Jump Jr Jump.ipynb

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   "cell_type": "code",
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   "source": [
    "from poppy.creatures import PoppyErgoJr\n",
    "\n",
    "jr = PoppyErgoJr()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
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   "source": [
    "import time\n",
    "\n",
    "from pypot.primitive import Primitive\n",
    "\n",
    "class Jump(Primitive):\n",
    "    def setup(self):\n",
    "        self.up = {'m1': 0, 'm2': -10, 'm3': -20, 'm4': 0, 'm5': -35, 'm6': -35}\n",
    "        self.down = {'m1': 0, 'm2': -75, 'm3': 55, 'm4': 0, 'm5': 35, 'm6': 35}\n",
    "        \n",
    "        for m in self.robot.motors:\n",
    "            m.compliant = False\n",
    "            m.pid = (10., 0., 0.)\n",
    "            m.moving_speed = 0.\n",
    "            \n",
    "    def run(self):\n",
    "        while not self.should_stop():\n",
    "            if self.should_pause():\n",
    "                self.wait_to_resume()\n",
    "             \n",
    "            for name, p in self.up.items():\n",
    "                m = getattr(self.robot, name)\n",
    "                m.moving_speed = 0\n",
    "                m.goal_position = p\n",
    "            time.sleep(.2)    \n",
    "             \n",
    "            for name, p in self.down.items():\n",
    "                m = getattr(self.robot, name)\n",
    "                m.moving_speed = 250.\n",
    "                m.goal_position = p  \n",
    "            time.sleep(.4)\n",
    "            \n",
    "    def teardown(self):\n",
    "        for m in self.robot.motors:\n",
    "            m.pid = (4., 0., 0.)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "metadata": {
    "collapsed": false
   },
   "outputs": [],
   "source": [
    "jump = Jump(jr)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 4,
   "metadata": {
    "collapsed": false
   },
   "outputs": [],
   "source": [
    "jump.start()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 5,
   "metadata": {
    "collapsed": false
   },
   "outputs": [],
   "source": [
    "jump.stop()"
   ]
  }
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