Changes between Version 75 and Version 76 of Tutorials

Timestamp:

Nov 19, 2017, 3:09:40 PM (8 years ago)

Author:

fma

Comment:

--

Tutorials

@@ -121 +121 @@
 def main():
     def addGait(gaitClass, gaitName):
-        gait = gaitClass(gaitName, settings.GAIT_LEGS_GROUPS[gaitName], settings.GAIT_PARAMS[gaitName])
+        group = settings.GAIT_LEGS_GROUPS[gaitName]
+        params = settings.GAIT_PARAMS['default']
+        for key1, value1 in settings.GAIT_PARAMS[gaitName].items():
+            for key2, value2 in value1.items():
+                params[key1][key2] = value2
+        gait = gaitClass(gaitName, group, params)
         GaitManager().add(gait)
 
@@ -281 +286 @@
 
 GAIT_PARAMS = {
-    'tripod': {'length': {'min': 4., 'max': 40.}, 'angle': {'min': 2., 'max': 10.}, 'height': {'min': 10, 'max': 40.}, 'speed': {'min': 50., 'max': 200.}},
-    'tetrapod': {'length': {'min': 4., 'max': 40.}, 'angle': {'min': 2., 'max': 10.}, 'height': {'min': 10, 'max': 30.}, 'speed': {'min': 50., 'max': 200.}},
-    'riple': {'length': {'min': 4., 'max': 40.}, 'angle': {'min': 2., 'max': 10.}, 'height': {'min': 10, 'max': 30.}, 'speed': {'min': 50., 'max': 300.}},
-    'metachronal': {'length': {'min': 4., 'max': 40.}, 'angle': {'min': 2., 'max': 10.}, 'height': {'min': 10, 'max': 30.}, 'speed': {'min': 50., 'max': 200.}},
-    'wave': {'length': {'min': 4., 'max': 40.}, 'angle': {'min': 2., 'max': 10.}, 'height': {'min': 10, 'max': 30.}, 'speed': {'min': 50., 'max': 200.}},
+    'default': {
+        'length': {
+            'min': 5.,
+            'max': 30.
+        },
+        'angle': {
+            'min': 0.5,
+            'max': 5.
+        },
+        'height': {
+            'min': 20.,
+            'max': 40.
+        },
+        'speed': {
+            'min': 25.,
+            'max': 250.
+        }
+    },
+    'tripod': {
+        'length': {
+            'max': 40.
+        },
+        'angle': {
+            'max': 10.
+        }
+    },
+    'tetrapod': {},
+    'riple': {},
+    'metachronal': {},
+    'wave': {}
 }
 }}}
@@ -433 +463 @@
 
 def main():
+    def addGait(gaitClass, gaitName):
+        group = settings.GAIT_LEGS_GROUPS[gaitName]
+        params = settings.GAIT_PARAMS['default']
+        for key1, value1 in settings.GAIT_PARAMS[gaitName].items():
+            for key2, value2 in value1.items():
+                params[key1][key2] = value2
+        gait = gaitClass(gaitName, group, params)
+        GaitManager().add(gait)
+
     scene = visual.display(width=settings.SCENE_WIDTH, height=settings.SCENE_HEIGHT)
     ground = visual.box(axis=(0, 1, 0), pos=(0, 0, 0), length=0.1, height=500, width=500, color=visual.color.gray(0.75), opacity=0.5)
-
-    def addGait(gaitClass, gaitName):
-        gait = gaitClass(gaitName, settings.GAIT_LEGS_GROUPS[gaitName], settings.GAIT_PARAMS[gaitName])
-        GaitManager().add(gait)
 
     addGait(GaitTripod, "tripod")
@@ -521 +556 @@
 }
 
+# Gaits parameters
 GAIT_PARAMS = {
-    'tripod': {'length': {'min': 4., 'max': 40.}, 'angle': {'min': 2., 'max': 10.}, 'height': {'min': 10, 'max': 40.}, 'speed': {'min': 50., 'max': 200.}},
-    'tetrapod': {'length': {'min': 4., 'max': 40.}, 'angle': {'min': 2., 'max': 10.}, 'height': {'min': 10, 'max': 30.}, 'speed': {'min': 50., 'max': 200.}},
-    'riple': {'length': {'min': 4., 'max': 40.}, 'angle': {'min': 2., 'max': 10.}, 'height': {'min': 10, 'max': 30.}, 'speed': {'min': 50., 'max': 300.}},
-    'metachronal': {'length': {'min': 4., 'max': 40.}, 'angle': {'min': 2., 'max': 10.}, 'height': {'min': 10, 'max': 30.}, 'speed': {'min': 50., 'max': 200.}},
-    'wave': {'length': {'min': 4., 'max': 40.}, 'angle': {'min': 2., 'max': 10.}, 'height': {'min': 10, 'max': 30.}, 'speed': {'min': 50., 'max': 200.}},
+    'default': {
+        'length': {
+            'min': 5.,
+            'max': 40.
+        },
+        'angle': {
+            'min': 0.5,
+            'max': 5.
+        },
+        'height': {
+            'min': 20.,
+            'max': 40.
+        },
+        'speed': {
+            'min': 25.,
+            'max': 250.
+        }
+    },
+    'tripod': {},
+    'tetrapod': {},
+    'riple': {},
+    'metachronal': {},
+    'wave': {}
 }