reverts

controller2.py

@@ -432,7 +432,23 @@ def main():
                     own['manual_v2_type'] = 'fak nose manual'
                 if lAs == 'reg_air_nose to nmanual' and own['manual_v2_type'] == 'fak nose manual':
                     print('---requesting fak nose manual')
-                    own['manual_v2_type'] = 'fak manual'                    
+                    own['manual_v2_type'] = 'fak manual' 
+                    
+        if STANCE == 0 and own['manual_v2_type'] == 'fak manual':
+            print('change manual stance')
+            own['manual_v2_type'] = 'reg nose manual' 
+        if STANCE == 1 and own['manual_v2_type'] == 'reg manual':
+            print('change manual stance')                        
+            own['manual_v2_type'] = 'fak nose manual'
+
+        if STANCE == 0 and own['manual_v2_type'] == 'fak nose manual':
+            print('change manual stance')
+            own['manual_v2_type'] = 'reg manual' 
+        if STANCE == 1 and own['manual_v2_type'] == 'reg nose manual':
+            print('change manual stance')                        
+            own['manual_v2_type'] = 'fak manual'  
+            
+                                      
                   
  
     #check manual
@@ -616,6 +632,15 @@ def main():
         killact(11)  
         killact(34)      
         
+    
+    if own['l_actionState'] == 'reg_manual_revert_ccw':
+        own['manual_v2_type'] = 'fak nose manual'
+        fak_nmanual_on()  
+    if own['l_actionState'] == 'reg_manual_revert_cw':
+        own['manual_v2_type'] = 'fak nose manual'
+        fak_nmanual_on()          
+              
+    
     ###########
         
     def reg_stanceinc_on():
@@ -2424,16 +2449,20 @@ def main():
             own['requestAction'] = 'reg_manual_revert_ccw'   
             print("reg")
         elif own['manual_v2_type'] == 'reg nose manual':
-            own['requestAction'] = 'fak_manual_revert_ccw'  
+            own['requestAction'] = 'reg_nmanual_revert_ccw'  
             print("reg nose manual revert")             
         elif own['manual_v2_type'] == 'fak manual': 
             own['requestAction'] = 'fak_manual_revert_ccw'   
             print("fak manual revert")
         elif own['manual_v2_type'] == 'fak nose manual': 
-            own['requestAction'] = 'reg_manual_revert_ccw'   
+            own['requestAction'] = 'fak_nmanual_revert_ccw'   
             print("fak")           
         else:
-            own['requestAction'] = 'revert1'            
+            if STANCE == 0:
+                own['requestAction'] = 'revert1'            
+            else:
+                own['requestAction'] = 'fak_revert1'
+                print('flip rev')            
         own['revert_timer'] = 20 
         cont.activate(own.actuators["revertSound"]) 
         own['revert_sound'] = 1     
@@ -2450,16 +2479,19 @@ def main():
             own['requestAction'] = 'reg_manual_revert_cw'   
             print("reg")
         elif own['manual_v2_type'] == 'reg nose manual':    
-            own['requestAction'] = 'fak_manual_revert_cw'
+            own['requestAction'] = 'reg_nmanual_revert_cw'
             print("reg nose manual revert")             
         elif own['manual_v2_type'] == 'fak manual':    
             own['requestAction'] = 'fak_manual_revert_cw'
             print("fak manual revert")
         elif own['manual_v2_type'] == 'fak nose manual':    
-            own['requestAction'] = 'reg_manual_revert_cw'
+            own['requestAction'] = 'fak_nmanual_revert_cw'
             print("fak")   
         else:     
-            own['requestAction'] = 'revert2'       
+            if STANCE == 0:
+                own['requestAction'] = 'revert2'       
+            else:
+                own['requestAction'] = 'fak_revert2'                           
         own['revert_timer'] = 20 
         cont.activate(own.actuators["revertSound"])   
         own['revert_sound'] = 1      
@@ -2477,16 +2509,19 @@ def main():
             own['requestAction'] = 'reg_manual_revert_ccw'  
             print("reg")
         elif own['manual_v2_type'] == 'reg nose manual':    
-            own['requestAction'] = 'fak_manual_revert_ccw'
+            own['requestAction'] = 'reg_nmanual_revert_ccw'
             print("reg nose manual revert")             
         elif own['manual_v2_type'] == 'fak manual': 
             own['requestAction'] = 'fak_manual_revert_ccw'   
             print("fak manual revert")
         elif own['manual_v2_type'] == 'fak nose manual':
-            own['requestAction'] = 'reg_manual_revert_ccw'    
+            own['requestAction'] = 'fak_nmanual_revert_ccw'    
             print("fak")   
-        else:       
-            own['requestAction'] = 'revert3' 
+        else:  
+            if STANCE == 0:     
+                own['requestAction'] = 'revert3' 
+            else:
+                own['requestAction'] = 'fak_revert1'     
         own['revert_timer'] = 20 
         cont.activate(own.actuators["revertSound"]) 
         own['revert_sound'] = 1     
@@ -2503,16 +2538,19 @@ def main():
             own['requestAction'] = 'reg_manual_revert_cw'
             print("reg")
         elif own['manual_v2_type'] == 'reg nose manual':    
-            own['requestAction'] = 'fak_manual_revert_cw'
+            own['requestAction'] = 'reg_nmanual_revert_cw'
             print("reg nose manual revert")             
         elif own['manual_v2_type'] == 'fak manual':    
             own['requestAction'] = 'fak_manual_revert_cw'
             print("fak manual revert")
         elif own['manual_v2_type'] == 'fak nose manual':    
-            own['requestAction'] = 'reg_manual_revert_cw'
+            own['requestAction'] = 'fak_nmanual_revert_cw'
             print("fak") 
         else:
-            own['requestAction'] = 'revert4'
+            if STANCE == 0:
+                own['requestAction'] = 'revert4'
+            else:
+                own['requestAction'] = 'fak_revert2'     
             print("normal revert")        
         own['revert_timer'] = 20 
         cont.activate(own.actuators["revertSound"])