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poppy_software [2019/04/25 14:08] 127.0.0.1 external edit |
poppy_software [2019/05/17 13:08] (current) mai [Control the robot] spelling |
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| You have several ways to control the Poppy robot, using pre-built Pypot methods/class: | You have several ways to control the Poppy robot, using pre-built Pypot methods/class: | ||
| - | * Setting the //goal_position// attribut: the joint will immediately try to go as close to the goal as possible (given the angle limits) w.r.t the maximum speed allowed on this joint (which is set via the //moving_speed// attribut). This will not take the //present_speed// attribut of the joint into account; | + | * Setting the //goal_position// attribute: the joint will immediately try to go as close to the goal as possible (given the angle limits) w.r.t the maximum speed allowed on this joint (which is set via the //moving_speed// attribute). This will not take the //present_speed// attribute of the joint into account; |
| - | * Setting the //goal_speed// attribut: the joint will immediately set the speed of the joint to the given value, replacing the current //goal_position// with the angle limit corresponding to the speed direction; | + | * Setting the //goal_speed// attribute: the joint will immediately set the speed of the joint to the given value, replacing the current //goal_position// with the angle limit corresponding to the speed direction; |
| * Using the //goto_position(goal,time)// method: this will actually set the //goal_position// to the given goal value, and also set the //moving_speed// of the joint to (goal - present_position)/t; | * Using the //goto_position(goal,time)// method: this will actually set the //goal_position// to the given goal value, and also set the //moving_speed// of the joint to (goal - present_position)/t; | ||
| - | * Using the higher level //MovePlayer// class: this class implements a //LoopPrimitive// in order to update frequently the //goal_position// attribut of the joint (N.B: the //moving_speed// attribut __**is not modified**__ by the class when playing the motion and the robot __**will keep in mind the last //moving_speed//**__ sent). | + | * Using the higher level //MovePlayer// class: this class implements a //LoopPrimitive// in order to update frequently the //goal_position// attribute of the joint (N.B: the //moving_speed// attribute __**is not modified**__ by the class when playing the motion and the robot __**will keep in mind the last //moving_speed//**__ sent). |
| - | If the //moving_speed// attribut is set to 0, then the joint will move at full speed (N.B: If you're unsure of the //moving_speed// you sent last to the robot and want to play a movement using //MovePlayer//, it is **__recommended__** to initially set the //moving_speed// of all the involved joints to 0.0). | + | If the //moving_speed// attribute is set to 0, then the joint will move at full speed (N.B: If you're unsure of the //moving_speed// you sent last to the robot and want to play a movement using //MovePlayer//, it is **__recommended__** to initially set the //moving_speed// of all the involved joints to 0.0). |