Completed Tele-op Pipeline #8
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teleop main script barebones
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oliviawxye
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Nov 13, 2024
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| """Barebones function for running tele-op tomorrow""" | |||
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| """Barebones function for running tele-op tomorrow""" | |
| """Tele-op script""" |
| from kinematics.wrappers import translate_dir_to_motor_angles | ||
| import serial.serialposix | ||
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| tare_timeout = 1 |
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units? add comment with unit
| """Helper function to initialize the required serial ports for tele-op | ||
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| Args: | ||
| baudrate (int): Serial baudrate |
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| baudrate (int): Serial baudrate | |
| baudrate (int): Serial baudrate | |
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| motor_serial.write(motor_output) | ||
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| def tare_motors(motor_serial: serial.Serial, zero_angles: tuple[float, float, float]): |
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| def tare_motors(motor_serial: serial.Serial, zero_angles: tuple[float, float, float]): | |
| def tare_motors(motor_serial: serial.Serial, current_angles: tuple[float, float, float]): |
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| Args: | ||
| motor_serial (Serial): Object representing the serial communication to the motor | ||
| zero_angles (tuple of 3 floats, (motorA, motorB, motorC)): Angles of the motors' current position (rad) |
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| zero_angles (tuple of 3 floats, (motorA, motorB, motorC)): Angles of the motors' current position (rad) | |
| current_angles: (tuple of 3 floats, (motorA, motorB, motorC)): Angles of the motors' current position (rad) |
| State of motor tare operation: True if Tare successful and false if unsuccessful | ||
| """ | ||
| # Tare motors given a tuple of angles | ||
| send_encoded_motor_commands(motor_serial, 't', (zero_angles)) |
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| send_encoded_motor_commands(motor_serial, 't', (zero_angles)) | |
| send_encoded_motor_commands(motor_serial, 't', (current_angles)) |
| return False | ||
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| def wait_for_user(joystick_serial: serial.Serial): | ||
| """Blocking funciton to wait for user start""" |
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add in specifically waiting for joystick press
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Initial working test of tele-op