From now on use NaoMover from motion.py

Also use `read_config` from `utils.py`

scripts/move_robot.py

@@ -1,124 +1,19 @@
-# -*- encoding: UTF-8 -*-
+from motion import NaoMover
+from utils import read_config
 
-''' PoseInit: Small example to make Nao go to an initial position. '''
-
-import argparse
-from naoqi import ALProxy
-import time
-import math
-import almath
-#include <alproxies/alnavigationproxy.h>
-
-
-def main(robotIP, PORT=9559):
-
-    motionProxy  = ALProxy("ALMotion", robotIP, PORT)
-    postureProxy = ALProxy("ALRobotPosture", robotIP, PORT)
-
-    # Wake up robot
-    motionProxy.wakeUp()
-    
-    handStiffness=0.0;
-    # shoulder and elbow
-    armStiffness = 0.0;
-    # head
-    headStiffness = 0.9;
-    # hip
-    hipStiffness = 0.9;
-    # knee
-    kneeStiffness = 0.9;
-    # ankle
-    ankleStiffness = 0.9;
-
-
-    # set the stiffnes
-    motionProxy.setStiffnesses("Head", headStiffness)
-    motionProxy.setStiffnesses("RHand", handStiffness)
-    motionProxy.setStiffnesses("LHand", handStiffness)
-    motionProxy.setStiffnesses("LShoulderPitch", armStiffness)
-    motionProxy.setStiffnesses("LShoulderRoll", armStiffness)
-    motionProxy.setStiffnesses("LElbowRoll", armStiffness)
-    motionProxy.setStiffnesses("LWristYaw", handStiffness)
-    motionProxy.setStiffnesses("LElbowYaw", armStiffness)
-    motionProxy.setStiffnesses("LHipYawPitch", hipStiffness)
-    motionProxy.setStiffnesses("LHipPitch", hipStiffness)
-    motionProxy.setStiffnesses("LKneePitch", kneeStiffness)
-    motionProxy.setStiffnesses("LAnklePitch", ankleStiffness)
-    motionProxy.setStiffnesses("LHipRoll", hipStiffness)
-    motionProxy.setStiffnesses("LAnkleRoll", ankleStiffness)
-
-    motionProxy.setStiffnesses("RShoulderPitch", armStiffness)
-    motionProxy.setStiffnesses("RShoulderRoll", armStiffness)
-    motionProxy.setStiffnesses("RElbowRoll", armStiffness)
-    motionProxy.setStiffnesses("RWristYaw", handStiffness)
-    motionProxy.setStiffnesses("RElbowYaw", armStiffness)
-    motionProxy.setStiffnesses("RHipYawPitch", hipStiffness)
-    motionProxy.setStiffnesses("RHipPitch", hipStiffness)
-    motionProxy.setStiffnesses("RKneePitch", kneeStiffness)
-    motionProxy.setStiffnesses("RAnklePitch", ankleStiffness)
-    motionProxy.setStiffnesses("RHipRoll", hipStiffness)
-    motionProxy.setStiffnesses("RAnkleRoll", ankleStiffness)
-
-
-    # Send robot to Stand Init
-    postureProxy.goToPosture("StandInit", 0.5)
-
-    # Initialize the move
-    motionProxy.moveInit()
-
-    # First call of move API
-    # with post prefix to not be bloquing here.
-    motionProxy.post.moveTo(0, 0.0, 0)
-
-    while True:
-        ax = int(raw_input("Axis: "))
-        mag = float(raw_input('How much: '))
-
-        if ax:
-            motionProxy.post.moveTo(0, mag, 0)
-            motionProxy.waitUntilMoveIsFinished()
-        else:
-            motionProxy.post.moveTo(mag, 0, 0)
-   
-    ''' 
-     # Second call of move API
-    motionProxy.post.moveTo(1.5, 0, 0)
-
-     # here we wait until the move process is over
-    motionProxy.waitUntilMoveIsFinished()
-
-   
-     # Second call of move API
-    motionProxy.post.moveTo(0, -1.5, 0)
-   
-     # here we wait until the move process is over
-    motionProxy.waitUntilMoveIsFinished()
-
-      # Second call of move API
-    motionProxy.post.moveTo(-1.5, 0, 0)
-
-     # here we wait until the move process is over
-    motionProxy.waitUntilMoveIsFinished()
-    '''
-
-      # Second call of move API
-#    motionProxy.post.moveTo(0, 3, 0)
-
-     # here we wait until the move process is over
- #   motionProxy.waitUntilMoveIsFinished()
-
-
-
-
-    # Go to rest position
-    #motionProxy.rest()
 
 if __name__ == "__main__":
-    parser = argparse.ArgumentParser()
-    parser.add_argument("--ip", type=str, default="192.168.0.11",
-                        help="Robot ip address")
-    parser.add_argument("--port", type=int, default=9559,
-                        help="Robot port number")
-
-    args = parser.parse_args()
-    main(args.ip, args.port)
+    cfg = read_config()
+    mover = NaoMover(cfg['ip'], cfg['port'])
+    mover.stand_up()
+    while True:
+        axis = int(raw_input('Axis: '))
+        amount = float(raw_input('How much: '))
+        if axis == 0:
+            mover.move_to(amount, 0, 0)
+        elif axis == 1:
+            mover.move_to(0, amount, 0)
+        elif axis == 2:
+            mover.move_to(0, 0, amount)
+        else:
+            print('Axis out of range (0, 1, 2)')