{
 "cells": [
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "#ET – Niveau 1 - Python\n",
    "\n",
    "##TP1"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "# Premier Contact\n",
    "\n",
    "#####Le projet [Seti](http://setiathome.free.fr/) vient de faire un communiqué: ils ont établi le contact!\n",
    "\n",
    "Grâce à la puissance cumulée de milliers d'ordinateurs, ils ont pu retranscrire visuellement une partie du message intercepté depuis l'espace.\n",
    "\n",
    "le voici:\n",
    "\n",
    "- éxécutes le code grâce au raccourci 'ctrl + enter'"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 1,
   "metadata": {
    "collapsed": false
   },
   "outputs": [],
   "source": [
    "import pypot,time\n",
    "from poppy.creatures import PoppyHumanoid\n",
    "messager = PoppyHumanoid(simulator='vrep')\n",
    "time.sleep(1)\n",
    "messager.r_shoulder_x.goto_position(-5,0.5)\n",
    "messager.l_shoulder_x.goto_position(5,0.5)\n",
    "messager.head_z.goto_position(30,1,wait=True)\n",
    "messager.l_shoulder_x.goto_position(90,2)\n",
    "messager.l_arm_z.goto_position(90,2)\n",
    "messager.abs_z.goto_position(10,2)\n",
    "messager.l_elbow_y.goto_position(-120,2,wait=True)\n",
    "for i in range(3):\n",
    "    messager.l_elbow_y.goto_position(-90,0.5,wait=True)\n",
    "    messager.l_elbow_y.goto_position(-120,0.5,wait=True)   \n",
    "messager.l_shoulder_x.goto_position(5,2)\n",
    "messager.l_arm_z.goto_position(0,2)\n",
    "messager.l_elbow_y.goto_position(0,2,wait=True)\n",
    "messager.head_y.goto_position(10,1)\n",
    "messager.head_z.goto_position(0,1,wait=True)\n",
    "time.sleep(1)\n",
    "messager.stop_simulation()\n",
    "pypot.vrep.close_all_connections()"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "#####Ce messager semble amical ; nous devrions essayer de lui repondre.\n",
    "\n",
    "#####Mais pour communiquer il nous faut un langage commun...\n",
    "<u>essayons:</u>"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {
    "collapsed": false
   },
   "outputs": [],
   "source": [
    "import time\n",
    "from poppy.creatures import PoppyTorso\n",
    "poppy=PoppyTorso(simulator='vrep')"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## Voilà notre interprète, Poppy.\n",
    "\n",
    "#####C'est lui qui va nous servir à communiquer, comment me direz vous : grâce au langage des signes!\n",
    "\n",
    "#####C'est parti!\n",
    "\n",
    "\n",
    "###Tu es prêt Poppy?"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "metadata": {
    "collapsed": false
   },
   "outputs": [],
   "source": [
    "# oui\n",
    "\n",
    "poppy.head_y.goal_position = 20\n",
    "time.sleep(1)\n",
    "poppy.head_y.goal_position = -20\n",
    "time.sleep(1)\n",
    "poppy.head_y.goal_position = 20\n",
    "time.sleep(1)\n",
    "poppy.head_y.goal_position = -20\n",
    "time.sleep(1)\n",
    "poppy.head_y.goal_position = 0"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "####oh! tu bouges vraiment comme un robot... pas terrible tout ça ; tu n'es pas d'accord ?\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 4,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "# non\n",
    "\n",
    "poppy.head_z.goal_position = 40\n",
    "time.sleep(1)\n",
    "poppy.head_z.goal_position = -40\n",
    "time.sleep(1)\n",
    "poppy.head_z.goal_position = 40\n",
    "time.sleep(1)\n",
    "poppy.head_z.goal_position = -40\n",
    "time.sleep(1)\n",
    "poppy.head_z.goal_position = 0"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "#### Vraiment ?"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 5,
   "metadata": {
    "collapsed": false
   },
   "outputs": [],
   "source": [
    "# NON\n",
    "\n",
    "poppy.head_z.goal_position = 90\n",
    "time.sleep(0.5)\n",
    "poppy.head_z.goal_position = -90\n",
    "time.sleep(0.5)\n",
    "poppy.head_z.goal_position = 90\n",
    "time.sleep(0.5)\n",
    "poppy.head_z.goal_position = -90\n",
    "time.sleep(0.5)\n",
    "poppy.head_z.goal_position = 0"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "####Doucement, pas besoin de s'énerver... il n'y aurait pas un moyen de controler la vitesse de tes mouvements?"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 6,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "# oui\n",
    "\n",
    "poppy.head_y.goal_position = 40\n",
    "time.sleep(0.5)\n",
    "poppy.head_y.goal_position = -40\n",
    "time.sleep(1)\n",
    "poppy.head_y.goal_position = 40\n",
    "time.sleep(1)\n",
    "poppy.head_y.goal_position = -40\n",
    "time.sleep(1)\n",
    "poppy.head_y.goal_position = 0"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "####Comment ?!"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 7,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "# chutttt\n",
    "\n",
    "poppy.l_arm_z.goto_position(-40,1,wait=True)\n",
    "poppy.l_shoulder_y.goto_position(-40,1,wait=True)\n",
    "poppy.l_elbow_y.goto_position(40,1,wait=True)\n",
    "time.sleep(1)\n",
    "poppy.l_arm_z.goal_position=0\n",
    "poppy.l_shoulder_y.goal_position=-90\n",
    "poppy.l_elbow_y.goal_position=20\n"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "#### mais c'est quoi ce \"goto\" ???! tu m'expliques ?"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 8,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "# NON\n",
    "\n",
    "poppy.head_z.goto_position(40, 0.3 ,wait=True)\n",
    "poppy.head_z.goto_position(-40, 0.3 ,wait=True)\n",
    "\n",
    "poppy.head_z.goto_position(40, 0.9 ,wait=True)\n",
    "poppy.head_z.goto_position(-40, .9 ,wait=True)\n",
    "\n",
    "poppy.head_z.goto_position(40, 1 ,wait=True)\n",
    "poppy.head_z.goto_position(-40, 1.5 ,wait=True)\n",
    "\n",
    "poppy.head_z.goto_position(40, 3 ,wait=True)\n",
    "poppy.head_z.goto_position(-40, 5 ,wait=True)\n",
    "\n",
    "poppy.head_z.goal_position = 0"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "#### Pas grave, j'ai compris ^^ !"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "#### j'aimerais en savoir un peu plus sur toi, tu as beaucoup de moteurs ?"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "print len(poppy.motors)"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "#### hey, mais c'est encore ce poppy.motors?"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "print type(poppy.motors)"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "#### C'est quoi une liste ?!"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "for m in poppy.motors:\n",
    "    print m.name\n",
    "    print \"----\""
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "#### ah, c'est une sorte de boite qui contient de l'information ?"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "# OUI\n",
    "\n",
    "for i in range(50,150,25):\n",
    "    i= i*0.01\n",
    "    poppy.head_y.goto_position(15, i ,wait=True)\n",
    "    poppy.head_y.goto_position(-15, i ,wait=True)\n",
    "    print i\n",
    "poppy.head_y.goto_position(0,0.1,wait=True)"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "####Et si on communiquait...\n",
    "\n",
    "Trouves les commandes adéquates pour que Poppy te salue de la main."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "# essaies ton propre code!\n",
    "\n"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {
    "collapsed": true
   },
   "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": false
   },
   "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')\n"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "#### Tu as fini? coupes la simulation ici:"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 10,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "import pypot\n",
    "poppy.stop_simulation()\n",
    "pypot.vrep.close_all_connections()"
   ]
  }
 ],
 "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
}