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Old 11-08-2012, 01:26 PM
mhead10 mhead10 is offline
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Join Date: Mar 2012
Posts: 40
Jeff,

I'm getting closer, but still not quite there. I can get the centers assigned correctly, but my simulation displays my tool in what looks like 3 different places at the same time still (attached).

I think the centers, eulers, and positions are not getting assigned quite quickly enough, therefore, there's a small lag between each.

Is there a better way to do what I'm trying to accomplish (get the shaft to rotate/position with three separate centers in one visual piece)? Altering the subtasks with yields (setCenters) hasn't changed anything.

Thanks again for your help!

Updated Code:
Code:
def Kinematics_1():	
	scale = 40 #degrees (360/9)
	trans_scale = 1 #translation pot (pot #1)
	x = 180
	
	shaft.center(0,0,1.738)
	#POT 0- BASE ROTATIONS#
	yield shaft.setEuler(180+scale*pdata[0],0,0)				

	#POT 1- TRANSLATION#
	yield shaft.setPosition(0,0,pdata[1]*trans_scale-3, viz.ABS_PARENT) 
	
	#pot 2: grasper open/clock
	if pdata[2]*scale > x: 	#graspers are not touching
		#print 'graspers NOT touching'
		babcock_1.setEuler(x-pdata[2]*scale,0,0,viz.ABS_PARENT)
		babcock_2.setEuler(-x+pdata[2]*scale,0,180,viz.ABS_PARENT)
	else: 					#graspers are touching
		#print 'graspers touching'
		babcock_1.setEuler(x/scale,0,0,viz.ABS_PARENT)
		babcock_2.setEuler((x/scale),0,180,viz.ABS_PARENT)	
	
	#POT 3: JOYSTICK TIP ROTATION
	#POT 4: FIRST U-JOINT ROTATION
	yield shaft.setEuler(180+scale*pdata[0],(pdata[4]*scale)+180,-(pdata[3]*scale)+90) 
		
#def Kinematics_2():
	#alter center point of rotation
	shaft.setCenter(0,-1.6125,1.738)
	#POT 5- 1st U-Joint, 2nd Rotation
	#POT 6- 2nd U-Joing, 1st Rotation
	yield shaft.setEuler(0,(-pdata[5]*scale)-180,pdata[6]*scale) 
	
#def Kinematics_3():
	scale = 40
	#alter center point of rotation
	shaft.setCenter(0,-3.227,1.738)
	yield shaft.setEuler(0,0,pdata[7]*scale+40)

def Main_Loop():
	while True:
		yield Kinematics_1()

viztask.schedule(Main_Loop())
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