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Make darwin walk #10

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GoogleCodeExporter opened this issue Apr 17, 2015 · 3 comments
Closed

Make darwin walk #10

GoogleCodeExporter opened this issue Apr 17, 2015 · 3 comments
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auto-migrated Milestone-Hackathon

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User story:
Darwin needs to go places

Purpose of code to be implemented or task to be completed:
   * take a look at the framework and locate the code to make darwin walk

Original issue reported on code.google.com by gina.c.c...@gmail.com on 5 Mar 2012 at 2:16
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Original comment by gina.c.c...@gmail.com on 5 Mar 2012 at 2:35

  • Changed state: Fixed
  • Added labels: Milestone-Hackathon

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ebb8cef453b44d40626cde717bcdd455496fa8df


 MotionManager::GetInstance()->AddModule((MotionModule*)Walking::GetInstance());
 LinuxMotionTimer::Initialize(MotionManager::GetInstance()); 

 Walking::GetInstance()->m_Joint.SetEnableBodyWithoutHead(true, true);
 MotionManager::GetInstance()->SetEnable(true);

 //Set a point in 2D space
 Point2D walkTo(-1, -1);


 //Use the Ball_Follower class to walk Darwin to that point
 BallFollower follower = BallFollower();
 follower.Process(walkTo);

 //OR try making him walk 
 //Walking::GetInstance()->X_MOVE_AMPLITUDE = 0.0;
 //Walking::GetInstance()->A_MOVE_AMPLITUDE = 20.0;
 //Walking::GetInstance()->Start();

Original comment by gina.c.c...@gmail.com on 10 Mar 2012 at 5:49

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fixed in this commit: 
http://code.google.com/p/roogle-darwin/source/diff?spec=svna9498b20507c5a12cbcf3
dbe3af250ca83ed0147&r=a9498b20507c5a12cbcf3dbe3af250ca83ed0147&format=side&path=
/main.cpp

see also the Walking Tutorial http://darwin-op.springnote.com/pages/7216713

Original comment by gina.c.c...@gmail.com on 10 Mar 2012 at 5:55

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