add right turn
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@ -13,7 +13,7 @@ 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
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from path_generator import gen_leftturn_path, gen_rightturn_path
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SIN30 = 0.5
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@ -92,6 +92,7 @@ class Hexapod:
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self.fastbackward_path = gen_fastbackward_path()
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self.leftturn_path = gen_leftturn_path()
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self.rightturn_path = gen_rightturn_path()
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self.standby()
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time.sleep(1)
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@ -111,6 +112,9 @@ class Hexapod:
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for mm in range(0, 20):
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self.move(self.leftturn_path, 0.005)
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for mm in range(0, 20):
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self.move(self.rightturn_path, 0.005)
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time.sleep(1)
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self.standby()
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@ -112,3 +112,23 @@ def gen_leftturn_path():
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leftturn[:, 5, :] = np.array(path_rotate_z(mir_path, 135))
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return leftturn
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def gen_rightturn_path():
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g_steps = 20
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g_radius = 25
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assert (g_steps % 4) == 0
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halfsteps = int(g_steps/2)
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path = semicircle_generator(g_radius, g_steps)
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mir_path = np.roll(path, halfsteps, axis=0)
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rightturn = np.zeros((g_steps, 6, 3))
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rightturn[:, 0, :] = np.array(path_rotate_z(path, 45+180))
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rightturn[:, 1, :] = np.array(path_rotate_z(mir_path, 0+180))
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rightturn[:, 2, :] = np.array(path_rotate_z(path, 315+180))
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rightturn[:, 3, :] = np.array(path_rotate_z(mir_path, 225+180))
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rightturn[:, 4, :] = np.array(path_rotate_z(path, 180+180))
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rightturn[:, 5, :] = np.array(path_rotate_z(mir_path, 135+180))
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return rightturn
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