Changes between Version 12 and Version 13 of Tutorial5AdvancedRemoteControlUsage


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Timestamp:
Nov 29, 2017, 7:32:59 PM (8 years ago)
Author:
fma
Comment:

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  • Tutorial5AdvancedRemoteControlUsage

    v12 v13  
    2020        self._addConfig("body")
    2121
    22         self._addComponent(Button, command=self.selectNextConfig, key="button_003", trigger="hold")
     22        self._addComponent(Button, command=self.selectNextConfig, key="digital_003", trigger="hold")
    2323
    24         self._addComponent(Button, configs="walk", command=GaitSequencer().walkStop, key="button_000")
    25         self._addComponent(Button, configs="walk", command=GaitSequencer().walkStep, key="button_002")
    26         self._addComponent(Button, configs="walk", command=GaitSequencer().selectNextGait, key="button_006", trigger="hold")
    27         self._addComponent(Button, configs="walk", command=GaitSequencer().selectPrevGait, key="button_007", trigger="hold")
     24        self._addComponent(Button, configs="walk", command=GaitSequencer().walkStop, key="digital_000")
     25        self._addComponent(Button, configs="walk", command=GaitSequencer().walkStep, key="digital_002")
     26        self._addComponent(Button, configs="walk", command=GaitSequencer().selectNextGait, key="digital_006", trigger="hold")
     27        self._addComponent(Button, configs="walk", command=GaitSequencer().selectPrevGait, key="digital_007", trigger="hold")
    2828
    2929        self._addComponent(Joystick, configs="walk", command=GaitSequencer().walk, keys=("analog_02", "analog_03", "analog_00"), mapper=MapperWalk())
    3030
    3131        # Body inc. translation
    32         self._addComponent(Analog, command=self.robot.incBodyPosition, key="analog_04", modifier="button_008", mapper=MapperSetMultiply('dx', coef=5))
    33         self._addComponent(Analog, command=self.robot.incBodyPosition, key="analog_05", modifier="button_008", mapper=MapperSetMultiply('dy', coef=5))
    34         self._addComponent(Button, command=self.robot.incBodyPosition, key="button_004", modifier="button_008", mapper=MapperSetValue(dz=+10))
    35         self._addComponent(Button, command=self.robot.incBodyPosition, key="button_005", modifier="button_008", mapper=MapperSetValue(dz=-10))
     32        self._addComponent(Analog, command=self.robot.incBodyPosition, key="analog_04", modifier="digital_008", mapper=MapperSetMultiply('dx', coef=5))
     33        self._addComponent(Analog, command=self.robot.incBodyPosition, key="analog_05", modifier="digital_008", mapper=MapperSetMultiply('dy', coef=5))
     34        self._addComponent(Button, command=self.robot.incBodyPosition, key="digital_004", modifier="digital_008", mapper=MapperSetValue(dz=+10))
     35        self._addComponent(Button, command=self.robot.incBodyPosition, key="digital_005", modifier="digital_008", mapper=MapperSetValue(dz=-10))
    3636
    3737        # Body inc. rotation
    38         self._addComponent(Analog, command=self.robot.incBodyPosition, key="analog_04", modifier="button_009", mapper=MapperSetMultiply('droll', coef=5))
    39         self._addComponent(Analog, command=self.robot.incBodyPosition, key="analog_05", modifier="button_009", mapper=MapperSetMultiply('dpitch', coef=-5))
    40         self._addComponent(Button, command=self.robot.incBodyPosition, key="button_004", modifier="button_009", mapper=MapperSetValue(dyaw=+5))
    41         self._addComponent(Button, command=self.robot.incBodyPosition, key="button_006", modifier="button_009", mapper=MapperSetValue(dyaw=-5))
     38        self._addComponent(Analog, command=self.robot.incBodyPosition, key="analog_04", modifier="digital_009", mapper=MapperSetMultiply('droll', coef=5))
     39        self._addComponent(Analog, command=self.robot.incBodyPosition, key="analog_05", modifier="digital_009", mapper=MapperSetMultiply('dpitch', coef=-5))
     40        self._addComponent(Button, command=self.robot.incBodyPosition, key="digital_004", modifier="digital_009", mapper=MapperSetValue(dyaw=+5))
     41        self._addComponent(Button, command=self.robot.incBodyPosition, key="digital_006", modifier="digital_009", mapper=MapperSetValue(dyaw=-5))
    4242
    4343        # Body extra translation
    44         self._addComponent(Analog, configs="body", command=self.robot.setBodyExtraPosition, key="analog_02", modifier="button_008", mapper=MapperSetMultiply('x', coef=30))
    45         self._addComponent(Analog, configs="body", command=self.robot.setBodyExtraPosition, key="analog_03", modifier="button_008", mapper=MapperSetMultiply('y', coef=30))
    46         self._addComponent(Analog, configs="body", command=self.robot.setBodyExtraPosition, key="analog_01", modifier="button_008", mapper=MapperSetMultiply('z', coef=20))
     44        self._addComponent(Analog, configs="body", command=self.robot.setBodyExtraPosition, key="analog_02", modifier="digital_008", mapper=MapperSetMultiply('x', coef=30))
     45        self._addComponent(Analog, configs="body", command=self.robot.setBodyExtraPosition, key="analog_03", modifier="digital_008", mapper=MapperSetMultiply('y', coef=30))
     46        self._addComponent(Analog, configs="body", command=self.robot.setBodyExtraPosition, key="analog_01", modifier="digital_008", mapper=MapperSetMultiply('z', coef=20))
    4747
    4848        # Body extra rotation
    49         self._addComponent(Analog, configs="body", command=self.robot.setBodyExtraPosition, key="analog_00", modifier="button_009", mapper=MapperSetMultiply('yaw', coef=-10))
    50         self._addComponent(Analog, configs="body", command=self.robot.setBodyExtraPosition, key="analog_03", modifier="button_009", mapper=MapperSetMultiply('pitch', coef=-10))
    51         self._addComponent(Analog, configs="body", command=self.robot.setBodyExtraPosition, key="analog_02", modifier="button_009", mapper=MapperSetMultiply('roll', coef=10))
     49        self._addComponent(Analog, configs="body", command=self.robot.setBodyExtraPosition, key="analog_00", modifier="digital_009", mapper=MapperSetMultiply('yaw', coef=-10))
     50        self._addComponent(Analog, configs="body", command=self.robot.setBodyExtraPosition, key="analog_03", modifier="digital_009", mapper=MapperSetMultiply('pitch', coef=-10))
     51        self._addComponent(Analog, configs="body", command=self.robot.setBodyExtraPosition, key="analog_02", modifier="digital_009", mapper=MapperSetMultiply('roll', coef=10))
    5252
    5353        # Inc feet neutral position
    54         self._addComponent(Button, command=self.robot.incFeetNeutral, key="button_005", mapper=MapperSetValue(dneutral=-10))
    55         self._addComponent(Button, command=self.robot.incFeetNeutral, key="button_007", mapper=MapperSetValue(dneutral=+10))
     54        self._addComponent(Button, command=self.robot.incFeetNeutral, key="digital_005", mapper=MapperSetValue(dneutral=-10))
     55        self._addComponent(Button, command=self.robot.incFeetNeutral, key="digital_007", mapper=MapperSetValue(dneutral=+10))
    5656}}}
    5757