InMoovArm

javadoc

sub service of InMoov

Examples:


#file : service/InMoovArm.py edit raw
# start the service
inmoovarm = Runtime.start("inmoovarm","InMoovArm")

juerg's picture

starting InMoov arm

my code looks more like this:

def startLeftArm():

  i01.startLeftArm(leftPort,"atmega2560")
 
  i01.leftArm.bicep.map(5,60,30,80)
  i01.leftArm.bicep.setMaxVelocity(15)
  i01.leftArm.bicep.setVelocity(15)
  i01.leftArm.bicep.setRest(10)
 
  i01.leftArm.shoulder.map(0,180,30,100)
  i01.leftArm.shoulder.setMaxVelocity(15)
  i01.leftArm.shoulder.setVelocity(15)
  i01.leftArm.shoulder.setRest(30)
 
  i01.leftArm.rotate.map(46,180,50,150)
  i01.leftArm.rotate.setMaxVelocity(15)
  i01.leftArm.rotate.setVelocity(15)
  i01.leftArm.rotate.setRest(90)
 
  i01.leftArm.omoplate.map(10,70,10,70)
  i01.leftArm.omoplate.setMaxVelocity(15)
  i01.leftArm.omoplate.setVelocity(15)
  i01.leftArm.omoplate.setRest(10)
 
  i01.leftArm.enableAutoDisable(True)
  i01.leftArm.rest()
 

leftPort = "COM3"
i01 = Runtime.createAndStart("i01","InMoov")
startLeftArm()