Rune Harlyk
33 lines
990 B
Python
33 lines
990 B
Python
# SCRIPT FOR RUNNING THE RPI ROBOT
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import time
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from src.spot import Spot
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from src.kinematics.SpotKinematics import SpotModel
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from src.camera.WebCamera import WebCamera
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from src.imu.IMU import IMU
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from src.hardware_interface.HardwareInterface import HardwareInterface
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from src.controller_interface.WebsocketController import WebsocketController
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from src.controller_interface.SharedControllerState import SharedState, shared_state
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def main():
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kinematics = SpotModel()
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camera = WebCamera()
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imu = IMU()
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hardware_interface = HardwareInterface()
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# shared_controller_state = SharedState()
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controller_interface = WebsocketController() # shared_controller_state)
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spot = Spot(kinematics, camera, imu, hardware_interface, controller_interface)
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spot.start()
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try:
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while True:
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spot.run(shared_state.get_latest_state().__dict__)
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time.sleep(1)
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except KeyboardInterrupt:
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spot.stop()
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if __name__ == '__main__':
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main() |