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

add configuration file

Browse Source
This commit is contained in:
Zhengyu Peng 2021-12-08 09:40:00 -05:00
parent 75a8af655a
commit 1bdd862442
2 changed files with 29 additions and 11 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

14
software/rpi/config.json Normal file
View File

@ -0,0 +1,14 @@
{
"legNames":["front_right", "center_right", "rear_right", "rear_left", "center_left", "front_left"],
"legMountX":[29.41, 36.87, 29.41, 29.41, 36.87, 29.41],
"legMountY":[55.41, 0, 55.41, 55.41, 0, 55.41],
"legMountLeftRightX":36.87,
"legMountOtherX":29.41,
"legMountOtherY":55.41,
"legRootToJoint1":20.75,
"legJoint1ToJoint2":28.0,
"legJoint2ToJoint3":42.6,
"legJoint3ToTip":89.07,
"movementInterval":5,
"movementSwitchDuration":150
}

26
software/rpi/hexapod.py
View File

@ -8,42 +8,47 @@ from adafruit_servokit import ServoKit
from leg import Leg from leg import Leg
import time import time
import json
class Hexapod: class Hexapod:
def __init__(self): def __init__(self):
with open('./config.json', 'r') as read_file:
self.config = json.load(read_file)
# Objects # Objects
self.pca_right = ServoKit(channels=16, address=0x40, frequency=120) self.pca_right = ServoKit(channels=16, address=0x40, frequency=120)
self.pca_left = ServoKit(channels=16, address=0x41, frequency=120) self.pca_left = ServoKit(channels=16, address=0x41, frequency=120)
# rear right # front right
self.leg_0 = Leg('rr', self.leg_0 = Leg(0,
[self.pca_left.servo[15], self.pca_left.servo[2], [self.pca_left.servo[15], self.pca_left.servo[2],
self.pca_left.servo[1]], self.pca_left.servo[1]],
correction=[-6, 4, -6]) correction=[-6, 4, -6])
# center right # center right
self.leg_1 = Leg('cr', self.leg_1 = Leg(1,
[self.pca_left.servo[7], self.pca_left.servo[8], [self.pca_left.servo[7], self.pca_left.servo[8],
self.pca_left.servo[6]], self.pca_left.servo[6]],
correction=[3, -5, -6]) correction=[3, -5, -6])
# front right # rear right
self.leg_2 = Leg('fr', self.leg_2 = Leg(2,
[self.pca_left.servo[0], self.pca_left.servo[14], [self.pca_left.servo[0], self.pca_left.servo[14],
self.pca_left.servo[13]], self.pca_left.servo[13]],
correction=[3, -6, -5]) correction=[3, -6, -5])
# front left # rear left
self.leg_3 = Leg('fl', self.leg_3 = Leg(3,
[self.pca_right.servo[15], self.pca_right.servo[1], [self.pca_right.servo[15], self.pca_right.servo[1],
self.pca_right.servo[2]], self.pca_right.servo[2]],
correction=[-3, -4, 6]) correction=[-3, -4, 6])
# center left # center left
self.leg_4 = Leg('cl', self.leg_4 = Leg(4,
[self.pca_right.servo[7], self.pca_right.servo[6], [self.pca_right.servo[7], self.pca_right.servo[6],
self.pca_right.servo[8]], self.pca_right.servo[8]],
correction=[-6, 2, 0]) correction=[-6, 2, 0])
# rear left # front left
self.leg_5 = Leg('rl', self.leg_5 = Leg(5,
[self.pca_right.servo[0], self.pca_right.servo[13], [self.pca_right.servo[0], self.pca_right.servo[13],
self.pca_right.servo[14]], self.pca_right.servo[14]],
correction=[-6, 4, 0]) correction=[-6, 4, 0])
@ -56,7 +61,6 @@ class Hexapod:
self.leg_5.reset() self.leg_5.reset()
def main(): def main():
hexapod = Hexapod() hexapod = Hexapod()