Custom Joystick Rotation

[mhead10]

HELLO!

I'm still trying to find out how to set multiple centers (three) for my custom joystick.

Separately, my three joystick centers (and rotations/translations) work perfectly. However, when I try and put all three of the centers (and rotations/translation) into one main function, I get three separate joysticks or the last of the centers overwrites the first two.

Can someone please tell me how I can have three successive centers (and rotation/translation functions) for my joystick?

The pseudo code would look something like:

def Kinematics_1():
	setCenter_1
	setEuler_1
	setPosition_1

def Kinematics_2():
	setCenter_2
	setEuler_2
	setPosition_2
	
def Kinematics_3():
	setCenter_3
	setEuler_3
	setPosition_3
	
def read_DAQ(): #read in data from DAQ
	data = pdata
	
def director_loop():
	read_DAQ()
	Kinematics_1()
	Kinematics_2()
	Kinematics_3()

viztask.schedule(director_loop())

My actual current code (summarized):

shaft = viz.add('shaft.dae', pos = (0,5,-5))
babcock_1 = viz.addChild('origin.dae', parent = shaft)
babcock_2 = viz.addChild('origin.dae', parent = shaft)

scale = 40 #degrees (360/9)
trans_scale = 5 #translation pot (pot #1)

def read_DAQ(): # used obtain DAQ values
	CHK(nidaq.DAQmxReadAnalogF64(taskHandle,1,
		float64(-1),
		DAQmx_Val_GroupByChannel,pdata.ctypes.data,max_num_samples,ctypes.byref(read),None))
	return(pdata)
	
def Kinematics_1():	
	shaft.center(0,0,1.738)
	#POT 0- BASE ROTATIONS
	shaft.setEuler(180+scale*pdata[0],0,0)				
	
	#POT 1- TRANSLATION#
	shaft.setPosition(0,0,pdata[1]*trans_scale-3) 
	
	#pot 2: grasper open/clock
	
	babcock_1.setEuler(160-pdata[2]*scale,0,0)			
	babcock_2.setEuler(-160+pdata[2]*scale,0,180)	
	
	#POT 3: JOYSTICK TIP ROTATION
	#POT 4: FIRST U-JOINT ROTATION
	shaft.setEuler(180+scale*pdata[0],(pdata[4]*scale)+180,-(pdata[3]*scale)+90) #CORRECT(3), CORRECT(4)
	
def Kinematics_2():
	shaft.setCenter(0,-1.6125,1.738) 
	#POT 5- 1st U-Joint, 2nd Rotation
	#POT 6- 2nd U-Joing, 1st Rotation
	shaft.setEuler(0,(-pdata[5]*scale)-180,pdata[6]*scale) #reversed pot glue position 180 deg 
	
def Kinematics_3():
	shaft.setCenter(0,-3.227/2,1.738)
	shaft.setEuler(0,0,pdata[7]*scale+40)
	
def read_DAQ(): # used obtain DAQ values
	CHK(nidaq.DAQmxReadAnalogF64(taskHandle,1,
		float64(-1),
		DAQmx_Val_GroupByChannel,pdata.ctypes.pdata,max_num_samples,ctypes.byref(read),None))
	return(pdata)

def director_function_loop():
	while True:
		value0 = yield viztask.waitDirector(read_DAQ) 
		value1 = yield viztask.waitDirector(Kinematics_1)
		value2 = yield viztask.waitDirector(Kinematics_2)
		value3 = yield viztask.waitDirector(Kinematics_3)
viztask.schedule(director_function_loop())

Thanks!