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Zhengyu Peng
371
software/raspberry pi/hexapod.py
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371
software/raspberry pi/hexapod.py
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#!python
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#
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# 2021 Zhengyu Peng
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# Website: https://zpeng.me
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#
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# ` `
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# -:. -#:
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# -//:. -###:
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# -////:. -#####:
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# -/:.://:. -###++##:
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# .. `://:- -###+. :##:
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# `:/+####+. :##:
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# .::::::::/+###. :##:
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# .////-----+##: `:###:
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# `-//:. :##: `:###/.
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# `-//:. :##:`:###/.
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# `-//:+######/.
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# `-/+####/.
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# `+##+.
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# :##:
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# :##:
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# :##:
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# :##:
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# :##:
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# .+:
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# Libraries
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# https://circuitpython.readthedocs.io/projects/servokit/en/latest/
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from adafruit_servokit import ServoKit
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from leg import Leg
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from queue import Queue, Empty
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# python3-numpy
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import numpy as np
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import time
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import json
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from path_generator import gen_forward_path, gen_backward_path
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from path_generator import gen_fastforward_path, gen_fastbackward_path
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from path_generator import gen_leftturn_path, gen_rightturn_path
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from path_generator import gen_shiftleft_path, gen_shiftright_path
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from path_generator import gen_climb_path
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from path_generator import gen_rotatex_path, gen_rotatey_path, gen_rotatez_path
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from path_generator import gen_twist_path
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import socket
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import errno
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from threading import Thread
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from tcpserver import TCPServer
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class Hexapod(Thread):
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def __init__(self, in_cmd_queue):
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Thread.__init__(self)
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self.cmd_queue = in_cmd_queue
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self.interval = 0.005
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# x -> right
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# y -> front
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# z -> up
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# origin is the center of the body
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# roots are the positions of the bottom screws
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# length units are in mm
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# time units are in ms
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with open('./config.json', 'r') as read_file:
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self.config = json.load(read_file)
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self.mount_x = np.array(self.config['legMountX'])
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self.mount_y = np.array(self.config['legMountY'])
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self.root_j1 = self.config['legRootToJoint1']
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self.j1_j2 = self.config['legJoint1ToJoint2']
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self.j2_j3 = self.config['legJoint2ToJoint3']
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self.j3_tip = self.config['legJoint3ToTip']
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self.mount_angle = np.array(self.config['legMountAngle'])/180*np.pi
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self.mount_position = np.zeros((6, 3))
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self.mount_position[:, 0] = self.mount_x
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self.mount_position[:, 1] = self.mount_y
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# Objects
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self.pca_right = ServoKit(channels=16, address=0x40, frequency=120)
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self.pca_left = ServoKit(channels=16, address=0x41, frequency=120)
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# front right
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self.leg_0 = Leg(0,
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[self.pca_left.servo[15], self.pca_left.servo[2],
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self.pca_left.servo[1]],
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correction=[4, 6, 2])
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# center right
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self.leg_1 = Leg(1,
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[self.pca_left.servo[7], self.pca_left.servo[8],
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self.pca_left.servo[6]],
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correction=[0, 8, -6])
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# rear right
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self.leg_2 = Leg(2,
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[self.pca_left.servo[0], self.pca_left.servo[14],
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self.pca_left.servo[13]],
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correction=[2, 8, -1])
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# rear left
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self.leg_3 = Leg(3,
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[self.pca_right.servo[15], self.pca_right.servo[1],
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self.pca_right.servo[2]],
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correction=[-3, 10, -8])
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# center left
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self.leg_4 = Leg(4,
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[self.pca_right.servo[7], self.pca_right.servo[6],
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self.pca_right.servo[8]],
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correction=[-6, 2, -4])
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# front left
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self.leg_5 = Leg(5,
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[self.pca_right.servo[0], self.pca_right.servo[13],
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self.pca_right.servo[14]],
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correction=[0, 0, -10])
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# self.leg_0.reset(True)
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# self.leg_1.reset(True)
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# self.leg_2.reset(True)
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# self.leg_3.reset(True)
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# self.leg_4.reset(True)
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# self.leg_5.reset(True)
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self.standby_coordinate = self.calculate_standby_coordinate(60, 75)
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self.forward_path = gen_forward_path(self.standby_coordinate)
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self.backward_path = gen_backward_path(self.standby_coordinate)
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self.fastforward_path = gen_fastforward_path(self.standby_coordinate)
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self.fastbackward_path = gen_fastbackward_path(self.standby_coordinate)
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self.leftturn_path = gen_leftturn_path(self.standby_coordinate)
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self.rightturn_path = gen_rightturn_path(self.standby_coordinate)
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self.shiftleft_path = gen_shiftleft_path(self.standby_coordinate)
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self.shiftright_path = gen_shiftright_path(self.standby_coordinate)
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self.climb_path = gen_climb_path(self.standby_coordinate)
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self.rotatex_path = gen_rotatex_path(self.standby_coordinate)
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self.rotatey_path = gen_rotatey_path(self.standby_coordinate)
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self.rotatez_path = gen_rotatez_path(self.standby_coordinate)
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self.twist_path = gen_twist_path(self.standby_coordinate)
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self.current_motion = None
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self.standby()
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time.sleep(1)
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# self.leg_0.set_angle(1, 30)
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# for mm in range(0, 10):
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# self.move(self.forward_path)
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# for mm in range(0, 10):
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# self.move(self.backward_path, 0.005)
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# for mm in range(0, 10):
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# self.move(self.fastforward_path, 0.005)
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# for mm in range(0, 10):
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# self.move(self.fastbackward_path, 0.005)
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# for mm in range(0, 10):
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# self.move(self.leftturn_path, 0.005)
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# for mm in range(0, 10):
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# self.move(self.rightturn_path, 0.005)
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# for mm in range(0, 10):
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# self.move(self.shiftleft_path, 0.005)
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# for mm in range(0, 10):
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# self.move(self.shiftright_path, 0.005)
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# for mm in range(0, 10):
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# self.move(self.climb_path, 0.005)
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# for mm in range(0, 10):
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# self.move(self.rotatex_path, 0.005)
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# for mm in range(0, 10):
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# self.move(self.rotatey_path, 0.005)
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# for mm in range(0, 10):
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# self.move(self.rotatez_path, 0.005)
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# for mm in range(0, 10):
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# self.move(self.twist_path, 0.005)
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# time.sleep(1)
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# self.standby()
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def calculate_standby_coordinate(self, j2_angle, j3_angle):
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j2_rad = j2_angle/180*np.pi
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j3_rad = j3_angle/180*np.pi
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standby_coordinate = np.zeros((6, 3))
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standby_coordinate[:, 0] = self.mount_x+(self.root_j1+self.j1_j2+(
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self.j2_j3*np.sin(j2_rad))+self.j3_tip*np.cos(j3_rad))*np.cos(self.mount_angle)
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standby_coordinate[:, 1] = self.mount_y + (self.root_j1+self.j1_j2+(
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self.j2_j3*np.sin(j2_rad))+self.j3_tip*np.cos(j3_rad))*np.sin(self.mount_angle)
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standby_coordinate[:, 2] = self.j2_j3 * \
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np.cos(j2_rad) - self.j3_tip * \
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np.sin(j3_rad)
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return standby_coordinate
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def move(self, path):
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for p_idx in range(0, np.shape(path)[0]):
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dest = path[p_idx, :, :]
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angles = self.inverse_kinematics(dest)
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self.leg_0.move_junctions(angles[0, :])
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self.leg_5.move_junctions(angles[5, :])
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self.leg_1.move_junctions(angles[1, :])
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self.leg_4.move_junctions(angles[4, :])
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self.leg_2.move_junctions(angles[2, :])
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self.leg_3.move_junctions(angles[3, :])
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time.sleep(self.interval)
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def move_routine(self, path):
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for p_idx in range(0, np.shape(path)[0]):
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dest = path[p_idx, :, :]
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angles = self.inverse_kinematics(dest)
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self.leg_0.move_junctions(angles[0, :])
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self.leg_5.move_junctions(angles[5, :])
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self.leg_1.move_junctions(angles[1, :])
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self.leg_4.move_junctions(angles[4, :])
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self.leg_2.move_junctions(angles[2, :])
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self.leg_3.move_junctions(angles[3, :])
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try:
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data = self.cmd_queue.get(block=False)
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print('interrput')
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print(data)
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except Empty:
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time.sleep(self.interval)
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pass
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else:
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if data == 'standby':
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self.current_motion = None
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self.standby()
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elif data == 'forward':
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self.current_motion = self.forward_path
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elif data == 'backward':
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self.current_motion = self.backward_path
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elif data == 'fastforward':
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self.current_motion = self.fastforward_path
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elif data == 'fastbackward':
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self.current_motion = self.fastbackward_path
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elif data == 'leftturn':
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self.current_motion = self.leftturn_path
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elif data == 'rightturn':
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self.current_motion = self.rightturn_path
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elif data == 'shiftleft':
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self.current_motion = self.shiftleft_path
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elif data == 'shiftright':
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self.current_motion = self.shiftright_path
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elif data == 'climb':
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self.current_motion = self.climb_path
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elif data == 'rotatex':
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self.current_motion = self.rotatex_path
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elif data == 'rotatey':
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self.current_motion = self.rotatey_path
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elif data == 'rotatez':
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self.current_motion = self.rotatez_path
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elif data == 'twist':
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self.current_motion = self.twist_path
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else:
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self.current_motion = None
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self.cmd_queue.task_done()
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break
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def standby(self):
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dest = self.standby_coordinate
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angles = self.inverse_kinematics(dest)
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self.leg_0.move_junctions(angles[0, :])
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self.leg_5.move_junctions(angles[5, :])
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self.leg_1.move_junctions(angles[1, :])
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self.leg_4.move_junctions(angles[4, :])
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self.leg_2.move_junctions(angles[2, :])
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self.leg_3.move_junctions(angles[3, :])
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def inverse_kinematics(self, dest):
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temp_dest = dest-self.mount_position
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local_dest = np.zeros_like(dest)
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local_dest[:, 0] = temp_dest[:, 0] * \
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np.cos(self.mount_angle) + \
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temp_dest[:, 1] * np.sin(self.mount_angle)
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local_dest[:, 1] = temp_dest[:, 0] * \
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np.sin(self.mount_angle) - \
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temp_dest[:, 1] * np.cos(self.mount_angle)
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local_dest[:, 2] = temp_dest[:, 2]
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angles = np.zeros((6, 3))
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x = local_dest[:, 0] - self.root_j1
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y = local_dest[:, 1]
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angles[:, 0] = -(np.arctan2(y, x) * 180 / np.pi)+90
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x = np.sqrt(x*x + y*y) - self.j1_j2
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y = local_dest[:, 2]
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ar = np.arctan2(y, x)
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lr2 = x*x + y*y
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lr = np.sqrt(lr2)
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a1 = np.arccos((lr2 + self.j2_j3*self.j2_j3 -
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self.j3_tip*self.j3_tip)/(2*self.j2_j3*lr))
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a2 = np.arccos((lr2 - self.j2_j3*self.j2_j3 +
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self.j3_tip*self.j3_tip)/(2*self.j3_tip*lr))
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angles[:, 1] = 90-((ar + a1) * 180 / np.pi)
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angles[:, 2] = (90 - ((a1 + a2) * 180 / np.pi))+90
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return angles
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def run(self):
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while True:
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if self.current_motion is None:
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try:
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data = self.cmd_queue.get(block=False)
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print(data)
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except Empty:
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time.sleep(self.interval)
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pass
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else:
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if data == 'standby':
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self.current_motion = None
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self.standby()
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elif data == 'forward':
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self.current_motion = self.forward_path
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elif data == 'backward':
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self.current_motion = self.backward_path
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elif data == 'fastforward':
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self.current_motion = self.fastforward_path
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elif data == 'fastbackward':
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self.current_motion = self.fastbackward_path
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elif data == 'leftturn':
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self.current_motion = self.leftturn_path
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elif data == 'rightturn':
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self.current_motion = self.rightturn_path
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elif data == 'shiftleft':
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self.current_motion = self.shiftleft_path
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elif data == 'shiftright':
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self.current_motion = self.shiftright_path
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elif data == 'climb':
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self.current_motion = self.climb_path
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elif data == 'rotatex':
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self.current_motion = self.rotatex_path
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elif data == 'rotatey':
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self.current_motion = self.rotatey_path
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elif data == 'rotatez':
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self.current_motion = self.rotatez_path
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elif data == 'twist':
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self.current_motion = self.twist_path
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else:
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self.current_motion = None
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self.cmd_queue.task_done()
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if self.current_motion is not None:
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self.move_routine(self.current_motion)
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def main():
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q = Queue()
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tcp_server = TCPServer(q)
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tcp_server.start()
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hexapod = Hexapod(q)
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hexapod.start()
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if __name__ == '__main__':
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main()
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