public void Connect(string ip) { try { _motion = new MotionProxy(ip, 9559); // --------------- prepare limits -------------------------- // three floats as an ArrayList for each joint in the chain // min,max,maxNoLoadSpeedPerCycle ArrayList rightArmLimits = (ArrayList)_motion.getLimits("RArm"); ArrayList RSPitchLimits = (ArrayList)rightArmLimits[0]; _RSminPitch = (float)RSPitchLimits[0]; _RSmaxPitch = (float)RSPitchLimits[1]; ArrayList RSRollLimits = (ArrayList)rightArmLimits[1]; _RSminRoll = (float)RSRollLimits[0]; _RSmaxRoll = (float)RSRollLimits[1]; ArrayList REYawLimits = (ArrayList)rightArmLimits[2]; _REminYaw = (float)REYawLimits[0]; _REmaxYaw = (float)REYawLimits[1]; ArrayList RERollLimits = (ArrayList)rightArmLimits[3]; _REminRoll = (float)RERollLimits[0]; _REmaxRoll = (float)RERollLimits[1]; ArrayList leftArmLimits = (ArrayList)_motion.getLimits("LArm"); ArrayList LSPitchLimits = (ArrayList)leftArmLimits[0]; _LSminPitch = (float)LSPitchLimits[0]; _LSmaxPitch = (float)LSPitchLimits[1]; ArrayList LSRollLimits = (ArrayList)leftArmLimits[1]; _LSminRoll = (float)LSRollLimits[0]; _LSmaxRoll = (float)LSRollLimits[1]; ArrayList LEYawLimits = (ArrayList)leftArmLimits[2]; _LEminYaw = (float)LEYawLimits[0]; _LEmaxYaw = (float)LEYawLimits[1]; ArrayList LERollLimits = (ArrayList)leftArmLimits[3]; _LEminRoll = (float)LERollLimits[0]; _LEmaxRoll = (float)LERollLimits[1]; // give the joints some stiffness _motion.stiffnessInterpolation("RArm", 1.0f, 1.0f); _motion.stiffnessInterpolation("LArm", 1.0f, 1.0f); } catch (Exception e) { Console.Out.WriteLine("Elbow.Connect exception: " + e); } }
public void Connect(string ip) { try { _motion = new MotionProxy(ip,9559); // --------------- prepare limits -------------------------- // three floats as an ArrayList for each joint in the chain // min,max,maxNoLoadSpeedPerCycle ArrayList limits = (ArrayList)_motion.getLimits("Head"); ArrayList yawLimits = (ArrayList)limits[0]; ArrayList pitchLimits = (ArrayList)limits[1]; _minYaw = (float)yawLimits[0]; _maxYaw = (float)yawLimits[1]; _minPitch = (float)pitchLimits[0]; _maxPitch = (float)pitchLimits[1]; Console.WriteLine("MinYaw: " + _minYaw + " MaxYaw:" + _maxYaw + " MinPitch: " + _minPitch + " MaxPitch:" + _maxPitch); // give the joints some stiffness _motion.stiffnessInterpolation("Head",1.0f,1.0f); } catch(Exception e) { Console.Out.WriteLine("HeadPanning.Connect exception: " + e); } }
/// <summary> /// Connects to the motion system in the NAO robot /// </summary> /// <param name="ip"> ip address of the robot </param> public void connect(string ip) { try { naoMotion = new MotionProxy(ip, 9559); // give joints stiffness naoMotion.stiffnessInterpolation("Head", 1.0f, 1.0f); naoMotion.stiffnessInterpolation("LArm", 1.0f, 1.0f); naoMotion.stiffnessInterpolation("RArm", 1.0f, 1.0f); } catch (Exception e) { MessageBox.Show("Exception occurred, error log in C:\\NAOcam\\exception.txt"); System.IO.File.WriteAllText(@"C:\\NAOcam\\exception.txt", e.ToString()); // write exepctions to text file } }
//PostureProxy ALMotion = null; /// <summary> /// Connects to the motion system in the NAO robot /// </summary> /// <param name="ip"> ip address of the robot </param> public void connect(string ip) { try { naoMotion = new MotionProxy(ip, 9559); // naoMotion = new ALProxy(); // give joints stiffness naoMotion.stiffnessInterpolation("Head", 0.6f, 0.6f); naoMotion.stiffnessInterpolation("Body", 0.6f, 0.6f); } catch (Exception e) { MessageBox.Show("Exception occurred, error log in C:\\NAOserver\\exception.txt"); System.IO.File.WriteAllText(@"C:\\NAOserver\\exception.txt", e.ToString()); // write exepctions to text file } }
/// <summary> /// Connects to the motion system in the NAO robot /// </summary> /// <param name="ip"> ip address of the robot </param> /// public void connect(string ip) { try { naoMotion = new MotionProxy(ip, 9559); bmp = new BehaviorManagerProxy(ip, 9559); // give joints stiffness naoMotion.stiffnessInterpolation("Head", 1.0f, 1.0f); naoMotion.stiffnessInterpolation("LArm", 1.0f, 1.0f); naoMotion.stiffnessInterpolation("RArm", 1.0f, 1.0f); } catch (Exception e) { //MessageBox.Show("Exception occurred, error log in C:\\NAOcam\\exception.txt"); System.IO.File.WriteAllText(@"C:\\NAOcam\\exception.txt", e.ToString()); // write exepctions to text file } }
public static void StiffnessOn(MotionProxy proxy) { // We use the "Body" name to signify the collection of all joints var pNames = "Body"; var pStiffnessLists = 1.0f; var pTimeLists = 1.0f; proxy.stiffnessInterpolation(pNames, pStiffnessLists, pTimeLists); }
/// <summary> /// Connects to the motion system in the NAO robot /// </summary> /// <param name="ip"> ip address of the robot </param> public void connect(string ip) { // Make sure the standard output directory exists if (!Directory.Exists("C:\\NAO Motion\\")) { Directory.CreateDirectory("C:\\NAO Motion\\"); } try { naoMotion = new MotionProxy(ip, 9559); // give joints stiffness naoMotion.stiffnessInterpolation("Head", 1.0f, 1.0f); naoMotion.stiffnessInterpolation("LArm", 1.0f, 1.0f); naoMotion.stiffnessInterpolation("RArm", 1.0f, 1.0f);; } catch (Exception e) { File.WriteAllText(@"C:\\NAO Motion\\exception.txt", e.ToString()); // Write exepctions to text file } }
public bool Start() { NAOPositions curPosition = GetPosition(); if (curPosition == NAOPositions.Unknown || curPosition == NAOPositions.HeadBack) { return(false); } motionProxy.stiffnessInterpolation("Body", 1, 1); while (curPosition != NAOPositions.Stand) { switch (curPosition) { case NAOPositions.Sit: ChangePositionFromSitToCrouch(); ChangePositionFromCrouchToStand(); break; case NAOPositions.Crouch: ChangePositionFromCrouchToStand(); break; case NAOPositions.Belly: case NAOPositions.Frog: case NAOPositions.Knee: ChangePositionFromBellyToStand(); break; case NAOPositions.Back: ChangePositionFromBackToStand(); break; case NAOPositions.Right: case NAOPositions.Left: ChangePositionFromSideToBelly(); break; case NAOPositions.HeadBack: break; case NAOPositions.Unknown: return(false); default: return(false); } curPosition = GetPosition(); } return(true); }
public bool Start() { NAOPositions curPosition = GetPosition(); if (curPosition == NAOPositions.Unknown || curPosition == NAOPositions.HeadBack) { return(false); } motionProxy.stiffnessInterpolation(NAOBodyParts.Body.ToString(), 1, 1); while (curPosition != NAOPositions.Sit) { switch (curPosition) { case NAOPositions.Belly: case NAOPositions.Frog: case NAOPositions.Knee: ChangePositionFromBellyToCrouch(); break; case NAOPositions.Back: ChangePositionFromBackToSitDown(); break; case NAOPositions.Right: case NAOPositions.Left: ChangePositionFromSideToBelly(); break; case NAOPositions.Stand: case NAOPositions.Crouch: ChangePositionFromCrouchToSitDown(); break; case NAOPositions.HeadBack: return(false); case NAOPositions.Unknown: return(false); default: return(false); } curPosition = GetPosition(); } //motionProxy.stiffnessInterpolation(NAOBodyParts.Body.ToString(), 0, 1);//Release stiffness return(true); }
/// <summary> /// Class deconstructor /// Cuts motor stiffness /// </summary> public void removeStiffness() { naoMotion.stiffnessInterpolation("Head", 0.0f, 0.0f); naoMotion.stiffnessInterpolation("LArm", 0.0f, 0.0f); naoMotion.stiffnessInterpolation("RArm", 0.0f, 0.0f); }