{
 "cells": [
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "##Decouverte – Niveau 1 - Python\n",
    "\n",
    "###TP2"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "Pour commencer votre programme python devra contenir les lignes de code ci-dessous et le logiciel V-REP devra être lancé.\n",
    "\n",
    "\n",
    "- Dans V-REP (en haut à gauche) utilise les deux icones flèche pour déplacer la vue et regarder poppy sous tous les angles.<br>\n",
    "- Dans notebook, utilise le raccourci 'Ctrl+Enter' pour éxécuter les commandes."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "collapsed": false
   },
   "outputs": [],
   "source": [
    "import time\n",
    "from poppy.creatures import PoppyTorso\n",
    "poppy = PoppyTorso(simulator='vrep')"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "<u>Rappel :</u><br>\n",
    "Nom=poppy.nom_du_moteur.name <br>\n",
    "Position=poppy.Nom.present_position<br>\n",
    "poppy.Nom.goal_position = valeur en degrès entre -180° et + 180°"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "###Boucle et memoire\n",
    "\n",
    "####Les listes\n",
    "\n",
    "Comme évoqué dans le TP1, une liste sert à stocker de l'information, elle permet de définir une structure de données en groupant l'information.\n",
    "\n",
    "Essaies les commandes:"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "collapsed": false
   },
   "outputs": [],
   "source": [
    "L=[]\n",
    "m=poppy.head_z\n",
    "L.append(m.name)\n",
    "L.append(m.present_position)\n",
    "print(L) # liste complète  \n",
    "print( L[0]) # élément d'indice 0 de la liste L\n",
    "print(L[1]) # élément d'indice 1 de la liste L"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "On voit ici que la liste L contient 2 éléments, le nom du moteur et sa position ; \n",
    "<br>On voit également que ces éléments sont accessibles via le nom de la liste suivi du numero d'index entre crochet."
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "Attention, c'est l'ordre d'ajout des éléments dans la liste qui détermine le numéro d'index.\n",
    "\n",
    "Essaie les commandes:"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "collapsed": false
   },
   "outputs": [],
   "source": [
    "L2=[]\n",
    "m=poppy.head_z\n",
    "\n",
    "L2.append(m.present_position)\n",
    "L2.append(m.name)\n",
    "print(L2) # liste complète  \n",
    "print( L2[1]) # élément d'indice 1 de la liste L\n",
    "print(L2[0]) # élément d'indice 0 de la liste L"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "Les listes L et L2 sont-elles identiques ? oui / non\n",
    "\n",
    "Vérifions:"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "collapsed": false
   },
   "outputs": [],
   "source": [
    "print L == L2"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "La subtilité est:"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "collapsed": false
   },
   "outputs": [],
   "source": [
    "print L[0] == L2[1]\n",
    "print L[1] == L2[0]\n",
    "print L, L2"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "\n",
    "Différentes listes sont directement accécibles comme :"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "collapsed": false
   },
   "outputs": [],
   "source": [
    "poppy.motors"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "collapsed": false
   },
   "outputs": [],
   "source": [
    "poppy.alias"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "<u>Comment les exploiter?</u>\n",
    "\n",
    "####Boucle \"for\"\n",
    "\n",
    "Ce que nous voulons faire:<br>\n",
    "Creer une boucle <b>for</b> (<i>pour</i>) que <b>m</b> (<i>une variable</i>) prenne chacune des valeurs <b>in</b> (<i>dans</i>) <b>poppy.motors</b> (<i>la liste</i>)  et <b>:</b> (<i>faire</i>), <b>append</b> (<i>ajouter</i>) cette valeur (contenu dans m) dans une nouvelle liste (<i>L</i>).<br>\n",
    "\n",
    "Ceci se traduit par :"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "collapsed": false
   },
   "outputs": [],
   "source": [
    "L=[]\n",
    "for m in poppy.motors :\n",
    "    L.append(m.name)\n",
    "print(L)"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "d'autres syntaxes possibles:"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "# Pour afficher\n",
    "for m in L: print(m)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "# Pour créer une liste\n",
    "for m in poppy.motors : L.append(m.name)\n",
    "for m in L: print(m)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "collapsed": false
   },
   "outputs": [],
   "source": [
    "# Pour créer une liste\n",
    "L=[m.name for m in poppy.motors]\n",
    "for m in L: print(m)"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "##Application:\n",
    "\n",
    "####Recréer la liste alias r_arm:\n",
    "\n",
    "Alias est une liste qui contient tous les moteurs (articulation) associés au bras droit.\n",
    "Recrées la."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "collapsed": false
   },
   "outputs": [],
   "source": [
    "print poppy.alias\n",
    "for m in poppy.r_arm: print(m)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "collapsed": false
   },
   "outputs": [],
   "source": [
    "# essaies ton code ici\n",
    "\n",
    "bras_droit = []\n",
    "\n"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "_________________________________________________________________\n",
    "\n",
    "\n",
    "#### Tu as raté? c'est pas grâve, recommmence, essaies ces lignes pour redémarrer :"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "messager.reset_simulation()"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "#### Encore buger ? essaies celles-ci :"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "collapsed": false
   },
   "outputs": [],
   "source": [
    "import pypot\n",
    "poppy.stop_simulation()\n",
    "pypot.vrep.close_all_connections()\n",
    "\n",
    "from poppy.creatures import PoppyTorso\n",
    "poppy=PoppyTorso(simulator='vrep')"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {
    "collapsed": false
   },
   "source": [
    "####Tu as fini? coupes la simulation ici:"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "import pypot\n",
    "poppy.stop_simulation()\n",
    "pypot.vrep.close_all_connections()"
   ]
  }
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