From 133dd9a5acdc4ac058417ed1ad07039163a55658 Mon Sep 17 00:00:00 2001 From: Pavel Lutskov Date: Mon, 12 Nov 2018 13:54:42 +0100 Subject: [PATCH] movements documented --- pykick/movements.py | 19 +++++++++++++++++++ 1 file changed, 19 insertions(+) diff --git a/pykick/movements.py b/pykick/movements.py index dcdd824..3cb4e76 100644 --- a/pykick/movements.py +++ b/pykick/movements.py @@ -178,14 +178,27 @@ class NaoMover(object): (d_yaw, d_pitch), speed, False) def set_head_angles(self, yaw, pitch, speed=0.5): + """Rotate head to a specified angle in the robot frame. + + This function DOES return before movement is finished. + """ self.mp.setAngles(('HeadYaw', 'HeadPitch'), (yaw, pitch), speed) def set_head_angles_blocking(self, yaw, pitch, speed=0.5): + """Same as `set_head_angles` but block until finished. + + Doesn't work quite as expected though. You may need to work on it. + + """ self.mp.angleInterpolatioWithSpeed(('HeadYaw', 'HeadPitch'), (yaw, pitch), speed, True) def move_to(self, front, side, rotation, wait=False): + """Move the robot around. + + If `wait` is set, will block until move is finished. + """ if not self.ready_to_move: self.mp.moveInit() self.ready_to_move = True @@ -202,6 +215,7 @@ class NaoMover(object): self.mp.post.moveTo(front, side, rotation) def move_to_fast(self, front, side, rotation, wait=False): + """Move faster. DON'T USE.""" if not self.ready_to_move: self.mp.moveInit() self.ready_to_move = True @@ -214,6 +228,10 @@ class NaoMover(object): ]) def move_toward(self, front, side, rotation): + """Move in a specified direction until interrupted. + + DON'T USE, unstable, I think. + """ if not self.ready_to_move: self.mp.moveInit() self.ready_to_move = True @@ -243,6 +261,7 @@ class NaoMover(object): self.stand_up(0.7) def wait(self): + """Shortcut for mp.waitUntilMoveIsFinished.""" self.mp.waitUntilMoveIsFinished() def stop_moving(self):