import pypot.robot" ], "language": "python", "metadata": {}, "outputs": [], "prompt_number": 1 }, { "cell_type": "code", "collapsed": false, "input": [ "ports = pypot.dynamixel.get_available_ports()\n", "print 'Found ports', ports\n", "port = ports[0]\n", "print 'Using', port" ], "language": "python", "metadata": {}, "outputs": [ { "output_type": "stream", "stream": "stdout", "text": [ "Found ports ['/dev/ttyUSB0']\n", "Using /dev/ttyUSB0\n" ] } ], "prompt_number": 2 }, { "cell_type": "code", "collapsed": false, "input": [ "io = pypot.dynamixel.DxlIO(port)" ], "language": "python", "metadata": {}, "outputs": [], "prompt_number": 3 }, { "cell_type": "code", "collapsed": false, "input": [ "ids = io.scan(range(40))\n", "print 'Found ids', ids" ], "language": "python", "metadata": {}, "outputs": [ { "output_type": "stream", "stream": "stdout", "text": [ "Found ids [11, 36, 37]\n" ] } ], "prompt_number": 4 }, { "cell_type": "code", "collapsed": false, "input": [ "motors = [pypot.dynamixel.motor.DxlMXMotor(id) for id in ids]\n", "motors" ], "language": "python", "metadata": {}, "outputs": [ { "metadata": {}, "output_type": "pyout", "prompt_number": 5, "text": [ "[,\n", " ,\n", " ]" ] } ], "prompt_number": 5 }, { "cell_type": "code", "collapsed": false, "input": [ "c = pypot.dynamixel.controller.BaseDxlController(io, motors)" ], "language": "python", "metadata": {}, "outputs": [], "prompt_number": 6 }, { "cell_type": "code", "collapsed": false, "input": [ "robot = pypot.robot.Robot([c])" ], "language": "python", "metadata": {}, "outputs": [], "prompt_number": 7 }, { "cell_type": "code", "collapsed": false, "input": [ "robot.start_sync()" ], "language": "python", "metadata": {}, "outputs": [], "prompt_number": 8 }, { "cell_type": "code", "collapsed": false, "input": [ "for m in robot.motors:\n", " m.compliant = False\n", " m.goal_position = 0" ], "language": "python", "metadata": {}, "outputs": [], "prompt_number": 9 }, { "cell_type": "code", "collapsed": false, "input": [ "from pypot.primitive.utils import Sinus" ], "language": "python", "metadata": {}, "outputs": [], "prompt_number": 10 }, { "cell_type": "code", "collapsed": false, "input": [ "s1 = Sinus(robot, 50, robot.motors, amp=30)\n", "s2 = Sinus(robot, 50, robot.motors, amp=5, freq=2)" ], "language": "python", "metadata": {}, "outputs": [], "prompt_number": 11 }, { "cell_type": "code", "collapsed": false, "input": [ "s1.start()" ], "language": "python", "metadata": {}, "outputs": [], "prompt_number": 12 }, { "cell_type": "code", "collapsed": false, "input": [ "%pylab inline\n", "\n", "import time\n", "\n", "pos = []\n", "\n", "start = time.time()\n", "while time.time() - start < 5:\n", " pos.append(robot.motors[0].present_position)\n", " time.sleep(0.02)\n", " \n", "plot(linspace(0, 5, len(pos)), pos)" ], "language": "python", "metadata": {}, "outputs": [ { "output_type": "stream", "stream": "stdout", "text": [ "Populating the interactive namespace from numpy and matplotlib\n" ] }, { "metadata": {}, "output_type": "pyout", "prompt_number": 13, "text": [ "[]" ] }, { "metadata": {}, "output_type": "display_data", "png": 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vkp+fT35+fkLPsWtrrhvwNhDb0tkJRIEPgI5AHtC32nMsS0vOamXhQvj5z2HJEtOW2MeR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\ntCl85SumLa2b+oR9MdChlse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"text": [ "" ] } ], "prompt_number": 13 }, { "cell_type": "code", "collapsed": false, "input": [ "s2.start()" ], "language": "python", "metadata": {}, "outputs": [], "prompt_number": 14 }, { "cell_type": "code", "collapsed": false, "input": [ "import time\n", "\n", "pos = []\n", "\n", "start = time.time()\n", "while time.time() - start < 5:\n", " pos.append(robot.motors[0].present_position)\n", " time.sleep(0.02)\n", " \n", "plot(linspace(0, 5, len(pos)), pos)" ], "language": "python", "metadata": {}, "outputs": [ { "metadata": {}, "output_type": "pyout", "prompt_number": 15, "text": [ "[]" ] }, { "metadata": {}, "output_type": "display_data", "png": 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vGY4lKLYC7wEnmg7EkFOAMUht+VVgGPCi0YjM+q7y+0bgTQLUh6sh\nsmgpE6kfRvniKcjfQS+eymjsReS0O+raAi0rfz4S+BxZ3R11pxHtWTFHAc0qf24CfEnA2qKfhcx6\nKOFAu98oehVYC+xGrjtcaTYcowYj5Yf5HFj0NtJoRObkAXORv8UCpL6sJLFHeVZMd+Q1MR+ZEhzl\n3KmUUkoppZRSSimllFJKKaWUUkoppZRSSimllFJKKaWU8sr/AY/1js4swYFCAAAAAElFTkSuQmCC\n", "text": [ "" ] } ], "prompt_number": 15 }, { "cell_type": "code", "collapsed": false, "input": [ "s1.stop()" ], "language": "python", "metadata": {}, "outputs": [], "prompt_number": 16 }, { "cell_type": "code", "collapsed": false, "input": [ "import time\n", "\n", "pos = []\n", "\n", "start = time.time()\n", "while time.time() - start < 5:\n", " pos.append(robot.motors[0].present_position)\n", " time.sleep(0.02)\n", " \n", "plot(linspace(0, 5, len(pos)), pos)" ], "language": "python", "metadata": {}, "outputs": [ { "metadata": {}, "output_type": "pyout", "prompt_number": 17, "text": [ "[]" ] }, { "metadata": {}, "output_type": "display_data", "png": 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6jJw8KavDWjuVFVxaKDEo8MlJaYtqt10sioYmcB2l5Xp5ePLk3PsuVoNr0tLJ8vson9Mh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\nvDhcE4aO7+t6mdreLvmRehP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"text": [ "" ] } ], "prompt_number": 17 }, { "cell_type": "code", "collapsed": false, "input": [ "s2.stop()" ], "language": "python", "metadata": {}, "outputs": [], "prompt_number": 18 }, { "cell_type": "code", "collapsed": false, "input": [ "import time\n", "\n", "pos = []\n", "\n", "s1.start()\n", "s2.start()\n", "start = time.time()\n", "while time.time() - start < 10:\n", " pos.append(robot.motors[0].present_position)\n", " time.sleep(0.02)\n", " \n", " if (3 < time.time() - start < 9):\n", " s2.pause()\n", " else:\n", " s2.resume()\n", " \n", "plot(linspace(0, 10, len(pos)), pos)\n", "\n", "s1.stop()\n", "s2.stop()" ], "language": "python", "metadata": {}, "outputs": [ { "metadata": {}, "output_type": "display_data", "png": 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SyTiysUmEi8JmS+Rdu/kHBIuiXMaqyB8+7J7Ig+TArlkTfbuuePKVleIH2yjA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\nyv8vV+bPhw9+ED70IXN9ipr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