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controlSystems update

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This commit is contained in:
RyandPark2006 2022-07-02 19:12:53 +00:00
parent e4f01fb263
commit 0ac8bc01bb
2 changed files with 7 additions and 3 deletions
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4
control_systems/Control System/Propioception.py → control_systems/Control System/Registry.py
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@ -1,7 +1,7 @@
""" """
This class keeps track of all the motors, sensors and import variables needed for the robot. This class keeps track of all the motors, sensors and import variables needed for the robot.
""" """
class Propioception: class Registry:
""" """
Standard kwargs to give for this function Standard kwargs to give for this function
@ -25,7 +25,7 @@ class Propioception:
'left_shoulder_yaw': 0, 'left_shoulder_yaw': 0,
'left_shoulder_roll': 0, 'left_shoulder_roll': 0,
'left_elbow_pitch': 0, 'left_elbow_pitch': 0,
'right_shoulder_pitch': 0, 'right_shoulder_pit ch': 0,
'right_shoulder_yaw': 0, 'right_shoulder_yaw': 0,
'right_shoulder_roll': 0, 'right_shoulder_roll': 0,
'right_elbow_pitch': 0, 'right_elbow_pitch': 0,

6
control_systems/Control System/bootup.py
View File

@ -5,7 +5,7 @@
# Updates sensor data through wifi and propiosense system # Updates sensor data through wifi and propiosense system
# 1 for executing the first action in the priority queue # 1 for executing the first action in the priority queue
from Propioception import * from Registry import Registry
# from commands import * # from commands import *
import re import re
@ -21,6 +21,7 @@ class Receiver:
self.executions = [] self.executions = []
self.transmit = [] self.transmit = []
self.data = [] self.data = []
self.registry = Registry(IMU = None, ping = None, mode = None, jointAngles = None, position = None, velocity = None)
self.timer = 0 self.timer = 0
self.HOST = host self.HOST = host
self.PORT = port self.PORT = port
@ -107,6 +108,9 @@ class Receiver:
def sensorData(self): def sensorData(self):
var = "" var = ""
delay(100)
# Test # Test
# print("Inside") # print("Inside")
# ser = serial.Serial('/dev/ttyACM0', 115200, timeout=1) # ser = serial.Serial('/dev/ttyACM0', 115200, timeout=1)