add backward move

software/rpi/path_generator.py

@@ -20,3 +20,23 @@ def forward_path():
     path[:, 5, :] = mir_path
 
     return path
+
+
+def backward_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, reverse=True)
+
+    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