(feat) Added Puredata example

mcaravati · Aug 15, 2023 · b7053a4 · b7053a4
1 parent c8be90c
commit b7053a4
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Showing 2 changed files with 55 additions and 1 deletion.
diff --git a/creative-extensions/puredata/example.pd b/creative-extensions/puredata/example.pd
@@ -0,0 +1,54 @@
+#N canvas 0 27 950 985 12;
+#X obj 302 241 oscformat set-motor;
+#X obj 301 209 oscformat set-led;
+#X floatatom 135 131 5 0 0 0 - - - 0;
+#X floatatom 209 130 5 0 0 0 - - - 0;
+#X obj 524 339 list prepend send;
+#X obj 524 374 list trim;
+#X msg 680 355 connect localhost 9000;
+#X msg 680 382 disconnect;
+#X obj 524 415 netsend -u -b;
+#X obj 135 172 list append;
+#X obj 302 271 oscformat set-torque;
+#X obj 303 299 oscformat set-speed;
+#X floatatom 295 38 5 0 0 0 - - - 0;
+#X floatatom 369 37 5 0 0 0 - - - 0;
+#X obj 295 79 list append;
+#X floatatom 73 224 5 0 0 0 - - - 0;
+#X floatatom 147 223 5 0 0 0 - - - 0;
+#X obj 73 265 list append;
+#X floatatom 96 303 5 0 0 0 - - - 0;
+#X floatatom 170 302 5 0 0 0 - - - 0;
+#X obj 96 344 list append;
+#X floatatom 66 503 5 0 0 0 - - - 0;
+#X floatatom 157 456 5 0 0 0 - - - 0;
+#X obj 66 544 list append;
+#X obj 157 487 list append;
+#X floatatom 231 456 5 0 0 0 - - - 0;
+#X obj 291 494 oscformat inverse-kinematics;
+#X connect 0 0 4 0;
+#X connect 1 0 4 0;
+#X connect 2 0 9 0;
+#X connect 3 0 9 1;
+#X connect 4 0 5 0;
+#X connect 5 0 8 0;
+#X connect 6 0 8 0;
+#X connect 7 0 8 0;
+#X connect 9 0 0 0;
+#X connect 10 0 4 0;
+#X connect 11 0 4 0;
+#X connect 12 0 14 0;
+#X connect 13 0 14 1;
+#X connect 14 0 1 0;
+#X connect 15 0 17 0;
+#X connect 16 0 17 1;
+#X connect 17 0 10 0;
+#X connect 18 0 20 0;
+#X connect 19 0 20 1;
+#X connect 20 0 11 0;
+#X connect 21 0 23 0;
+#X connect 22 0 24 0;
+#X connect 23 0 26 0;
+#X connect 24 0 23 1;
+#X connect 25 0 24 1;
+#X connect 26 0 4 0;
diff --git a/sp-dr-server/robot_control/DummyRobotControl.py b/sp-dr-server/robot_control/DummyRobotControl.py
@@ -29,7 +29,7 @@ def set_torque_off(self, motor: int = 1) -> None:
         self._logger.info("DummyRobotControl: Set torque of motor %s off", motor)
 
     def set_motor_speed(self, motor: int = 1, speed: int = 0) -> None:
-        self._logger.info("DummyRobotControl: Set motor %s speed to %s", speed)
+        self._logger.info("DummyRobotControl: Set motor %s speed to %s", motor, speed)
 
     def compute_angles(self, x: float = 0, y: float = 0, z: float = 0) -> None:
         self._logger.info("DummyRobotControl: Compute angles for x=%s, y=%s, z=%s", x, y, z)