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change hand.ino/py to match hardware changes (use pullup resistor, connect to gnd, instead of 5V + pull down resistor)

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This commit is contained in:
Erwin Coumans
2017-04-24 09:56:27 -07:00
parent e8c1602232
commit d41a2fdfd4
2 changed files with 12 additions and 7 deletions
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4
examples/pybullet/examples/hand.ino
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@@ -10,6 +10,10 @@ int sensorPin3 = A3;
void setup() { void setup() {
// put your setup code here, to run once: // put your setup code here, to run once:
Serial.begin(115200); Serial.begin(115200);
digitalWrite(A0, INPUT_PULLUP);
digitalWrite(A1, INPUT_PULLUP);
digitalWrite(A2, INPUT_PULLUP);
digitalWrite(A3, INPUT_PULLUP);
} }
void loop() { void loop() {

15
examples/pybullet/examples/hand.py
View File

@@ -23,7 +23,7 @@ hand=objects[0]
#minV = 400 #minV = 400
#maxV = 600 #maxV = 600
minV = 250 minV = 250
maxV = 450 maxV = 400
p.setRealTimeSimulation(1) p.setRealTimeSimulation(1)
@@ -44,7 +44,7 @@ def convertSensor(x):
if (v>maxV): if (v>maxV):
v=maxV v=maxV
b = (v-minV)/float(maxV-minV) b = (v-minV)/float(maxV-minV)
return (1.0-b) return (b)
ser = None ser = None
portindex = 0 portindex = 0
@@ -62,6 +62,7 @@ while (ser is None and portindex < 30):
if (ser is None): if (ser is None):
ser = serial.Serial(port = "/dev/cu.usbmodem1421",baudrate=115200,parity=serial.PARITY_ODD,stopbits=serial.STOPBITS_TWO,bytesize=serial.SEVENBITS) ser = serial.Serial(port = "/dev/cu.usbmodem1421",baudrate=115200,parity=serial.PARITY_ODD,stopbits=serial.STOPBITS_TWO,bytesize=serial.SEVENBITS)
pi=3.141592
if (ser is not None and ser.isOpen()): if (ser is not None and ser.isOpen()):
while True: while True:
@@ -69,13 +70,13 @@ if (ser is not None and ser.isOpen()):
line = str(ser.readline()) line = str(ser.readline())
words = line.split(",") words = line.split(",")
if (len(words)==6): if (len(words)==6):
middle = convertSensor(words[1]) pink = convertSensor(words[1])
pink = convertSensor(words[2]) middle = convertSensor(words[2])
index = convertSensor(words[3]) index = convertSensor(words[3])
thumb = convertSensor(words[4]) thumb = convertSensor(words[4])
p.setJointMotorControl2(hand,7,p.POSITION_CONTROL,thumb) p.setJointMotorControl2(hand,7,p.POSITION_CONTROL,pi/4.)
p.setJointMotorControl2(hand,9,p.POSITION_CONTROL,thumb) p.setJointMotorControl2(hand,9,p.POSITION_CONTROL,thumb+pi/10)
p.setJointMotorControl2(hand,11,p.POSITION_CONTROL,thumb) p.setJointMotorControl2(hand,11,p.POSITION_CONTROL,thumb)
p.setJointMotorControl2(hand,13,p.POSITION_CONTROL,thumb) p.setJointMotorControl2(hand,13,p.POSITION_CONTROL,thumb)