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Update controller using keys instead of SOFA constant #1

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Update controller using keys instead of SOFA constant #1

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12 changes: 6 additions & 6 deletions SoftRobotics/IKWithSOFA/PneuNetsController.py
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Original file line number Diff line number Diff line change
Expand Up @@ -31,17 +31,17 @@ def onKeypressedEvent(self,e):
spcValue = self.node.cavity.SPC.value
caValue = self.node.cable.CA.value

if((e["key"] == Sofa.constants.Key.KP_1) or (e["key"] == Sofa.constants.Key.KP_3)):
if e["key"] == Sofa.constants.Key.KP_1:
if((ord(e["key"]) == 19) or (ord(e["key"]) == 21)):
if ord(e["key"]) == 19: # Up
cableDisplacement = caValue.value[0] + 1.0
elif e["key"] == Sofa.constants.Key.KP_3:
elif ord(e["key"]) == 21: # Down
cableDisplacement = caValue.value[0] - 1.0
caValue.value = [cableDisplacement]

if((e["key"] == Sofa.constants.Key.KP_4) or (e["key"] == Sofa.constants.Key.KP_6)):
if e["key"] == Sofa.constants.Key.KP_4:
if((ord(e["key"]) == 18) or (ord(e["key"]) == 20)):
if ord(e["key"]) == 18: # Left
volumeFinal = spcValue.value[0] + 1000
elif e["key"] == Sofa.constants.Key.KP_6:
elif ord(e["key"]) == 20: # Right
volumeFinal = spcValue.value[0] - 1000
if volumeFinal < 0:
volumeFinal = 0
Expand Down