Refactored kick

2018-06-15 15:20:22 +02:00
parent 2683974147
commit 81c9c174dc
2 changed files with 45 additions and 96 deletions
--- a/pykick/kick.py
+++ b/pykick/kick.py
@@ -1,99 +1,9 @@
-import time
-import argparse
-from naoqi import ALProxy
-from math import radians
-
-
-def main(robotIP, PORT=9559):
-    motionProxy = ALProxy("ALMotion", robotIP, PORT)
-
-    motionProxy.setStiffnesses("Head", 1.0)
-    motionProxy.setStiffnesses("LShoulderRoll",0.9)
-    motionProxy.setStiffnesses("LHipPitch",0.9)
-    # Example showing how to set angles, using a fraction of max speed
-    #names  = ["HeadYaw", "HeadPitch"]
-    #angles  = [0.2, -0.2]
-    
-    
-    fractionMaxSpeed = 0.5
-    names=["RShoulderRoll",]
-    
-    angles=[radians(-76)]
-    motionProxy.setAngles(names,angles,fractionMaxSpeed)
-    
-    time.sleep(3)
-   
-    fractionMaxSpeed  = 0.05
-    motionProxy.setStiffnesses("RAnkleRoll",0.9)
-    #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)
-    fractionMaxSpeed=0.2
-    names=["LKneePitch","LAnklePitch"] 
-    angles=[radians(90),radians(-40)]
-    motionProxy.setAngles(names,angles,fractionMaxSpeed)
-    
-    time.sleep(3)
-    names=["LHipPitch"]
-    angles=[radians(-45)]
-    fractionMaxSpeed=0.01
-    motionProxy.setAngles(names,angles,fractionMaxSpeed)
-    names=["LKneePitch","LAnklePitch"]
-    angles=[radians(20),radians(-5)]
-    fractionMaxSpeed=0.05
-    motionProxy.setAngles(names,angles,fractionMaxSpeed)
-    
-    '''
-    time.sleep(3)
-    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)
-
-    '''
-    #motionProxy.waitUntilMoveIsFinished()
-    time.sleep(6)
-    
-    motionProxy.setStiffnesses("RAnklePitch",0.9)
-    names=["RKneePitch","RHipPitch","LAnklePitch"]
-    angles=[radians(45),radians(-50),radians(-45)]
-
-    motionProxy.setAngles(names, angles, fractionMaxSpeed)
-    '''
-    
-    #time.sleep(3.0)
-    #motionProxy.setStiffnesses("Head", 0.0)
+from .utils import read_config
+from .movements import NaoMover


 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'])
+    mover.stand_up()
+    mover.kick()