From 11e9f7a323396f0e53ba3b86a208590f888ba85b Mon Sep 17 00:00:00 2001 From: Zhengyu Peng Date: Wed, 23 Feb 2022 12:23:35 -0500 Subject: [PATCH] Update path_generator.py --- software/raspberry pi/path_generator.py | 33 +++++++++---------------- 1 file changed, 11 insertions(+), 22 deletions(-) diff --git a/software/raspberry pi/path_generator.py b/software/raspberry pi/path_generator.py index ba61bed..9fa005b 100644 --- a/software/raspberry pi/path_generator.py +++ b/software/raspberry pi/path_generator.py @@ -107,40 +107,29 @@ def gen_turn_path(standby_coordinate, 'type': 'motion'} -def gen_shiftleft_path(standby_coordinate, - g_steps=20, - g_radius=25): +def gen_shift_path(standby_coordinate, + g_steps=20, + g_radius=25, + direction='left'): assert (g_steps % 4) == 0 halfsteps = int(g_steps/2) - semi_circle = semicircle_generator(g_radius, g_steps) - # shift 90 degree to make the path "left" shift - semi_circle = np.array(path_rotate_z(semi_circle, 90)) - mir_path = np.roll(semi_circle, halfsteps, axis=0) - - path = np.zeros((g_steps, 6, 3)) - path[:, [0, 2, 4], :] = np.tile(semi_circle[:, np.newaxis, :], (1, 3, 1)) - path[:, [1, 3, 5], :] = np.tile(mir_path[:, np.newaxis, :], (1, 3, 1)) - - return path+np.tile(standby_coordinate, (g_steps, 1, 1)) - - -def gen_shiftright_path(standby_coordinate, - g_steps=20, - g_radius=25): - assert (g_steps % 4) == 0 - halfsteps = int(g_steps/2) + if direction == 'left': + shift_angle = 90 + elif direction == 'right': + shift_angle = 270 semi_circle = semicircle_generator(g_radius, g_steps) # shift 90 degree to make the path "left" shift - semi_circle = np.array(path_rotate_z(semi_circle, 270)) + semi_circle = np.array(path_rotate_z(semi_circle, shift_angle)) mir_path = np.roll(semi_circle, halfsteps, axis=0) path = np.zeros((g_steps, 6, 3)) path[:, [0, 2, 4], :] = np.tile(semi_circle[:, np.newaxis, :], (1, 3, 1)) path[:, [1, 3, 5], :] = np.tile(mir_path[:, np.newaxis, :], (1, 3, 1)) - return path+np.tile(standby_coordinate, (g_steps, 1, 1)) + return {'coord': path+np.tile(standby_coordinate, (g_steps, 1, 1)), + 'type': 'motion'} def gen_climb_path(standby_coordinate,