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update

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This commit is contained in:
Zhengyu Peng
2022-02-23 15:55:58 -05:00
parent 7dd9b5a490
commit 75bfa63a22
2 changed files with 59 additions and 46 deletions
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41
software/raspberry pi/hexapod.py
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@ -40,7 +40,7 @@ import json
from path_generator import gen_walk_path
from path_generator import gen_fastwalk_path
from path_generator import gen_turn_path
from path_generator import gen_shift_path
# from path_generator import gen_shift_path
from path_generator import gen_climb_path
from path_generator import gen_rotatex_path, gen_rotatey_path, gen_rotatez_path
from path_generator import gen_twist_path
@ -55,15 +55,20 @@ class Hexapod(Thread):
CMD_STANDBY = 'standby'
CMD_LAYDOWN = 'laydown'
CMD_FORWARD = 'forward'
CMD_BACKWARD = 'backward'
CMD_WALK_0 = 'walk0'
CMD_WALK_180 = 'walk180'
CMD_WALK_R45 = 'walkr45'
CMD_WALK_R90 = 'walkr90'
CMD_WALK_R135 = 'walkr135'
CMD_WALK_L45 = 'walkl45'
CMD_WALK_L90 = 'walkl90'
CMD_WALK_L135 = 'walkl135'
CMD_FASTFORWARD = 'fastforward'
CMD_FASTBACKWARD = 'fastbackward'
CMD_SHIFTLEFT = 'shiftleft'
CMD_SHIFTRIGHT = 'shiftright'
CMD_TURNLEFT = 'turnleft'
CMD_TURNRIGHT = 'turnright'
@ -153,10 +158,22 @@ class Hexapod(Thread):
self.cmd_dict = {
self.CMD_STANDBY: self.standby_posture,
self.CMD_LAYDOWN: self.gen_posture(0, 15),
self.CMD_FORWARD: gen_walk_path(
self.standby_posture['coord']),
self.CMD_BACKWARD: gen_walk_path(
self.standby_posture['coord'], reverse=True),
self.CMD_WALK_0: gen_walk_path(
self.standby_posture['coord'], direction=0),
self.CMD_WALK_180: gen_walk_path(
self.standby_posture['coord'], direction=180),
self.CMD_WALK_R45: gen_walk_path(
self.standby_posture['coord'], direction=315),
self.CMD_WALK_R90: gen_walk_path(
self.standby_posture['coord'], direction=270),
self.CMD_WALK_R135: gen_walk_path(
self.standby_posture['coord'], direction=225),
self.CMD_WALK_L45: gen_walk_path(
self.standby_posture['coord'], direction=45),
self.CMD_WALK_L90: gen_walk_path(
self.standby_posture['coord'], direction=90),
self.CMD_WALK_L135: gen_walk_path(
self.standby_posture['coord'], direction=135),
self.CMD_FASTFORWARD: gen_fastwalk_path(
self.standby_posture['coord']),
self.CMD_FASTBACKWARD: gen_fastwalk_path(
@ -165,10 +182,6 @@ class Hexapod(Thread):
self.standby_posture['coord'], direction='left'),
self.CMD_TURNRIGHT: gen_turn_path(
self.standby_posture['coord'], direction='right'),
self.CMD_SHIFTLEFT: gen_shift_path(
self.standby_posture['coord'], direction='left'),
self.CMD_SHIFTRIGHT: gen_shift_path(
self.standby_posture['coord'], direction='right'),
self.CMD_CLIMBFORWARD: gen_climb_path(
self.standby_posture['coord'], reverse=False),
self.CMD_CLIMBBACKWARD: gen_climb_path(