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poppy_software [2016/01/19 12:50] nduminy |
poppy_software [2016/07/25 13:13] mai ssh odroid |
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| print dxl_io_lower.scan(range(60)) | print dxl_io_lower.scan(range(60)) | ||
| </code> | </code> | ||
| + | |||
| + | ===== Embedded odroid ===== | ||
| + | |||
| + | The poppy humanoid has an embedded [[odroid xu 4]], where these libraries have been installed (pypot and poppy-humanoid). | ||
| + | You can log to the computer by ssh using the network labo-sid: odroid@poppy1 (mdp: odroid) | ||
| ===== First program ===== | ===== First program ===== | ||
| Line 76: | Line 81: | ||
| time.sleep(5) | time.sleep(5) | ||
| </code> | </code> | ||
| - | * to record and replay a movement http://poppy-project.github.io/poppy-docs/pypot/doc/quickstart-primitive.html and https://poppy-project.github.io/pypot/move.html. | + | * to record and replay a movement https://poppy-project.github.io/pypot/move.html. |
| ++++ code| <code Python> | ++++ code| <code Python> | ||
| - | importer des fonctions | + | #importer des fonctions |
| import time | import time | ||
| import math | import math | ||
| Line 146: | Line 151: | ||
| * 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// 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). | ||
| - | 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// 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). |