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hubo-RAP.py
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#!/usr/bin/env python
# /* -*- indent-tabs-mode:t; tab-width: 8; c-basic-offset: 8 -*- */
# /*
# Copyright (c) 2013, Daniel M. Lofaro
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:
# * Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# * Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in the
# documentation and/or other materials provided with the distribution.
# * Neither the name of the author nor the names of its contributors may
# be used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
# ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
# WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
# DISCLAIMED. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
# LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
# PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
# LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE
# OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
# ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
# */
import hubo_ach as ha
import ach
import sys
import time
from ctypes import *
import numpy as np
from Tkinter import *
import datetime
LAP = 0
LKN = 0
dp = 0.01
st = datetime.datetime.fromtimestamp(time.time()).strftime('%Y-%m-%d-%H-%M-%S')
f = open(st+ ' Knee-Ankle-FT values', 'w+')
f.write(datetime.datetime.fromtimestamp(time.time()).strftime('%Y-%m-%d %H:%M:%S') + '\n')
root = Tk()
prompt = ' Press any key '
label1 = Label(root, text=prompt, width=len(prompt), bg='yellow')
label1.pack()
'''
def key(event):
if repr(event.char) == event.keysym:
msg = 'Normal Key %r' % event.char
print repr(event.char)
ref.ref[ha.RAP] = 0.1
r.put(ref)
elif len(event.char) == 1:
msg = 'Punctuation Key %r (%r)' % (event.keysym, event.char)
ref.ref[ha.RAP] = -0.1
r.put(ref)
else:
msg = 'Special Key %r' % event.keysym
label1.config(text=msg)
'''
def LAP_up(event=None):
global LAP
LAP += dp
ref.ref[ha.LAP] = LAP
r.put(ref)
[statuss, framesizes] = s.get(state, wait=False, last=False)
data = str(time.time()) + ', ' + str(LAP) + ', ' + str(state.joint[ha.LAP].pos) + ', ' + str(state.ft[ha.HUBO_FT_L_FOOT].m_x) + ', ' + str(state.ft[ha.HUBO_FT_L_FOOT].m_y) + ', ' + str(state.ft[ha.HUBO_FT_L_FOOT].f_z)
print data
f.write(data + '\n')
def LAP_down(event=None):
global LAP
LAP -= dp
ref.ref[ha.LAP] = LAP
r.put(ref)
[statuss, framesizes] = s.get(state, wait=False, last=False)
data = str(time.time()) + ', ' + str(LAP) + ', ' + str(state.joint[ha.LAP].pos) + ', ' + str(state.ft[ha.HUBO_FT_L_FOOT].m_x) + ', ' + str(state.ft[ha.HUBO_FT_L_FOOT].m_y) + ', ' + str(state.ft[ha.HUBO_FT_L_FOOT].f_z)
print data
f.write(data + '\n')
def LKN_up(event=None):
global LKN
LKN += dp
ref.ref[ha.LKN] = LKN
r.put(ref)
[statuss, framesizes] = s.get(state, wait=False, last=False)
data = str(time.time()) + ', ' + str(LKN) + ', ' + str(state.joint[ha.LKN].pos) + ', ' + str(state.ft[ha.HUBO_FT_L_FOOT].m_x) + ', ' + str(state.ft[ha.HUBO_FT_L_FOOT].m_y) + ', ' + str(state.ft[ha.HUBO_FT_L_FOOT].f_z)
print data
f.write(data + '\n')
def LKN_down(event=None):
global LKN
LKN -= dp
ref.ref[ha.LKN] = LKN
r.put(ref)
[statuss, framesizes] = s.get(state, wait=False, last=False)
data = str(time.time()) + ', ' + str(LKN) + ', ' + str(state.joint[ha.LKN].pos) + ', ' + str(state.ft[ha.HUBO_FT_L_FOOT].m_x) + ', ' + str(state.ft[ha.HUBO_FT_L_FOOT].m_y) + ', ' + str(state.ft[ha.HUBO_FT_L_FOOT].f_z)
print data
f.write(data +'\n')
'''
record to file time, commanded position, and ft feedback
'''
# Open Hubo-Ach feed-forward and feed-back (reference and state) channels
s = ach.Channel(ha.HUBO_CHAN_STATE_NAME)
r = ach.Channel(ha.HUBO_CHAN_REF_NAME)
# s.flush()
# r.flush()
# feed-forward will now be refered to as "state"
state = ha.HUBO_STATE()
# feed-back will now be refered to as "ref"
ref = ha.HUBO_REF()
# Get the current feed-forward (state)
[statuss, framesizes] = s.get(state, wait=False, last=False)
#Set Left Elbow Bend (LEB) and Right Shoulder Pitch (RSP) to -0.2 rad and 0.1 rad respectively
for i in range(ha.HUBO_JOINT_COUNT):
ref.ref[i] = state.joint[i].pos
LAP = state.joint[ha.LAP].pos
LKN = state.joint[ha.LKN].pos
#ref.ref[ha.LEB] = 0.0
#ref.ref[ha.RSP] = 0.0
#ref.ref[ha.RKN] = 0.0
#ref.ref[ha.RAP] = 0.0
#ref.ref[ha.LKN] = 0.0
#ref.ref[ha.RAP] = 0.0
r.put(ref)
'''
i = 0.0;
dif = 0.1;
while(1):
if( i > 0 ):
i = -0.3
else:
i = 0.3
ref.ref[ha.RAP] = i
# Print out the actual position of the LEB
print "Joint = ", state.joint[ha.RAP].pos
# Write to the feed-forward channel
r.put(ref)
time.sleep(1)
'''
root.bind_all('<w>', LAP_up)
root.bind_all('<s>', LAP_down)
root.bind_all('<e>', LKN_up)
root.bind_all('<d>', LKN_down)
# root.bind_all('<Key>', key)
root.mainloop()
# Close the connection to the channels
r.close()
s.close()
f.close()