feat: removed useless function

control.py

@@ -44,19 +44,19 @@ CONTROLLER_MODE = xbox.initialized
 xbox.mode_count = 5
 
 neutral_position = np.array([
-    [0.1, 0.16, -0.15],
-    [-0.1, 0.16, -0.15],
-    [-0.2, -0.00, -0.15],
-    [-0.1, -0.16, -0.15],
-    [0.1, -0.16, -0.15],
-    [0.2, 0, -0.15]
+    [0.08, 0.16, -0.12],
+    [-0.08, 0.16, -0.12],
+    [-0.2, -0.00, -0.12],
+    [-0.08, -0.16, -0.12],
+    [0.08, -0.16, -0.12],
+    [0.2, 0, -0.12]
 ])
 
 REAL = 0
 
 # Robot setup
 if REAL == 1:
-    portHandler = PortHandler("/dev/ttyUSB0")
+    portHandler = PortHandler("/dev/ttyUSB1")
     packetHandler = PacketHandler(1.0)
 
     portHandler.openPort()
@@ -71,6 +71,9 @@ if REAL == 1:
             print(f"Found AX-12 with id: {id}")
             ids.append(id)
         time.sleep(0.01)
+    if len(ids) != 18:
+        legsLogger.error("Not all motor found. Press enter to continue")
+        input()
 
 
 # Done
@@ -238,7 +241,6 @@ def convert_to_robot(positions):
     counter += 1
     if counter % 2 != 0:
         return
-    print(positions)
     index = [
         11, 12, 13,
         41, 42, 43,
@@ -251,8 +253,6 @@ def convert_to_robot(positions):
     for i in range(len(positions)):
         value = int(512 + positions[i] * 150 * dir[i])
         packetHandler.write2ByteTxOnly(portHandler, index[i], ADDR_GOAL_POSITION, value)
-        # packetHandler.writeTxOnly(portHandler, index[i], ADDR_GOAL_POSITION, 2,
-        #                          bytes(value))
 
 
 def stand(x1, y1, x2, y2):
@@ -268,30 +268,33 @@ def stand(x1, y1, x2, y2):
 
 def walk(t, sx, sy, sr):
     xboxdata = xbox.get_data()
-    val = xboxdata["x1"]
+    if xbox.initialized:
+        max_slider = 0.200
+        controllerLogger.debug(xboxdata)
+        if xbox.mode == 0:
+            positions = static()
+        elif xbox.mode == 1:
+            positions = jump(xboxdata["y2"])
+        elif xbox.mode == 2:
+            positions = dino_naive(t, max_slider * xboxdata["y1"], max_slider * xboxdata["x1"],
+                                   max_slider * xboxdata["y2"],
+                                   max_slider * xboxdata["x2"], max_slider * (xboxdata["r2"] + 1))
+        elif xbox.mode == 3:
+            positions = naive_walk(t, max_slider * xboxdata["x1"], max_slider * xboxdata["y1"])
+        elif xbox.mode == 4:
+            positions = walk_v2(t, max_slider * xboxdata["y1"], -1 * max_slider * xboxdata["x1"],
+                                xboxdata["x2"] * max_slider,
+                                max_slider * xboxdata["y2"])
+        elif xbox.mode == 5:
+            positions = stand(xboxdata["x1"], xboxdata["y1"], xboxdata["x2"], xboxdata["y2"])
 
-    max_slider = 0.200
-    controllerLogger.debug(xboxdata)
-    if xbox.mode == 0:
-        positions = static()
-    elif xbox.mode == 1:
-        positions = jump(xboxdata["y2"])
-    elif xbox.mode == 2:
-        positions = dino_naive(t, max_slider * xboxdata["y1"], max_slider * xboxdata["x1"], max_slider * xboxdata["y2"],
-                               max_slider * xboxdata["x2"], max_slider * (xboxdata["r2"] + 1))
-    elif xbox.mode == 3:
-        positions = naive_walk(t, max_slider * xboxdata["x1"], max_slider * xboxdata["y1"])
-    elif xbox.mode == 4:
-        positions = dev(t, max_slider * xboxdata["y1"], -1 * max_slider * xboxdata["x1"], xboxdata["x2"] * max_slider,
-                        max_slider * xboxdata["y2"])
-    elif xbox.mode == 5:
-        positions = stand(xboxdata["x1"], xboxdata["y1"], xboxdata["x2"], xboxdata["y2"])
+        # print(positions)
+        if REAL == 1:
+            convert_to_robot(positions)
 
-    print(positions)
-    if REAL == 1:
-        convert_to_robot(positions)
-
-    return positions
+        return positions
+    else:
+        return walk_v2(t, sx, sy, sr, None)
 
 
 def static():
@@ -299,14 +302,13 @@ def static():
 
 
 # Walk V2
-def dev(t, speed_x, speed_y, speed_r, y2):
+def walk_v2(t, speed_x, speed_y, speed_r, y2):
     """
     x1: speed along the x-axis
     y1: speed along the y-axis
     x2: rotational speed along the z-axis
     """
     max_dist = 0.3
-    print(speed_r)
 
     def get_rotation_center(speed_x, speed_y, theta_point):
         norm = sqrt(speed_x ** 2 + speed_y ** 2)
@@ -324,9 +326,9 @@ def dev(t, speed_x, speed_y, speed_r, y2):
     real_position = np.copy(neutral_position)
 
     movement_z = np.array([
-        [0, 0, 0.02],
-        [0, 0, -0.01],
-        [0, 0, -0.01]
+        [0, 0, 0.03],
+        [0, 0, -0.02],
+        [0, 0, -0.02]
     ])
 
     step_duration = np.array([0.15, 0.3, 0.15])
@@ -492,34 +494,5 @@ def dino_naive(t, speed_x, speed_y, hz, hy, hx):
     return legs(real_position)
 
 
-def robot_input():
-    print("Send motors wave (press enter)")
-    input()
-    for id in ids:
-        packetHandler.write2ByteTxRx(portHandler, id, ADDR_GOAL_POSITION, 512)
-    input()
-    angle = [512, 624, 400, 512, 624, 400]
-    for id in range(1, 7):
-        packetHandler.write2ByteTxRx(portHandler, id * 10 + 1, ADDR_GOAL_POSITION, angle[id - 1])
-    input()
-
-    # Dino mode
-    packetHandler.write2ByteTxRx(portHandler, 12, ADDR_GOAL_POSITION, 650)
-    packetHandler.write2ByteTxRx(portHandler, 42, ADDR_GOAL_POSITION, 650)
-    packetHandler.write2ByteTxRx(portHandler, 43, ADDR_GOAL_POSITION, 400)
-
-    input()
-    for id in ids:
-        packetHandler.write2ByteTxRx(portHandler, id, ADDR_GOAL_POSITION, 512)
-    # t = 0.0
-    # while True:
-    #     print("Send motors wave (press enter)")
-    #     angle = 512 + int(50 * np.sin(t))
-    #     print(angle)
-    #     packetHandler.write2ByteTxRx(portHandler, 53, ADDR_GOAL_POSITION, angle)
-    #     time.sleep(0.001)
-    #     t += 0.01
-
-
 if __name__ == "__main__":
     print("N'exécutez pas ce fichier, mais simulator.py")

xbox.py

@@ -15,9 +15,9 @@ class Xbox:
 
         if len(self.controllers) == 0:
             self.logger.critical("No controllers detected. Can't initialize remote control.")
-            self.initialized = True
-        else:
             self.initialized = False
+        else:
+            self.initialized = True
         self.data = {"x1": 0, "x2": 0, "y1": 0, "y2": 0, "up": 0, "down": 0, "left": 0, "right": 0, "r1": 0, "r2": 0,
                      "r3": 0,
                      "l1": 0, "l2": 0, "l3": 0}