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calibrate legs

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This commit is contained in:
Zhengyu Peng 2021-12-07 21:31:09 -05:00
parent 744d7f1523
commit 5fa1b2f048
2 changed files with 10 additions and 15 deletions
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18
software/rpi/hexapod.py
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@ -21,38 +21,32 @@ class Hexapod:
self.leg_0 = Leg('rr', self.leg_0 = Leg('rr',
[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=[0, 0, 0], correction=[-6, 4, -6])
constraint=[0, 180])
# center right # center right
self.leg_1 = Leg('cr', self.leg_1 = Leg('cr',
[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=[0, 0, 0], correction=[3, -5, -6])
constraint=[0, 180])
# front right # front right
self.leg_2 = Leg('fr', self.leg_2 = Leg('fr',
[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=[0, 0, 0], correction=[3, -6, -5])
constraint=[0, 180])
# front left # front left
self.leg_3 = Leg('fl', self.leg_3 = Leg('fl',
[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=[0, 0, 0], correction=[-3, -4, 6])
constraint=[0, 180])
# center left # center left
self.leg_4 = Leg('cl', self.leg_4 = Leg('cl',
[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=[0, 0, 0], correction=[-6, 0, 0])
constraint=[0, 180])
# rear left # rear left
self.leg_5 = Leg('rl', self.leg_5 = Leg('rl',
[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=[0, 0, 0], correction=[-6, 4, 0])
constraint=[0, 180])
self.leg_0.set_angle(0, 90) self.leg_0.set_angle(0, 90)
self.leg_0.set_angle(1, 90) self.leg_0.set_angle(1, 90)

7
software/rpi/leg.py
View File

@ -5,13 +5,14 @@ class Leg:
id, id,
junction_servos, junction_servos,
correction=[0, 0, 0], correction=[0, 0, 0],
constraint=[0, 180]): constraint=[[45, 135], [45, 165], [30, 150]]):
self.id = id self.id = id
self.junction_servos = junction_servos self.junction_servos = junction_servos
self.correction = correction self.correction = correction
self.constraint = constraint self.constraint = constraint
def set_angle(self, junction, angle): def set_angle(self, junction, angle):
set_angle = min(angle+self.correction[junction], self.constraint[1]) set_angle = min(
set_angle = max(set_angle, self.constraint[0]) angle+self.correction[junction], self.constraint[junction][1])
set_angle = max(set_angle, self.constraint[junction][0])
self.junction_servos[junction].angle = set_angle self.junction_servos[junction].angle = set_angle