{
 "cells": [
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "##Decouverte – Niveau 1 - Python\n",
    "\n",
    "###TP3"
   ]
  },
  {
   "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": [
    "from poppy.creatures import PoppyTorso\n",
    "poppy = PoppyTorso(simulator='vrep')"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "<h2>Boucle et memoire</h2>\n",
    "\n",
    "<h3>Les dictionnaires</h3>\n",
    "\n",
    "Les dictionnaires varient des listes dans l'accès aux éléments.\n",
    "\n",
    "Comme nous l'avons vu l'accès aux éléments de la liste se fait grâce à leur numéro d'index.<br>\n",
    "Pour accéder aux éléments d'un dictionnaire, nous passons par une clé.\n",
    "\n",
    "Essaies les commandes:"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "collapsed": false
   },
   "outputs": [],
   "source": [
    "print \"\\n------------\\nDico :\"\n",
    "dico = {}\n",
    "for m in poppy.motors: dico[m.name] = m.present_position\n",
    "print dico\n",
    "\n",
    "print '\\n------------'\n",
    "print 'Valeur à la clé head_z :', dico['head_z']\n",
    "print 'Valeur à la clé head_y :', dico['head_y']\n",
    "print 'Valeur à la clé l_arm_z :', dico['l_arm_z']\n",
    "\n",
    "print '\\n------------\\nDico :'\n",
    "for m in dico:\n",
    "    print 'cle: ',m\n",
    "    print 'valeur : ',dico[m]\n",
    "    print '-'\n",
    "print 'fin\\n-------------'"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "Ainsi, il suffit de connaitre la clé pour récupérer l'information associée.<br>\n",
    "Cette information stockée peut-être: du texte, une variable, une liste, un dicitionnaire, etc\n",
    "\n",
    "Pour récupérer l'ensemble des clés d'un dictionnaire essaies la commande:"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "collapsed": false
   },
   "outputs": [],
   "source": [
    "dico = { m.name : m.present_position for m in poppy.motors }\n",
    "cle = dico.keys()\n",
    "print cle\n",
    "\n",
    "compteur = 0\n",
    "for m in cle:\n",
    "    compteur = compteur + 1\n",
    "    print 'clé : ', m\n",
    "    \n",
    "print '\\nNombre total de clé = ', compteur\n",
    "print \"Nombre d'élément dans la liste 'cle' = \", len(cle)"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "<h3>Boucle while & condition</h3>"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "Essaies les commandes:"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "poppy.head_z.goal_position = 0\n",
    "poppy.head_z.goal_position = 90\n",
    "poppy.head_z.goal_position = 0"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "- Se passe-t-il quelque chose ? oui / non\n",
    "- Y-a-t-il un bug ? oui / non\n",
    "- les commandes s'éxecutent-t-elles? oui / non\n",
    "- trop vite? oui / non\n",
    "\n",
    "Essaies les commandes:"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "import time\n",
    "poppy.head_z.goal_position = 0\n",
    "time.sleep(.1)\n",
    "poppy.head_z.goal_position = 90\n",
    "time.sleep(.1)\n",
    "poppy.head_z.goal_position = 0"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "On comprend mieux ce qu'il se passe: les commandes s'éxecutent trop rapidement pour l'observer.\n",
    "\n",
    "On voudrait trouver une méthode pour attendre qu'une condition soit remplie ; autrement dit:\n",
    "\n",
    "Tant que (while) 'attendre' est vrai (True) : (faire), si (if) la position du moteur est égale (==) à la position voulue : (faire), 'attendre' devient faux (False).\n",
    "\n",
    "Ceci se traduit par:"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "collapsed": false
   },
   "outputs": [],
   "source": [
    "attendre = True\n",
    "\n",
    "poppy.head_z.goal_position = 90\n",
    "\n",
    "while attendre == True:\n",
    "    time.sleep(1)\n",
    "    if poppy.head_z.present_position == 90:\n",
    "        attendre = False\n",
    "        \n",
    "poppy.head_z.goal_position = 0"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "On peut même récupérer le temps (approximatif) qu'il a fallu pour effectuer le mouvement.\n",
    "\n",
    "Comment ?\n",
    "\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "collapsed": false
   },
   "outputs": [],
   "source": [
    "#essaies ton code ici\n",
    "\n",
    "\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "collapsed": false
   },
   "outputs": [],
   "source": [
    "# correction\n",
    "def time_position(m,goal,unite=0.001):\n",
    "    start,attendre,tps=m.present_position,True,0\n",
    "    poppy.head_z.goal_position = goal\n",
    "    while attendre==True:\n",
    "        time.sleep(unite)         \n",
    "        if poppy.head_z.present_position == goal: attendre=False\n",
    "        else: tps+=1\n",
    "    poppy.head_z.goal_position = start\n",
    "    return tps\n",
    "\n",
    "print time_position(poppy.head_z,90), 'milliseconde'\n",
    "time.sleep(1)\n",
    "print time_position(poppy.head_z,90,1), 'seconde'\n",
    "time.sleep(1)\n",
    "print time_position(poppy.head_z,90,.1), 'dixième de seconde'\n",
    "time.sleep(1)\n",
    "print time_position(poppy.head_z,90,.01), 'centième de seconde'\n",
    "\n",
    "for i in range(5): #problème précision\n",
    "    time.sleep(0.5)\n",
    "    print time_position(poppy.head_z,90)"
   ]
  },
  {
   "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": true
   },
   "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": {},
   "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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