diff --git a/software/rpi/__init__.py b/software/rpi/__init__.py index e69de29..694e387 100644 --- a/software/rpi/__init__.py +++ b/software/rpi/__init__.py @@ -0,0 +1,25 @@ +#!python +# +# 2021 Zhengyu Peng +# Website: https://zpeng.me +# +# ` ` +# -:. -#: +# -//:. -###: +# -////:. -#####: +# -/:.://:. -###++##: +# .. `://:- -###+. :##: +# `:/+####+. :##: +# .::::::::/+###. :##: +# .////-----+##: `:###: +# `-//:. :##: `:###/. +# `-//:. :##:`:###/. +# `-//:+######/. +# `-/+####/. +# `+##+. +# :##: +# :##: +# :##: +# :##: +# :##: +# .+: diff --git a/software/rpi/hexapod.py b/software/rpi/hexapod.py index 3d74deb..890d417 100644 --- a/software/rpi/hexapod.py +++ b/software/rpi/hexapod.py @@ -1,5 +1,28 @@ -#!/usr/bin/env python -# -*- coding: utf-8 -*- +#!python +# +# 2021 Zhengyu Peng +# Website: https://zpeng.me +# +# ` ` +# -:. -#: +# -//:. -###: +# -////:. -#####: +# -/:.://:. -###++##: +# .. `://:- -###+. :##: +# `:/+####+. :##: +# .::::::::/+###. :##: +# .////-----+##: `:###: +# `-//:. :##: `:###/. +# `-//:. :##:`:###/. +# `-//:+######/. +# `-/+####/. +# `+##+. +# :##: +# :##: +# :##: +# :##: +# :##: +# .+: # Libraries # https://circuitpython.readthedocs.io/projects/servokit/en/latest/ diff --git a/software/rpi/leg.py b/software/rpi/leg.py index 1096854..4674b2e 100644 --- a/software/rpi/leg.py +++ b/software/rpi/leg.py @@ -1,4 +1,29 @@ -# -*- coding: utf-8 -*- +#!python +# +# 2021 Zhengyu Peng +# Website: https://zpeng.me +# +# ` ` +# -:. -#: +# -//:. -###: +# -////:. -#####: +# -/:.://:. -###++##: +# .. `://:- -###+. :##: +# `:/+####+. :##: +# .::::::::/+###. :##: +# .////-----+##: `:###: +# `-//:. :##: `:###/. +# `-//:. :##:`:###/. +# `-//:+######/. +# `-/+####/. +# `+##+. +# :##: +# :##: +# :##: +# :##: +# :##: +# .+: + import numpy as np diff --git a/software/rpi/lib.py b/software/rpi/lib.py index 05b5245..65376be 100644 --- a/software/rpi/lib.py +++ b/software/rpi/lib.py @@ -1,3 +1,29 @@ +#!python +# +# 2021 Zhengyu Peng +# Website: https://zpeng.me +# +# ` ` +# -:. -#: +# -//:. -###: +# -////:. -#####: +# -/:.://:. -###++##: +# .. `://:- -###+. :##: +# `:/+####+. :##: +# .::::::::/+###. :##: +# .////-----+##: `:###: +# `-//:. :##: `:###/. +# `-//:. :##:`:###/. +# `-//:+######/. +# `-/+####/. +# `+##+. +# :##: +# :##: +# :##: +# :##: +# :##: +# .+: + import numpy as np diff --git a/software/rpi/path_generator.py b/software/rpi/path_generator.py index 36a58ec..0994ac7 100644 --- a/software/rpi/path_generator.py +++ b/software/rpi/path_generator.py @@ -1,3 +1,29 @@ +#!python +# +# 2021 Zhengyu Peng +# Website: https://zpeng.me +# +# ` ` +# -:. -#: +# -//:. -###: +# -////:. -#####: +# -/:.://:. -###++##: +# .. `://:- -###+. :##: +# `:/+####+. :##: +# .::::::::/+###. :##: +# .////-----+##: `:###: +# `-//:. :##: `:###/. +# `-//:. :##:`:###/. +# `-//:+######/. +# `-/+####/. +# `+##+. +# :##: +# :##: +# :##: +# :##: +# :##: +# .+: + from lib import semicircle_generator, semicircle2_generator from lib import path_rotate_z from lib import get_rotate_x_matrix, get_rotate_y_matrix, get_rotate_z_matrix