rename folders

software/raspberry pi/leg.py

@@ -0,0 +1,64 @@
+#!python
+#
+# 2021  Zhengyu Peng
+# Website: https://zpeng.me
+#
+# `                      `
+# -:.                  -#:
+# -//:.              -###:
+# -////:.          -#####:
+# -/:.://:.      -###++##:
+# ..   `://:-  -###+. :##:
+#        `:/+####+.   :##:
+# .::::::::/+###.     :##:
+# .////-----+##:    `:###:
+#  `-//:.   :##:  `:###/.
+#    `-//:. :##:`:###/.
+#      `-//:+######/.
+#        `-/+####/.
+#          `+##+.
+#           :##:
+#           :##:
+#           :##:
+#           :##:
+#           :##:
+#            .+:
+
+import numpy as np
+
+
+class Leg:
+    def __init__(self,
+                 id,
+                 junction_servos,
+                 correction=[0, 0, 0],
+                 constraint=[[35, 145], [10, 165], [30, 150]]):
+        self.id = id
+        self.junction_servos = junction_servos
+        self.correction = correction
+        self.constraint = constraint
+
+    def set_angle(self, junction, angle):
+        set_angle = np.min(
+            [angle+self.correction[junction], self.constraint[junction][1]+self.correction[junction], 180])
+        set_angle = np.max(
+            [set_angle, self.constraint[junction][0]+self.correction[junction], 0])
+        self.junction_servos[junction].angle = set_angle
+
+    def set_raw_angle(self, junction, angle):
+        self.junction_servos[junction].angle = angle
+
+    def move_junctions(self, angles):
+        self.set_angle(0, angles[0])
+        self.set_angle(1, angles[1])
+        self.set_angle(2, angles[2])
+
+    def reset(self, calibrated=False):
+        if calibrated:
+            self.set_angle(0, 90)
+            self.set_angle(1, 90)
+            self.set_angle(2, 90)
+        else:
+            self.set_raw_angle(0, 90)
+            self.set_raw_angle(1, 90)
+            self.set_raw_angle(2, 90)