Changes between Version 6 and Version 7 of Tutorials

Timestamp:

Mar 7, 2016, 3:45:52 PM (10 years ago)

Author:

fma

Comment:

--

Tutorials

@@ -24 +24 @@
 # -*- coding: utf-8 -*-
 
-from py4bot import api as api4bot
+from py4bot.api import *
 }}}
 
@@ -37 +37 @@
 
 
-class Hexapod(api4bot.Robot):
+class Hexapod(Robot):
     def _createLegs(self):
         legs = {}
         legIk = {}
         for legIndex in settings.LEGS_INDEX:
-            legs[legIndex] = api4bot.Leg3Dof(legIndex, {'coxa': Coxa(), 'femur': Femur(), 'tibia': Tibia()})
-            legIk[legIndex] = api4bot.Leg3DofIk(settings.LEGS_GEOMETRY[legIndex])
+            legs[legIndex] = Leg3Dof(legIndex, {'coxa': Coxa(), 'femur': Femur(), 'tibia': Tibia()})
+            legIk[legIndex] = Leg3DofIk(settings.LEGS_GEOMETRY[legIndex])
 
         return legs, legIk
 
     def _createActuatorPool(self):
-        driver = api4bot.VPython3Dof(settings.LEGS_INDEX, settings.LEGS_GEOMETRY, settings.LEGS_ORIGIN, settings.LEGS_SERVOS_MAPPING)
-        pool = api4bot.ActuatorPool(driver)
+        driver = VPython3Dof(settings.LEGS_INDEX, settings.LEGS_GEOMETRY, settings.LEGS_ORIGIN, settings.LEGS_SERVOS_MAPPING)
+        pool = ActuatorPool(driver)
 
         for leg in self._legs.values():
@@ -80 +80 @@
 # -*- coding: utf-8 -*-
 
-from py4bot import api as api4bot
+from py4bot import config
 
 
@@ -105 +105 @@
     'RR': {'x':  35., 'y': -80., 'gamma0' : 330.},
 }
-api4bot.config.initOrigin(LEGS_INDEX, LEGS_ORIGIN)
+config.initOrigin(LEGS_INDEX, LEGS_ORIGIN)
 
 # Legs (feet) neutral position (femur horizontal, tibia vertical)
@@ -134 +134 @@
     }
 }
-api4bot.config.initNeutral(LEGS_INDEX, LEGS_NEUTRAL)
+config.initNeutral(LEGS_INDEX, LEGS_NEUTRAL)
 
 # Legs / servos mapping
@@ -156 +156 @@
 #!python
 
-class Gamepad(api4bot.RemoteControl):
+class Gamepad(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'))
+        self._addButton(command=GaitSequencer().walkStop, key="button_000")
+        self._addButton(command=GaitSequencer().walkStep, key="button_003")
+
+        self._addButton(command=GaitSequencer().selectPrevGait, key="button_009", trigger="hold")
+        self._addButton(command=GaitSequencer().selectNextGait, key="button_008", trigger="hold")
+
+        self._addJoystick(command=GaitSequencer().walk, keys=("analog_02", "analog_03", "analog_00"), mapper=MapperWalk())
+
+        self._addButton(command=self.robot.incBodyPosition, key="button_004", mapper=MapperSetValue(dz=+5))
+        self._addButton(command=self.robot.incBodyPosition, key="button_005", mapper=MapperSetValue(dz=-5))
+
+        self._addAnalog(command=self.robot.setBodyExtraPosition, key="analog_01", modifier="button_006", mapper=MapperSet('z'))
 }}}
 
@@ -194 +194 @@
         legsIndexGroups = settings.GAIT_LEGS_GROUPS[gaitName]
         gaitParams = settings.GAIT_PARAMS[gaitName]
-        gait = api4bot.GaitFactory().create(gaitName, legsIndexGroups, gaitParams)
-        api4bot.GaitManager().add(gait)
+        gait = GaitFactory().create(gaitName, legsIndexGroups, gaitParams)
+        GaitManager().add(gait)
 }}}