dnajd / fluentnao Goto Github PK

Write a blog post on this and make a video showing how to do it.... Cool tip from Dave!

Add fluentnao & naoutil to PYTHONPATH
Run python
In interactive shell

 import naoutil.naoenv as naoenv
 import fluentnao.nao as nao
 env = naoenv.make_environment(None, ipaddr="127.0.0.1", port=9559)
 nao = nao.Nao(env, None)

Adding a motionutil module to naoutil containing functions:

https://github.com/dnajd/FluentNao/blob/master/src/main/python/fluentnao/nao.py
lines 239 - 315

[10:57:46 PM] Dave Snowdon: here's a challenge though, are there meaningful unit tests we could write to verify it's behaviour?

Get rid of my attempt at events and use this:
https://github.com/davesnowdon/naoutil/blob/master/naoutil/src/main/python/naoutil/memory.py

naoscript to be able to tie a script to a event like this

 nao.event.left_bumper(naoScriptId)

and have it fetch script 112 and trigger it when the left_bumper is pressed. :)
add a probability of happening and load in a couple of scripts... it could seem more autonomous

nao.left_bumper(112, .10)
nao.left_bumper(120, .10)
nao.left_bumper(20, .10)

So if the left bumper is touched, it iterates through saved events, each one having a 10 percent chance of happening. first one to happen takes the event.

Dave Snowdon: I'd be tempted to express that as a list of tuples:

nao.left_bumper([(.1, 112), (.1, 120), (.1, 20)])

Also want to do time based events, not sure how I would handle it, but ...

nao.event.time("1:00pm", naoScriptId, probabilityPercent)

Dave Snowdon: I think there is exsiting python code for scheduling

• http://pythonhosted.org/APScheduler/cronschedule.html
• http://stackoverflow.com/questions/373335/suggestions-for-a-cron-like-scheduler-in-python

Also want to support others

nao.event.face_recog(naoScriptId, probabilityPercent)

Fluent Nao positions currently only support one offset.. which ends up being in an x or y direction. All positions (ex. nao.arms.up()) should support both x and y offsets in a consistent order.

This is the first thing I need to adjust!

Move Choregraphe projects to a separate repo

• consolidate projects
• save main project as a folder
• create sh script to copy fluent nao and naoutil into the folder

much easier to manage files this way and source control will actually track changes. :)