Project Initialization

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main.py

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+# Global Variables
+import GlobalVariables as gv
+
+# main.py
+import time
+import threading
+
+from DataTypes import ControlIntent
+from RobotState.RobotState import RobotContext
+from Controller import controller_loop
+from RobotState.idle import IdleState
+from RobotState.walking import WalkingState
+
+import DataTypes as dt
+
+def main():
+    intent = ControlIntent()
+    ctx = RobotContext()
+
+    ctx.center_points = dt.PosArray([
+        [50, 50, -80],
+        [50,-50, -80],
+        [0, 70, -80],
+        [0,-70, -80],
+        [-50,50, -80],
+        [-50,-50,-80]
+    ])
+    ctx.current_pos = ctx.center_points.copy()
+
+    controller_thread = threading.Thread(
+        target=controller_loop,
+        args=(intent,),
+        daemon=True
+    )
+    controller_thread.start()
+
+    states = {
+        "idle": IdleState(),
+        "walking": WalkingState()
+    }
+
+    current = states["idle"]
+    current.on_enter(ctx)
+
+    last = time.perf_counter()
+
+    while not intent.quit:
+        now = time.perf_counter()
+        dt_s = now - last
+        last = now
+
+        next_state = current.update(ctx, intent, dt_s)
+        if next_state:
+            current.on_exit(ctx)
+            current = states[next_state]
+            current.on_enter(ctx)
+
+        time.sleep(0.01)
+
+if __name__ == "__main__":
+    main()