pavel/kick-it
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

kick balance only with feed

Browse Source
This commit is contained in:
Jonas
2018-06-15 12:53:46 +02:00
parent 64b0da5170
commit 444f025164
1 changed files with 23 additions and 15 deletions
Download Patch File Download Diff File Expand all files Collapse all files

38
pykick/kick.py
View File

@@ -14,35 +14,43 @@ def main(robotIP, PORT=9559):
#names = ["HeadYaw", "HeadPitch"]
#angles = [0.2, -0.2]
fractionMaxSpeed = 0.5
names=["RShoulderRoll","RElbowRoll"]
angles=[radians(-76),0]
names=["RShoulderRoll","LShoulderRoll"]
angles=[radians(-76),radians(76)]
motionProxy.setAngles(names,angles,fractionMaxSpeed)
time.sleep(3)
fractionMaxSpeed = 0.05
fractionMaxSpeed = 0.01
motionProxy.setStiffnesses("RAnkleRoll",0.9)
names=["LHipRoll","RHipRoll","LHipPitch","RAnkleRoll","LAnklePitch"]
angles=[radians(-13),radians(-13),radians(-15),radians(-5),radians(0)]
#names=["LHipRoll","RHipRoll","RAnkleRoll","LAnkleRoll"]
names=["RAnkleRoll","LAnkleRoll"]
#names=["LHipRoll","RHipRoll","LHipPitch","RAnkleRoll","LAnklePitch"]
angles=[radians(-10),radians(-10)]
# angles=[radians(-20),radians(-20),radians(-10),radians(-10)]
# angles=[radians(-20),radians(-20),radians(-15),radians(-5),radians(0)]
motionProxy.setAngles(names, angles, fractionMaxSpeed)
"""
'''
time.sleep(3)
names=["LShoulderRoll",
"""
names=["LShoulderRoll"]
angles=[radians(76)]
motionProxy.setAngles(names,angles,fractionMaxSpeed)
'''
'''
time.sleep(0.5)
names=["LAnklePitch"]
angles=[radians(-20)]
motionProxy.setAngles(names,angles,fractionMaxSpeed)
'''
time.sleep(4)
print("kick")
names=["LKneePitch","LAnklePitch"]
angles=[radians(10),radians(0)]
motionProxy.setAngles(names,angles,fractionMaxSpeed)
# time.sleep(4)
# print("kick")
# names=["LKneePitch","LAnklePitch"]
# angles=[radians(10),radians(0)]
# motionProxy.setAngles(names,angles,fractionMaxSpeed)
'''
#motionProxy.waitUntilMoveIsFinished()