From c4c2f40d66649015bc068b56e5bf0a27a83dc133 Mon Sep 17 00:00:00 2001 From: Benjamin Bolte Date: Fri, 18 Oct 2024 09:34:43 +0000 Subject: [PATCH] rebuild bindings --- actuator/rust/bindings/bindings.pyi | 2 +- examples/wasd_control.py | 23 +++++++++++++++++++++-- 2 files changed, 22 insertions(+), 3 deletions(-) diff --git a/actuator/rust/bindings/bindings.pyi b/actuator/rust/bindings/bindings.pyi index 295e447..b6725c5 100644 --- a/actuator/rust/bindings/bindings.pyi +++ b/actuator/rust/bindings/bindings.pyi @@ -47,7 +47,7 @@ class PyRobstrideMotorsSupervisor: total_commands: int actual_update_rate: float serial: bool - def __new__(cls,port_name,motor_infos,verbose = ...,target_update_rate = ...): ... + def __new__(cls,port_name,motor_infos,verbose = ...,target_update_rate = ...,zero_on_init = ...): ... def set_position(self, motor_id:int, position:float) -> float: ... diff --git a/examples/wasd_control.py b/examples/wasd_control.py index d0cf3f0..ea96419 100644 --- a/examples/wasd_control.py +++ b/examples/wasd_control.py @@ -14,10 +14,21 @@ def main(stdscr: curses.window) -> None: parser.add_argument("--motor-type", type=str, default="04") parser.add_argument("--second-motor-id", type=int, default=2) parser.add_argument("--second-motor-type", type=str, default="01") + parser.add_argument("--zero-on-init", action="store_true") + parser.add_argument("--max-update-rate", type=float, default=1000.0) + parser.add_argument("--kd", type=float, default=1.0) + parser.add_argument("--kp", type=float, default=10.0) args = parser.parse_args() - motor_infos = {args.motor_id: args.motor_type, args.second_motor_id: args.second_motor_type} - supervisor = RobstrideMotorsSupervisor(args.port_name, motor_infos) + supervisor = RobstrideMotorsSupervisor( + port_name=args.port_name, + motor_infos={ + args.motor_id: args.motor_type, + args.second_motor_id: args.second_motor_type, + }, + target_update_rate=args.max_update_rate, + zero_on_init=args.zero_on_init, + ) supervisor.add_motor_to_zero(args.motor_id) supervisor.add_motor_to_zero(args.second_motor_id) @@ -30,6 +41,11 @@ def main(stdscr: curses.window) -> None: stdscr.nodelay(True) # Make getch non-blocking stdscr.clear() + supervisor.set_kd(args.motor_id, args.kd) + supervisor.set_kp(args.motor_id, args.kp) + supervisor.set_kd(args.second_motor_id, args.kd) + supervisor.set_kp(args.second_motor_id, args.kp) + try: while True: time.sleep(0.01) @@ -45,6 +61,9 @@ def main(stdscr: curses.window) -> None: position_motor_2 += normal_step_size # Move motor 2 clockwise elif key == ord("s"): position_motor_2 -= normal_step_size # Move motor 2 counter-clockwise + elif key == ord("q"): + supervisor.stop() + break # Set target position for both motors supervisor.set_position(args.motor_id, position_motor_1)