tracking task bmi

built_in_tasks/bmimultitasks.py

@@ -17,6 +17,7 @@
 from .target_capture_task_xt import ScreenReachAngle
 from features.bmi_task_features import LinearlyDecreasingAssist
 from .target_graphics import target_colors
+from .target_tracking_task import ScreenTargetTracking
 
 np.set_printoptions(suppress=False)
 
@@ -265,6 +266,10 @@ def create_goal_calculator(self):
         else:
             raise ValueError("Unrecognized decoder state space!")
 
+
+    def move_effector(self, pos_offset=[0,0,0], vel_offset=[0,0,0]):
+        pass
+
     def get_target_BMI_state(self, *args):
         '''
         Run the goal calculator to determine the target state of the task
@@ -364,6 +369,8 @@ def toggle_clda(self):
         self.hdf.sendMsg(f"clda = {self.learn_flag}")
         print(f"clda = {self.learn_flag}")
 
+
+
 class BMIControlMulti2DWindow(BMIControlMultiMixin, WindowDispl2D, ScreenTargetCapture):
     fps = 20.
     def __init__(self,*args, **kwargs):
@@ -395,4 +402,11 @@ class BMIControlMultiDirectionConstraint(BMIControlMultiMixin, ScreenReachAngle)
     '''
     Adds an additional constraint that the direction of travel must be within a certain angle
     '''
+    pass
+
+
+class BMIControlMulti_ScreenTargetTracking(BMIControlMultiMixin, ScreenTargetTracking):
+    '''
+    BMI control for target tracking task
+    '''
     pass

built_in_tasks/target_tracking_task.py

@@ -77,10 +77,10 @@ def init(self):
         self.repeat_freq_set = False
         self.gen_index = -1
 
-        if self.velocity_control:
-            print('VELOCITY CONTROL')
-        else:
-            print('POSITION CONTROL') # default is position control - see manualcontrolmixin
+        #if self.velocity_control:
+        #    print('VELOCITY CONTROL')
+        #else:
+        #    print('POSITION CONTROL') # default is position control - see manualcontrolmixin
         self.pos_offset = [0,0,0]
         self.vel_offset = [0,0,0]
 
@@ -462,7 +462,6 @@ def init(self):
         self.add_dtype('disturbance', 'f8', (3,))
         super().init()
         self.plant.set_endpoint_pos(np.array(self.starting_pos))
-
     def _cycle(self):
         '''
         Calls any update functions necessary and redraws screen