Webots_README.md

First, We need to include the required packages.

#include "Walk.hpp"
#include <webots/LED.hpp>
#include <webots/Motor.hpp>
#include <webots/PositionSensor.hpp>
#include <RobotisOp2MotionManager.hpp>
#include <webots/utils/Motion.hpp>
#include <webots/Speaker.hpp>
#include <webots/Keyboard.hpp>
#include <unistd.h>
#include <iostream>
#include <cstdlib>
#include <fstream>
#include <string.h>
#include <unistd.h>
#include <sys/wait.h>

-Main.cpp

By Connecting with two servers and setting up two sockets successfully, PTA.BOT will greet to a user and demonstrate the motion of exercise-one. When the user doing the motion, PTA.BOT can encourage the user during the period of exercise-one. After finishing exercise-one, the robot will communicate with two servers to send data and receive data back. Those data will save to resultFromCNN. Therefore, PTA.BOT can make a decision of getUpdatedlevel() for the next motion. The processes of second and third motions are as well as the first one. Lastly, there has an end of section.

  controller->createSocketWithServers(fd,fd2,g);
  controller->textToSpeechGreeting();
  controller->runExerciseOne(g,command,fd);
  resultFromCNN = controller->communicateWithServer(g,currentLevel,fd,fd2);
  std::cout << "after movement1, Result from CNN " << resultFromCNN << std::endl;
  controller->textToSpeechEncourage();
  controller->getUpdatedLevel(currentLevel,resultFromCNN);
  controller->runExerciseTwo(g,currentLevel,fd);
  resultFromCNN = controller->communicateWithServer(g,currentLevel,fd,fd2);
  std::cout << "after movement2, Result from CNN " << resultFromCNN << std::endl;
  controller->textToSpeechEncourage();
  controller->getUpdatedLevel(currentLevel,resultFromCNN);
  controller->runExerciseThree(g,currentLevel,fd);
  resultFromCNN = controller->communicateWithServer(g,currentLevel,fd,fd2);
  std::cout << "after movement3, Result from CNN " << resultFromCNN << std::endl;
  controller->textToSpeechEnding();

-Text-to-speech

The volume argument allows the user to specify the volume of this sound (between 0.0 and 1.0).

mSpeaker = getSpeaker("Speaker");  
mSpeaker->setLanguage("en-US"); //en-US" for American English
Speaker::speak(const std::string &text, double volume);

Encouragement function

  mSpeaker->speak("You can do it!",1.0);
  wait(3000);
  mSpeaker->speak("Keep Going!",1.0);
  wait(1000);

Three difficult level

Level	Repeat times
Easy	3 Repetition
Medium	5 Repetition
Hard	8 Repetition

case 0:  strncpy(command, "5", sizeof(command) - 1);
         mSpeaker->speak("Let’s start with our third exercise. Please follow the demonstration and repeat three times.",1.0);
         wait(6000); 
         break;
case 1:  strncpy(command, "10", sizeof(command) - 1);
         mSpeaker->speak("Let’s start with our third exercise. Please follow the demonstration and repeat five times.",1.0);
         wait(6000); 
         break;
case 2:  strncpy(command, "15", sizeof(command) - 1);
         mSpeaker->speak("Let’s start with our third exercise. Please follow the demonstration and repeat eight times.",1.0);
         wait(6000); 
         break;

  if(resultFromCNN == 0){
    std::cout << "Result from CNN == 0, let's decrease level if posibble"<< std::endl;
    currentLevel--;
    if(currentLevel < 0){
      currentLevel = 0;
    }
  }else if(resultFromCNN == 1){
    std::cout << "Result from CNN == 1, let's increase level if posibble"<< std::endl;
    currentLevel++;
    if(currentLevel > 2){
      currentLevel = 2;
    }
  }

-Motion

Define 20 MOTORS and assign to positionSensors[].

static const char *motorNames[NMOTORS] = {
  "ShoulderR" /*ID1 */, "ShoulderL" /*ID2 */, "ArmUpperR" /*ID3 */, "ArmUpperL" /*ID4 */,
  "ArmLowerR" /*ID5 */, "ArmLowerL" /*ID6 */, "PelvYR"    /*ID7 */, "PelvYL"    /*ID8 */,
  "PelvR"     /*ID9 */, "PelvL"     /*ID10*/, "LegUpperR" /*ID11*/, "LegUpperL" /*ID12*/,
  "LegLowerR" /*ID13*/, "LegLowerL" /*ID14*/, "AnkleR"    /*ID15*/, "AnkleL"    /*ID16*/,
  "FootR"     /*ID17*/, "FootL"     /*ID18*/, "Neck"      /*ID19*/, "Head"      /*ID20*/
};

for (int i=0; i<NMOTORS; i++) {
   mMotors[i] = getMotor(motorNames[i]);
   string sensorName = motorNames[i];
   sensorName.push_back('S');
   mPositionSensors[i] = getPositionSensor(sensorName);
   mPositionSensors[i]->enable(mTimeStep);
  }

Let MotionManager operate this robot.

mMotionManager = new RobotisOp2MotionManager(this);

Get frequency

Motion::getDuration();

The step method has to be called to run it (before calling the robot step function).

myStep();

Change the rad of six servos to get motions.

"hand_extend.motion":

#WEBOTS_MOTION,V1.0,ArmLowerL,ArmUpperL,ShoulderL,ArmLowerR,ArmUpperR,ShoulderR
00:00:000,handsU,0.02,-0.8,-1.65,-0.02,0.8,1.65
00:02:000,handsExtend,1.63, -0.8, -1.65,-1.65, 0.8, 1.65
00:04:000,handsU,0.02,-0.8,-1.65,-0.02,0.8,1.65

"hand_high.motion":

#WEBOTS_MOTION,V1.0,ArmLowerL,ArmUpperL,ShoulderL,ArmLowerR,ArmUpperR,ShoulderR
00:00:000,handsU,0.02,-0.8,-1.65,-0.02,0.8,1.65
00:02:000,handsUp,1.63,0.77,-3.14,-1.65,-0.68,3.14
00:04:000,handsU,0.02,-0.8,-1.65,-0.02,0.8,1.65

Do "hand_extend.motion"and "hand_high.motion" each for two times for demonstration.

Motion motion_1("hand_extend.motion");
    int time1 = motion_1.getDuration();
    for (int i=0; i<2; i++){
    	motion_1.play();
    	wait(time1);
    }

Motion motion_2("hand_high.motion");
    int time2 = motion_2.getDuration();
    for (int i=0; i<2; i++){
    	motion_2.play();
    	wait(time2);
    }

Play a motion.

void playPage(int id);

mMotionManager->playPage(15);
    wait(500);
mMotionManager->playPage(1);