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killed some refactoring bugs

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Pavel Lutskov
2018-06-04 10:37:03 +02:00
parent 194f6cda9d
commit 16aa1422e4
3 changed files with 7 additions and 5 deletions
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8
scripts/movements.py
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@@ -8,8 +8,8 @@ class NaoMover(object):
self.mp = ALProxy('ALMotion', nao_ip, nao_port)
self.pp = ALProxy('ALRobotPosture', nao_ip, nao_port)
ap = ALProxy("ALAutonomousLife", nao_ip, nao_port)
if ap.getState()!="disabled":
ap.setState('disabled')
if ap.getState() != "disabled":
ap.setState('disabled')
self.set_head_stiffness()
self.set_hand_stiffness()
self.set_arm_stiffness()
@@ -67,14 +67,14 @@ class NaoMover(object):
self.mp.setStiffnesses("RKneePitch", stiffness)
def get_head_angles(self):
return self.mp.getAngles(('HeadYaw', 'HeadPitch'), useSensors=False)
return self.mp.getAngles(('HeadYaw', 'HeadPitch'), False)
def change_head_angles(self, d_yaw, d_pitch, speed):
self.mp.changeAngles(('HeadYaw', 'HeadPitch'),
(d_yaw, d_pitch), speed)
def set_head_angles(self, yaw, pitch, speed):
self.mp.setHeadAngles(('HeadYaw', 'HeadPitch'),
self.mp.setAngles(('HeadYaw', 'HeadPitch'),
(yaw, pitch), speed)
def move_to(self, front, side, rotation, wait=False):