From ef70ff1bc3f3cffc13baa70638bca7af2b720aa3 Mon Sep 17 00:00:00 2001
From: odri <odri@furano.laas.fr>
Date: Wed, 25 Aug 2021 16:29:37 +0200
Subject: [PATCH] Reduce joystick low pass + Add new velocity profiles
---
scripts/Joystick.py | 34 +++++++++++++++++++++++++++++++++-
1 file changed, 33 insertions(+), 1 deletion(-)
diff --git a/scripts/Joystick.py b/scripts/Joystick.py
index 18b8d04e..4e1a4582 100644
--- a/scripts/Joystick.py
+++ b/scripts/Joystick.py
@@ -24,7 +24,7 @@ class Joystick:
self.reduced = False
self.stop = False
- self.alpha = 0.0005 #Â Coefficient to low pass the joystick velocity
+ self.alpha = 0.001 #Â Coefficient to low pass the joystick velocity
# Bool to modify the update of v_ref
# Used to launch multiple simulations
@@ -240,6 +240,38 @@ class Joystick:
[0.0, 0.0, 0.0, 0.0, 0.0 ,0.],
[0.0, 0.0, 0.0, 0.0, 0.0 ,0.],
[0.0, 0.0, 0.0, 0., 0. ,0.]])
+ elif velID == 7: # Zig-zag
+ self.t_switch = np.array([0, 1, 3, 4, 6, 7, 9, 10, 11])
+ self.v_switch = np.array([[0.0, 0.25, 0.5, 0.5, 0.5, 0.5, 0.5, 0.25, 0.0],
+ [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
+ [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
+ [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
+ [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
+ [0.0, 0.8, -0.8, -0.8, 0.8, 0.8, -0.8, 0.0, 0.0]])
+ elif velID == 8: # Zig-zag higher speed
+ self.t_switch = np.array([0, 1, 3, 5, 7, 8, 9, 10, 11])
+ self.v_switch = np.array([[0.0, 0.4, 0.8, 0.8, 0.4, 0.0, 0.0, 0.0, 0.0],
+ [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
+ [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
+ [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
+ [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
+ [0.0, 0.8, -1.2, 0.8, 0.0, 0.0, 0.0, 0.0, 0.0]])
+ elif velID == 9: # Debug feet tracking
+ self.t_switch = np.array([0, 2, 3, 5])
+ self.v_switch = np.array([[0.0, 0.4, 0.4, 0.0],
+ [0.0, 0.4, 0.4, 0.0],
+ [0.0, 0.0, 0.0, 0.0],
+ [0.0, 0.0, 0.0, 0.0],
+ [0.0, 0.0, 0.0, 0.0],
+ [0.0, 0.0, 0.0, 0.0]])
+ elif velID == 10: # FORWAAAAAAAAAARD
+ self.t_switch = np.array([0, 2, 4, 6, 8, 15])
+ self.v_switch = np.array([[0.0, 0.4, 0.8, 1.0, 1.0, 1.0],
+ [0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
+ [0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
+ [0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
+ [0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
+ [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]])
self.k_switch = (self.t_switch / self.dt_wbc).astype(int)
self.handle_v_switch(k_loop)
return 0
--
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