Source

puma / play-ball.py

Trammell Hudson 1fbf237 

















Trammell Hudson f908bf4 
Trammell Hudson 1fbf237 













Trammell Hudson f908bf4 
Trammell Hudson 1fbf237 







#!/usr/bin/python
# Play a quick round of shuffleboard to show how it is done
import PumaConfig
import Puma
import sys
import time

r = Puma.Puma(("localhost", 31415), PumaConfig.joints)
vel = 10
power0 = 1550
power1 = 1600
power2 = 1560
power3 = 1560
time.sleep(2)

r.hold()

raw_input("Station 1")
r.move_to(vel, [400, 130, -85])

raw_input("Swing 1!")
r.swing(power0)

raw_input("Swing 2!")
r.swing(power1)

raw_input("Station 2")
r.move_to(vel, [300, 130, -85])

raw_input("Swing 1!")
r.swing(power2)

raw_input("Station 3")
r.move_to(vel, [430, 130, -80])

raw_input("Swing 1!")
r.swing(power3)

raw_input("Go home")
r.home()