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This commit is contained in:
Zhengyu Peng 2021-12-09 09:35:55 -05:00
parent 7b0841223c
commit 09b9ba609d
2 changed files with 24 additions and 23 deletions
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25
software/rpi/hexapod.py
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@ -11,10 +11,8 @@ from leg import Leg
import numpy as np
import time
import json
from path_generator import forward_path
from collections import deque
from lib import semicircle_generator
SIN30 = 0.5
COS30 = 0.866
@ -90,7 +88,7 @@ class Hexapod:
self.standby()
time.sleep(0.1)
full_path = self.path_generator()
full_path = forward_path()
for mm in range(0, 30):
self.move(full_path, 0.005)
@ -174,25 +172,6 @@ class Hexapod:
return angles
def path_generator(self):
# assert (g_steps % 4) == 0
g_steps = 20
g_radius = 25
halfsteps = int(g_steps/2)
path = np.zeros((g_steps, 6, 3))
path[:, 0, :] = semicircle_generator(g_radius, g_steps)
mir_path = np.roll(path[:, 0, :], halfsteps, axis=0)
path[:, 2, :] = path[:, 0, :]
path[:, 4, :] = path[:, 0, :]
path[:, 1, :] = mir_path
path[:, 3, :] = mir_path
path[:, 5, :] = mir_path
return path
# return [path, mir_path, path, mir_path, path, mir_path, ], "shift", 20, (0, halfsteps)

22
software/rpi/path_generator.py Normal file
View File

@ -0,0 +1,22 @@
from lib import semicircle_generator
import numpy as np
def forward_path():
# assert (g_steps % 4) == 0
g_steps = 20
g_radius = 25
halfsteps = int(g_steps/2)
path = np.zeros((g_steps, 6, 3))
path[:, 0, :] = semicircle_generator(g_radius, g_steps)
mir_path = np.roll(path[:, 0, :], halfsteps, axis=0)
path[:, 2, :] = path[:, 0, :]
path[:, 4, :] = path[:, 0, :]
path[:, 1, :] = mir_path
path[:, 3, :] = mir_path
path[:, 5, :] = mir_path
return path