shark/hexapod
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

fast walk

Browse Source
This commit is contained in:
Zhengyu Peng
2021-12-09 21:35:50 -05:00
parent e06c9c2979
commit 147356b1ae
3 changed files with 75 additions and 16 deletions
Download Patch File Download Diff File Expand all files Collapse all files

13
software/rpi/hexapod.py
View File

@ -12,6 +12,7 @@ import numpy as np
import time
import json
from path_generator import gen_forward_path, gen_backward_path
from path_generator import gen_fastforward_path, gen_fastbackward_path
SIN30 = 0.5
@ -86,16 +87,24 @@ class Hexapod:
self.standby_coordinate = self.calculate_standby_coordinate(60, 75)
self.forward_path = gen_forward_path()
self.backward_path = gen_backward_path()
self.fastforward_path = gen_fastforward_path()
self.fastbackward_path = gen_fastbackward_path()
self.standby()
time.sleep(1)
for mm in range(0, 30):
for mm in range(0, 20):
self.move(self.forward_path, 0.005)
for mm in range(0, 30):
for mm in range(0, 20):
self.move(self.backward_path, 0.005)
for mm in range(0, 20):
self.move(self.fastforward_path, 0.005)
for mm in range(0, 20):
self.move(self.fastbackward_path, 0.005)
def calculate_standby_coordinate(self, j2_angle, j3_angle):
j2_rad = j2_angle/180*np.pi
j3_rad = j3_angle/180*np.pi