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got compression in a very good state and head movements are good now too

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Lucca Pirovano
2026-07-21 18:56:33 -04:00
parent 273f0b2b3e
commit 76087efc09
1 changed files with 15 additions and 6 deletions
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naowalk.py
+15 -6
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@@ -460,6 +460,8 @@ class VideoServerLauncher:
# MAIN TELEOP # MAIN TELEOP
# ========================================== # ==========================================
class NaoTeleop: class NaoTeleop:
HEAD_RATE = 1.4 # rad/sec - how fast a held IJKL key sweeps the head target angle
def __init__(self, session, nao_ip, audio_device_index=None, mic_gain=8.0, video_scale=2.0, def __init__(self, session, nao_ip, audio_device_index=None, mic_gain=8.0, video_scale=2.0,
nao_ssh_user="nao", nao_ssh_password="nao", nao_ssh_port=22, relay_rate=16000, nao_ssh_user="nao", nao_ssh_password="nao", nao_ssh_port=22, relay_rate=16000,
media_relay=None, deploy_video_server=True, video_server_path=None): media_relay=None, deploy_video_server=True, video_server_path=None):
@@ -501,6 +503,7 @@ class NaoTeleop:
self.running = True self.running = True
self.head_yaw = 0.0 self.head_yaw = 0.0
self.head_pitch = 0.0 self.head_pitch = 0.0
self._last_head_update = time.time()
self.battery_level = 100 self.battery_level = 100
self.last_batt_check = 0 self.last_batt_check = 0
self.volume = 50 self.volume = 50
@@ -783,15 +786,21 @@ class NaoTeleop:
def handle_head_movement(self): def handle_head_movement(self):
if self.typing_mode or self.music_search_mode: return if self.typing_mode or self.music_search_mode: return
keys = pygame.key.get_pressed() keys = pygame.key.get_pressed()
speed = 0.3
now = time.time()
dt = now - self._last_head_update
self._last_head_update = now
step = self.HEAD_RATE * dt
changed = False changed = False
if keys[pygame.K_i]: self.head_pitch = max(self.head_pitch - speed, -0.5); changed = True if keys[pygame.K_i]: self.head_pitch = max(self.head_pitch - step, -0.5); changed = True
if keys[pygame.K_k]: self.head_pitch = min(self.head_pitch + speed, 0.5); changed = True if keys[pygame.K_k]: self.head_pitch = min(self.head_pitch + step, 0.5); changed = True
if keys[pygame.K_j]: self.head_yaw = min(self.head_yaw + speed, 2.0); changed = True if keys[pygame.K_j]: self.head_yaw = min(self.head_yaw + step, 2.0); changed = True
if keys[pygame.K_l]: self.head_yaw = max(self.head_yaw - speed, -2.0); changed = True if keys[pygame.K_l]: self.head_yaw = max(self.head_yaw - step, -2.0); changed = True
if changed: if changed:
self._safe("Head move", lambda: self.motion.setAngles( self._safe("Head move", lambda: self.motion.setAngles(
["HeadYaw", "HeadPitch"], [self.head_yaw, self.head_pitch], 0.3)) ["HeadYaw", "HeadPitch"], [self.head_yaw, self.head_pitch], 0.18))
def reset_head(self): def reset_head(self):
self.head_yaw = 0.0 self.head_yaw = 0.0