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- {
- "cells": [
- {
- "cell_type": "code",
- "execution_count": 1,
- "metadata": {
- "collapsed": false
- },
- "outputs": [],
- "source": [
- "from poppy.creatures import PoppyErgoJr\n",
- "\n",
- "jr = PoppyErgoJr()"
- ]
- },
- {
- "cell_type": "code",
- "execution_count": 2,
- "metadata": {
- "collapsed": false
- },
- "outputs": [],
- "source": [
- "import time\n",
- "\n",
- "from pypot.primitive import Primitive\n",
- "\n",
- "class Jump(Primitive):\n",
- " def setup(self):\n",
- " self.up = {'m1': 0, 'm2': -10, 'm3': -20, 'm4': 0, 'm5': -35, 'm6': -35}\n",
- " self.down = {'m1': 0, 'm2': -75, 'm3': 55, 'm4': 0, 'm5': 35, 'm6': 35}\n",
- " \n",
- " for m in self.robot.motors:\n",
- " m.compliant = False\n",
- " m.pid = (10., 0., 0.)\n",
- " m.moving_speed = 0.\n",
- " \n",
- " def run(self):\n",
- " while not self.should_stop():\n",
- " if self.should_pause():\n",
- " self.wait_to_resume()\n",
- " \n",
- " for name, p in self.up.items():\n",
- " m = getattr(self.robot, name)\n",
- " m.moving_speed = 0\n",
- " m.goal_position = p\n",
- " time.sleep(.2) \n",
- " \n",
- " for name, p in self.down.items():\n",
- " m = getattr(self.robot, name)\n",
- " m.moving_speed = 250.\n",
- " m.goal_position = p \n",
- " time.sleep(.4)\n",
- " \n",
- " def teardown(self):\n",
- " for m in self.robot.motors:\n",
- " m.pid = (4., 0., 0.)"
- ]
- },
- {
- "cell_type": "code",
- "execution_count": 3,
- "metadata": {
- "collapsed": false
- },
- "outputs": [],
- "source": [
- "jump = Jump(jr)"
- ]
- },
- {
- "cell_type": "code",
- "execution_count": 4,
- "metadata": {
- "collapsed": false
- },
- "outputs": [],
- "source": [
- "jump.start()"
- ]
- },
- {
- "cell_type": "code",
- "execution_count": 5,
- "metadata": {
- "collapsed": false
- },
- "outputs": [],
- "source": [
- "jump.stop()"
- ]
- }
- ],
- "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
- }
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