Changes between Version 13 and Version 14 of Tutorial5AdvancedRemoteControlUsage


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Timestamp:
Nov 29, 2017, 7:34:08 PM (8 years ago)
Author:
fma
Comment:

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  • Tutorial5AdvancedRemoteControlUsage

    v13 v14  
    3030
    3131        # Body inc. translation
    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))
     32        self._addComponent(Axis, command=self.robot.incBodyPosition, key="analog_04", modifier="digital_008", mapper=MapperSetMultiply('dx', coef=5))
     33        self._addComponent(Axis, command=self.robot.incBodyPosition, key="analog_05", modifier="digital_008", mapper=MapperSetMultiply('dy', coef=5))
    3434        self._addComponent(Button, command=self.robot.incBodyPosition, key="digital_004", modifier="digital_008", mapper=MapperSetValue(dz=+10))
    3535        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="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))
     38        self._addComponent(Axis, command=self.robot.incBodyPosition, key="analog_04", modifier="digital_009", mapper=MapperSetMultiply('droll', coef=5))
     39        self._addComponent(Axis, command=self.robot.incBodyPosition, key="analog_05", modifier="digital_009", mapper=MapperSetMultiply('dpitch', coef=-5))
    4040        self._addComponent(Button, command=self.robot.incBodyPosition, key="digital_004", modifier="digital_009", mapper=MapperSetValue(dyaw=+5))
    4141        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="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))
     44        self._addComponent(Axis, configs="body", command=self.robot.setBodyExtraPosition, key="analog_02", modifier="digital_008", mapper=MapperSetMultiply('x', coef=30))
     45        self._addComponent(Axis, configs="body", command=self.robot.setBodyExtraPosition, key="analog_03", modifier="digital_008", mapper=MapperSetMultiply('y', coef=30))
     46        self._addComponent(Axis, 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="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))
     49        self._addComponent(Axis, configs="body", command=self.robot.setBodyExtraPosition, key="analog_00", modifier="digital_009", mapper=MapperSetMultiply('yaw', coef=-10))
     50        self._addComponent(Axis, configs="body", command=self.robot.setBodyExtraPosition, key="analog_03", modifier="digital_009", mapper=MapperSetMultiply('pitch', coef=-10))
     51        self._addComponent(Axis, configs="body", command=self.robot.setBodyExtraPosition, key="analog_02", modifier="digital_009", mapper=MapperSetMultiply('roll', coef=10))
    5252
    5353        # Inc feet neutral position
    … …  
    6666{{{RemoteControl}}} is a thread, running a infinite main loop. During an iteration, each {{{Component}}} is checked. If triggered, the {{{Component}}} sends its output to the {{{Mapper}}}, which in turn sends its output to the '''command''' callable.
    6767
    68 For {{{Button}}}, triggering depends on the optional '''trigger''' param. For {{{Switch}}}, triggering occurs when the state toggles. For {{{Analog}}}, triggering occurs when the value changes. For {{{Joystick}}}, triggering occurs when any value changes. If a '''modifier''' is specified, it must be pressed for the triggering to occur. It acts as a keyboard shift or control key. This way, the main key can be used in different {{{Component}}}s.
     68For {{{Button}}}, triggering depends on the optional '''trigger''' param. For {{{Switch}}}, triggering occurs when the state toggles. For {{{Axis}}}, triggering occurs when the value changes. For {{{Joystick}}}, triggering occurs when any value changes. If a '''modifier''' is specified, it must be pressed for the triggering to occur. It acts as a keyboard shift or control key. This way, the main key can be used in different {{{Component}}}s.
    6969
    7070For {{{Axis}}} and {{{Joystick}}}, a '''threshold''' param avoids false changes near 0: the value will only be triggered if it changed '''and''' if it is greater or equal than '''threshold'''.