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added walk speed setting on [], refined walk posture

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Lucca Pirovano
2026-07-16 14:03:39 -04:00
parent bf3e197a20
commit 99f2d6a9cd
2 changed files with 70 additions and 10 deletions
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naowalk.py
+29 -10
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@@ -325,6 +325,7 @@ class NaoTeleop:
self.battery_level = 100
self.last_batt_check = 0
self.volume = 50
self.walk_speed = 0.6 # Default walking speed
self.typing_mode = False
self.chat_message = ""
@@ -436,7 +437,7 @@ class NaoTeleop:
def update_title(self):
mode = "[TYPING] " if self.typing_mode else ""
pygame.display.set_caption(f"NAO Teleop | {mode}Battery: {self.battery_level}% | Vol: {self.volume}%")
pygame.display.set_caption(f"NAO Teleop | {mode}Battery: {self.battery_level}% | Vol: {self.volume}% | Speed: {self.walk_speed:.2f}")
def change_volume(self, delta):
self.volume = int(min(100, max(0, self.volume + delta)))
@@ -465,9 +466,7 @@ class NaoTeleop:
self._safe("moveInit", self.motion.moveInit)
print("🦶 Walk engine ready")
carpet_config = [["StepHeight", 0.028], ["MaxStepFrequency", 0.6], ["TorsoWy", 0.05]]
print("\n🎮 Controls: WASD/Arrows=Walk | IJKL=Head | SPACE=Reset head | 1=Wave | M=Music search (↑↓ select, Enter confirm) | P=Pause | X=Stop | -/==Volume | T=TTS | ESC=Quit")
print("\n🎮 Controls: WASD/Arrows=Walk | [/]=Speed | IJKL=Head | SPACE=Reset head | 1=Wave | M=Music search (↑↓ select, Enter confirm) | P=Pause | X=Stop | -/==Volume | T=TTS | ESC=Quit")
try:
while self.running:
@@ -565,15 +564,35 @@ class NaoTeleop:
if not self.typing_mode and not self.music_search_mode:
keys = pygame.key.get_pressed()
# Speed Adjustment with Title Bar Update
speed_changed = False
if keys[pygame.K_LEFTBRACKET]:
self.walk_speed = max(0.1, self.walk_speed - 0.01)
speed_changed = True
if keys[pygame.K_RIGHTBRACKET]:
self.walk_speed = min(1.0, self.walk_speed + 0.01)
speed_changed = True
if speed_changed:
self.update_title()
x = y = theta = 0.0
if keys[pygame.K_w] or keys[pygame.K_UP]: x = 0.6
if keys[pygame.K_s] or keys[pygame.K_DOWN]: x = -0.6
if keys[pygame.K_a] or keys[pygame.K_LEFT]: theta = 0.5
if keys[pygame.K_d] or keys[pygame.K_RIGHT]: theta = -0.5
if keys[pygame.K_w] or keys[pygame.K_UP]: x = self.walk_speed
if keys[pygame.K_s] or keys[pygame.K_DOWN]: x = -self.walk_speed
if keys[pygame.K_a] or keys[pygame.K_LEFT]: theta = self.walk_speed * 0.8
if keys[pygame.K_d] or keys[pygame.K_RIGHT]: theta = -self.walk_speed * 0.8
try:
if abs(x) > 0.1 or abs(theta) > 0.1:
self.motion.moveToward(x, y, theta, carpet_config)
if abs(x) > 0.05 or abs(theta) > 0.05:
# Fixed stable configuration mapping
stable_config = [
["StepHeight", 0.02],
["MaxStepFrequency", 0.5],
["TorsoWy", 0.08],
["MaxStepX", 0.03] # Replaced MaxStepLength
]
# Removed the forced stiffness block here
self.motion.moveToward(x, y, theta, stable_config)
else:
self.motion.stopMove()
except Exception as e: