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add left turn

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This commit is contained in:
Zhengyu Peng 2021-12-09 21:54:12 -05:00
parent 2d105530ae
commit 5eb582b24b
2 changed files with 37 additions and 11 deletions
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26
software/rpi/hexapod.py
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@ -13,6 +13,7 @@ import time
import json import json
from path_generator import gen_forward_path, gen_backward_path from path_generator import gen_forward_path, gen_backward_path
from path_generator import gen_fastforward_path, gen_fastbackward_path from path_generator import gen_fastforward_path, gen_fastbackward_path
from path_generator import gen_leftturn_path
SIN30 = 0.5 SIN30 = 0.5
@ -90,20 +91,25 @@ class Hexapod:
self.fastforward_path = gen_fastforward_path() self.fastforward_path = gen_fastforward_path()
self.fastbackward_path = gen_fastbackward_path() self.fastbackward_path = gen_fastbackward_path()
self.leftturn_path = gen_leftturn_path()
self.standby() self.standby()
time.sleep(1) time.sleep(1)
for mm in range(0, 20): # for mm in range(0, 20):
self.move(self.forward_path, 0.005) # self.move(self.forward_path, 0.005)
# 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)
for mm in range(0, 20): for mm in range(0, 20):
self.move(self.backward_path, 0.005) self.move(self.leftturn_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)
time.sleep(1) time.sleep(1)
self.standby() self.standby()
@ -183,8 +189,6 @@ class Hexapod:
return angles return angles
# return [path, mir_path, path, mir_path, path, mir_path, ], "shift", 20, (0, halfsteps)
def main(): def main():

22
software/rpi/path_generator.py
View File

@ -1,5 +1,7 @@
from lib import semicircle_generator, semicircle2_generator from lib import semicircle_generator, semicircle2_generator
from lib import path_rotate_z
import numpy as np import numpy as np
from collections import deque
def gen_forward_path(): def gen_forward_path():
@ -90,3 +92,23 @@ def gen_fastbackward_path():
path[:, 5, :] = mir_lpath path[:, 5, :] = mir_lpath
return path return path
def gen_leftturn_path():
g_steps = 20
g_radius = 25
assert (g_steps % 4) == 0
halfsteps = int(g_steps/2)
path = semicircle_generator(g_radius, g_steps)
mir_path = np.roll(path, halfsteps, axis=0)
leftturn = np.zeros((g_steps, 6, 3))
leftturn[:, 0, :] = np.array(path_rotate_z(path, 45))
leftturn[:, 1, :] = np.array(path_rotate_z(mir_path, 0))
leftturn[:, 2, :] = np.array(path_rotate_z(path, 315))
leftturn[:, 3, :] = np.array(path_rotate_z(mir_path, 225))
leftturn[:, 4, :] = np.array(path_rotate_z(path, 180))
leftturn[:, 5, :] = np.array(path_rotate_z(mir_path, 135))
return leftturn