JackM323
2b2125bfde
old code was uploaded in the initial upload changed everything with working programm and updated the readme
60 lines
1.4 KiB
Python
60 lines
1.4 KiB
Python
from threading import Thread
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from multiprocessing import Process, Manager, Queue
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import time
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# Selfmade Libraries
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import Controller as ctr
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import RobotState as rs
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# Global Variables
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import GlobalVariables as gv
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def robot_control():
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# Connection
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if gv.robotCommunication != None:
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gv.robotCommunication.start()
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# Start Position
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rs.initPos()
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time.sleep(1)
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############################## Main Loop ##############################
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tick = 0.05
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next_time = time.time()
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while gv.control_pause == False:
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next_time += tick
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if gv.emote == "wave":
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rs.initPos()
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time.sleep(0.3)
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rs.wave_emote()
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gv.emote = None
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gv.robot_state = "idle"
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continue
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# Robot
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if gv.robot_state == "idle":
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rs.initPos()
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time.sleep(0.2)
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elif gv.robot_state == "walking":
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rs.walking()
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# Simulation
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if gv.shared_sim != None:
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gv.shared_sim.step()
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sleep_time = next_time - time.time()
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if sleep_time > 0:
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time.sleep(sleep_time)
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if __name__ == "__main__":
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controller_queue = Queue()
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robot_queue = Queue()
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controller_thread = Thread(target=ctr.controller)
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controller_thread.start()
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robot_control_thread = Thread(target=robot_control)
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robot_control_thread.start() |