104 lines
2.9 KiB
Python
104 lines
2.9 KiB
Python
"""
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Sets up the robot in init position, you control the head with the xbox controller
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"""
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import time
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import numpy as np
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from mini_bdx_runtime.rustypot_position_hwi import HWI
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from mini_bdx_runtime.duck_config import DuckConfig
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from mini_bdx_runtime.xbox_controller import XBoxController
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from mini_bdx_runtime.eyes import Eyes
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from mini_bdx_runtime.sounds import Sounds
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from mini_bdx_runtime.antennas import Antennas
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from mini_bdx_runtime.projector import Projector
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duck_config = DuckConfig()
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xbox_controller = XBoxController(50, only_head_control=True)
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if duck_config.speaker:
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sounds = Sounds(volume=1.0, sound_directory="../mini_bdx_runtime/assets/")
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if duck_config.antennas:
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antennas = Antennas()
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if duck_config.eyes:
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eyes = Eyes()
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if duck_config.projector:
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projector = Projector()
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hwi = HWI(duck_config)
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kps = [8] * 14
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kds = [0] * 14
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hwi.set_kps(kps)
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hwi.set_kds(kds)
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hwi.turn_on()
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limits = {
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"neck_pitch": [-20, 60],
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"head_pitch": [-60, 45],
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"head_yaw": [-60, 60],
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"head_roll": [-20, 20],
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}
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try:
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while True:
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last_commands, buttons, left_trigger, right_trigger = (
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xbox_controller.get_last_command()
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)
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l_x = last_commands[5]
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l_y = last_commands[4]
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r_x = last_commands[6]
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# r_y = last_commands[3]
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head_yaw_deg = (
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l_x * (limits["head_yaw"][1] - limits["head_yaw"][0]) / 2
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+ (limits["head_yaw"][1] + limits["head_yaw"][0]) / 2
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)
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head_yaw_pos_rad = np.deg2rad(head_yaw_deg)
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head_roll_deg = (
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r_x * (limits["head_roll"][1] - limits["head_roll"][0]) / 2
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+ (limits["head_roll"][1] + limits["head_roll"][0]) / 2
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)
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head_roll_pos_rad = np.deg2rad(head_roll_deg)
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head_pitch_deg = (
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l_y * (limits["head_pitch"][1] - limits["head_pitch"][0]) / 2
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+ (limits["head_pitch"][1] + limits["head_pitch"][0]) / 2
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)
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head_pitch_pos_rad = np.deg2rad(head_pitch_deg)
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# neck_pitch_deg = (
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# -r_y * (limits["neck_pitch"][1] - limits["neck_pitch"][0]) / 2
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# + (limits["neck_pitch"][1] + limits["neck_pitch"][0]) / 2
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# )
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# neck_pitch_pos_rad = np.deg2rad(neck_pitch_deg)
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hwi.set_position("head_yaw", head_yaw_pos_rad)
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hwi.set_position("head_roll", head_roll_pos_rad)
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hwi.set_position("head_pitch", head_pitch_pos_rad)
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# hwi.set_position("neck_pitch", neck_pitch_pos_rad)
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if duck_config.antennas:
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antennas.set_position_left(right_trigger)
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antennas.set_position_right(left_trigger)
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if buttons.B.triggered:
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if duck_config.speaker:
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sounds.play_random_sound()
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if buttons.X.triggered:
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if duck_config.projector:
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projector.switch()
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# pygame.event.pump() # process event queue
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time.sleep(1 / 60)
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except KeyboardInterrupt:
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if duck_config.antennas:
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antennas.stop()
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