Source Code for Script script-demo_gaitCyclePlan_py

 1  from joy import * 
 2   
 3 -class GaitCyclePlanApp( JoyApp ): 
 4    SHEET = loadCSV("M4ModLab.csv") 
 5     
 6 -  def __init__(self,*arg,**kw): 
 7      JoyApp.__init__(self,scr={},*arg,**kw) 
 8       
 9 -  def onStart( self ): 
10      if self.robot is not None: 
11        self.plan = GaitCyclePlan( self, self.SHEET, maxFreq = 0.3, 
12          x='front/@set_pos', y='rear/@set_pos') 
13      elif self.scr is not None:     
14        self.plan = GaitCyclePlan( self, self.SHEET, maxFreq = 0.3, 
15          x=('>catX',lambda x : x/2), y=('>catY',lambda x : -x/2)) 
16      else: 
17        raise RuntimeError("Must initialize either Scratch or Robot outputs") 
18      self.plan.onStart = curry(progress,">>> START") 
19      self.plan.onStop = curry(progress,">>> STOP") 
20      self.plan.setFrequency(0.2) 
21     
22 -  def onEvent(self, evt): 
23      if evt.type==KEYDOWN: 
24        if evt.key in [ord('q'),27]: # 'q' and [esc] stop program 
25          self.stop() 
26          # 
27        elif evt.key==ord(' '): # [space] stops cycles 
28          self.plan.setPeriod(0) 
29          progress('Stopped motion') 
30          # 
31        elif evt.key in (ord(','),ord('.')): 
32          f = self.plan.getFrequency() 
33          # Change frequency up/down in range -limit..limit hz 
34          if evt.key==ord(','): 
35            f -= 0.03 
36          else: 
37            f += 0.03 
38          self.plan.setFrequency(f) 
39          progress('Frequency changed to %.2f Hz' % self.plan.getFrequency()) 
40          # 
41        elif evt.key==ord('h'): 
42          progress( "HELP: ',' to decrease/reverse period; '.' opposite; ' ' stop; 'q' end program; 'h' this help; other keys start Plan" ) 
43          # 
44        elif evt.key in range(ord('0'),ord('9')+1): 
45          self.plan.setFrequency(0) 
46          phi = ('1234567890'.find(chr(evt.key)))/9.0 
47          self.plan.moveToPhase( phi ) 
48          progress('Moved to phase %.2f' % phi) 
49        else: # any other key 
50          progress( "Starting cycles...." ) 
51          self.plan.start() 
52           
53      if evt.type!=TIMEREVENT: 
54        JoyApp.onEvent(self,evt) 
55         
56  if __name__=="__main__": 
57    print """ 
58    Demo of SheetPlan class 
59    ----------------------- 
60     
61    Use this demo with the demo-plans.sb Scratch project. 
62     
63    When any key is pressed, starts a SheetPlan making the  
64    cat move around a square. 
65   
66    The application can be terminated with 'q' or [esc] 
67    """ 
68    import joy 
69    app=GaitCyclePlanApp() 
70    app.run() 
71