Changes between Version 4 and Version 5 of Tutorials

Timestamp:

Mar 7, 2016, 2:50:48 PM (10 years ago)

Author:

fma

Comment:

--

Tutorials

@@ -16 +16 @@
 
 As Py4bot has a nice 3D simulation engine, based on [http://vpython.org VPython], for this example, we are going to setup an application for a simulated 3DoF hexapod.
-
-To control the simulation, we are going to use a [http://www.thrustmaster.com/en_IN/products/firestorm-dual-analog-3 Thrustmaster Firestorm Dual Analog 3] gamepad.
 
 All usefull classes are available from the '''{{{api.py}}}''' module. So, we just have to import things from here. Let's create a '''{{{hexapod.py}}}''' file to put our code, and import what we are going to use in this tutorial:
@@ -151 +149 @@
 Some of these values seem obvious, some don't; we'll discuss all this later.
 
-Now, let's create our robot. In '''{{{hexapod.py}}}''', add:
+We need to create our remote control, in order to drive our simulated robot. for this example, let's use an old gamepad, a [http://www.thrustmaster.com/en_IN/products/firestorm-dual-analog-3 Thrustmaster Firestorm Dual Analog 3]. As I own such gamepad, I already added support in Py4bot.
+
+Back in '''{{{hexapod.py}}}''':
+
+{{{
+#!python
+
+class Gamepad(api4bot.RemoteControl):
+    def _createFrontend(self):
+        return FrontendFactory().create("thrustmaster", path=THRUSTMASTER_PATH)
+
+    def _buildComponents(self):
+        self._addButton(command=api4bot.GaitSequencer().walkStop, key="button_000")
+        self._addButton(command=api4bot.GaitSequencer().walkStep, key="button_003")
+
+        self._addButton(command=api4bot.GaitSequencer().selectPrevGait, key="button_009", trigger="hold")
+        self._addButton(command=api4bot.GaitSequencer().selectNextGait, key="button_008", trigger="hold")
+
+        self._addJoystick(command=api4bot.GaitSequencer().walk, keys=("analog_02", "analog_03", "analog_00"), mapper=api4bot.MapperWalk())
+
+        self._addButton(command=self.robot.incBodyPosition, key="button_004", mapper=api4bot.MapperSetValue(dz=+5))
+        self._addButton(command=self.robot.incBodyPosition, key="button_005", mapper=api4bot.MapperSetValue(dz=-5))
+
+        self._addAnalog(command=self.robot.setBodyExtraPosition, key="analog_01", modifier="button_006", mapper=api4bot.MapperSet('z'))
+}}}
+
+Now, let's create our robot. Still in '''{{{hexapod.py}}}''', add:
 
 {{{
@@ -199 +223 @@
 }}}
 
+Final steps are: instanciate the gamepad, launch the gait sequencer, and run the robot!
+
+{{{
+#!python
+
+    remote = Gamepad(robot)
+
+    GaitSequencer().start()
+    remote.start()
+
+    robot.setBodyPosition(z=-100)
+    GaitManager().select("riple")
+
+    robot.mainLoop()
+
+    remote.stop()
+    remote.join()
+    GaitSequencer().stop()
+    GaitSequencer().join()
+}}}