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Apr 18th, 2015
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  1. {
  2. "cells": [
  3. {
  4. "cell_type": "code",
  5. "execution_count": 1,
  6. "metadata": {
  7. "collapsed": false
  8. },
  9. "outputs": [],
  10. "source": [
  11. "from poppy.creatures import PoppyErgoJr\n",
  12. "\n",
  13. "jr = PoppyErgoJr()"
  14. ]
  15. },
  16. {
  17. "cell_type": "code",
  18. "execution_count": 2,
  19. "metadata": {
  20. "collapsed": false
  21. },
  22. "outputs": [],
  23. "source": [
  24. "import time\n",
  25. "\n",
  26. "from pypot.primitive import Primitive\n",
  27. "\n",
  28. "class Jump(Primitive):\n",
  29. " def setup(self):\n",
  30. " self.up = {'m1': 0, 'm2': -10, 'm3': -20, 'm4': 0, 'm5': -35, 'm6': -35}\n",
  31. " self.down = {'m1': 0, 'm2': -75, 'm3': 55, 'm4': 0, 'm5': 35, 'm6': 35}\n",
  32. " \n",
  33. " for m in self.robot.motors:\n",
  34. " m.compliant = False\n",
  35. " m.pid = (10., 0., 0.)\n",
  36. " m.moving_speed = 0.\n",
  37. " \n",
  38. " def run(self):\n",
  39. " while not self.should_stop():\n",
  40. " if self.should_pause():\n",
  41. " self.wait_to_resume()\n",
  42. " \n",
  43. " for name, p in self.up.items():\n",
  44. " m = getattr(self.robot, name)\n",
  45. " m.moving_speed = 0\n",
  46. " m.goal_position = p\n",
  47. " time.sleep(.2) \n",
  48. " \n",
  49. " for name, p in self.down.items():\n",
  50. " m = getattr(self.robot, name)\n",
  51. " m.moving_speed = 250.\n",
  52. " m.goal_position = p \n",
  53. " time.sleep(.4)\n",
  54. " \n",
  55. " def teardown(self):\n",
  56. " for m in self.robot.motors:\n",
  57. " m.pid = (4., 0., 0.)"
  58. ]
  59. },
  60. {
  61. "cell_type": "code",
  62. "execution_count": 3,
  63. "metadata": {
  64. "collapsed": false
  65. },
  66. "outputs": [],
  67. "source": [
  68. "jump = Jump(jr)"
  69. ]
  70. },
  71. {
  72. "cell_type": "code",
  73. "execution_count": 4,
  74. "metadata": {
  75. "collapsed": false
  76. },
  77. "outputs": [],
  78. "source": [
  79. "jump.start()"
  80. ]
  81. },
  82. {
  83. "cell_type": "code",
  84. "execution_count": 5,
  85. "metadata": {
  86. "collapsed": false
  87. },
  88. "outputs": [],
  89. "source": [
  90. "jump.stop()"
  91. ]
  92. }
  93. ],
  94. "metadata": {
  95. "kernelspec": {
  96. "display_name": "Python 2",
  97. "language": "python",
  98. "name": "python2"
  99. },
  100. "language_info": {
  101. "codemirror_mode": {
  102. "name": "ipython",
  103. "version": 2
  104. },
  105. "file_extension": ".py",
  106. "mimetype": "text/x-python",
  107. "name": "python",
  108. "nbconvert_exporter": "python",
  109. "pygments_lexer": "ipython2",
  110. "version": "2.7.9"
  111. }
  112. },
  113. "nbformat": 4,
  114. "nbformat_minor": 0
  115. }
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