lade043
d80bf49905
* imports and model described * changed large parts of terminal Control to them using robotlib therefore also added functions to robotlib * bug fix * debug * debug * bug fix * bug fix * bug fix * sequence.csv for testing of -csv * bug fix * debug * bug fix * bug fix * extreme positions weren't possible * edited sequence.csv * added function 'output' * debug * debug * debug * bug fix * cleaned up * added loop * bug fix * serialize and deserialize added * bug fix * bug fix * bug fix * Update .gitignore terminalControl creates file to save last position, which will now not be uploaded * Comment * csv output added
45 lines
1.9 KiB
Python
45 lines
1.9 KiB
Python
import numpy as npy
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from RobotLib import *
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class Looper:
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def __init__(self, Robot):
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self.stepsize = 1
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self.robot = Robot
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def run(self):
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for ang_servo1 in npy.arange(self.robot.servo1.min, self.robot.servo1.max, self.stepsize):
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self.robot.servo1.set_angle(ang_servo1)
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for ang_servo2 in npy.arange(self.robot.servo2.min, self.robot.servo2.max, self.stepsize):
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self.robot.servo2.set_angle(ang_servo2)
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for ang_servo3 in npy.arange(self.robot.servo3.min, self.robot.servo3.max, self.stepsize):
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self.robot.servo3.set_angle(ang_servo3)
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self.robot.calculate()
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self.robot.data.add_entry(self.robot.Database.Entry(self.robot.x, self.robot.y,
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self.robot.efficency,
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self.robot.servo1, self.robot.servo2,
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self.robot.servo3))
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print("A database with {} entries has been created.".format(len(self.robot.data.database)))
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def export(self):
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file = open("database.data", 'w')
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file.write(self.robot.data.serialize())
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file.flush()
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file.close()
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print("Exported")
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test = Robot(Robot.Servo(1, Robot.Servo.Geometry(0.55, 2.3, 1.4)),
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Robot.Servo(2, Robot.Servo.Geometry(2.5, 0.55, 1.55)),
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Robot.Servo(3, Robot.Servo.Geometry(0.7, 2.25, 2.25)),
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Robot.CoordinateSystem([-100, 100], [-100, 100]))
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test.init_depending(Robot.Arm(test.servo1, 10.26, 0.84), Robot.Arm(test.servo2, 9.85), Robot.Arm(test.servo3, 12, -3),
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None, [test.servo1], [test.servo1, test.servo2])
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looper = Looper(test)
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looper.run()
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looper.export()
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print("finished")
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print("test")
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