61 lines
1.4 KiB
Python
61 lines
1.4 KiB
Python
# -*- encoding: UTF-8 -*-
|
|
# syntax
|
|
# python setangles.py x y
|
|
|
|
import sys
|
|
from naoqi import ALProxy
|
|
import time
|
|
|
|
def main(robotIP):
|
|
PORT = 9559
|
|
|
|
try:
|
|
motionProxy = ALProxy("ALMotion", robotIP, PORT)
|
|
except Exception,e:
|
|
print "Could not create proxy to ALMotion"
|
|
print "Error was: ",e
|
|
sys.exit(1)
|
|
|
|
# activiert gelenke
|
|
motionProxy.setStiffnesses("Head", 1.0)
|
|
|
|
# Example showing how to set angles, using a fraction of max speed
|
|
names = ["HeadYaw", "HeadPitch"]
|
|
|
|
# go into left direction
|
|
i=0
|
|
while i<2:
|
|
angles = [i,0]
|
|
fractionMaxSpeed =0.5
|
|
motionProxy.setAngles(names, angles, fractionMaxSpeed)
|
|
i=float(i)+3.14/4
|
|
time.sleep(0.3)
|
|
|
|
# go back to middle position
|
|
angles = [0,0]
|
|
fractionMaxSpeed =0.5
|
|
motionProxy.setAngles(names, angles, fractionMaxSpeed)
|
|
print "head set back"
|
|
time.sleep(0.3)
|
|
|
|
# go into the right direction
|
|
i=0
|
|
while i > -2:
|
|
angles = [i,0]
|
|
fractionMaxSpeed =0.5
|
|
motionProxy.setAngles(names, angles, fractionMaxSpeed)
|
|
i=i-3.14/4
|
|
time.sleep(0.3)
|
|
|
|
# go back to middle position
|
|
angles = [0,0]
|
|
fractionMaxSpeed =0.5
|
|
motionProxy.setAngles(names, angles, fractionMaxSpeed)
|
|
print "head set back"
|
|
time.sleep(1)
|
|
|
|
if __name__ == "__main__":
|
|
robotIp = "192.168.0.11"
|
|
|
|
main(robotIp)
|