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Merge branch 'master' of github.com:rookiepeng/hexapod

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This commit is contained in:
Zhengyu Peng 2021-12-10 22:50:32 -05:00
commit 89eb1c0fc4
1 changed files with 33 additions and 7 deletions
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40
software/rpi/path_generator.py
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@ -90,8 +90,13 @@ def gen_fastbackward_path(standby_coordinate,
def gen_leftturn_path(standby_coordinate, def gen_leftturn_path(standby_coordinate,
<<<<<<< HEAD
g_steps = 20, g_steps = 20,
g_radius = 25): g_radius = 25):
=======
g_steps=20,
g_radius=25):
>>>>>>> 17d87ef422229801dda42aa0696f121b8358aeda
assert (g_steps % 4) == 0 assert (g_steps % 4) == 0
halfsteps = int(g_steps/2) halfsteps = int(g_steps/2)
@ -111,8 +116,13 @@ def gen_leftturn_path(standby_coordinate,
def gen_rightturn_path(standby_coordinate, def gen_rightturn_path(standby_coordinate,
<<<<<<< HEAD
g_steps = 20, g_steps = 20,
g_radius = 25): g_radius = 25):
=======
g_steps=20,
g_radius=25):
>>>>>>> 17d87ef422229801dda42aa0696f121b8358aeda
assert (g_steps % 4) == 0 assert (g_steps % 4) == 0
halfsteps = int(g_steps/2) halfsteps = int(g_steps/2)
@ -131,8 +141,13 @@ def gen_rightturn_path(standby_coordinate,
def gen_shiftleft_path(standby_coordinate, def gen_shiftleft_path(standby_coordinate,
<<<<<<< HEAD
g_steps = 20, g_steps = 20,
g_radius = 25): g_radius = 25):
=======
g_steps=20,
g_radius=25):
>>>>>>> 17d87ef422229801dda42aa0696f121b8358aeda
assert (g_steps % 4) == 0 assert (g_steps % 4) == 0
halfsteps = int(g_steps/2) halfsteps = int(g_steps/2)
@ -149,8 +164,13 @@ def gen_shiftleft_path(standby_coordinate,
def gen_shiftright_path(standby_coordinate, def gen_shiftright_path(standby_coordinate,
<<<<<<< HEAD
g_steps = 20, g_steps = 20,
g_radius = 25): g_radius = 25):
=======
g_steps=20,
g_radius=25):
>>>>>>> 17d87ef422229801dda42aa0696f121b8358aeda
assert (g_steps % 4) == 0 assert (g_steps % 4) == 0
halfsteps = int(g_steps/2) halfsteps = int(g_steps/2)
@ -163,6 +183,7 @@ def gen_shiftright_path(standby_coordinate,
path[:,[0,2,4],:] = np.tile(semi_circle[:, np.newaxis, :], (1, 3, 1)) path[:,[0,2,4],:] = np.tile(semi_circle[:, np.newaxis, :], (1, 3, 1))
path[:,[1,3,5],:] = np.tile(mir_path[:, np.newaxis, :], (1, 3, 1)) path[:,[1,3,5],:] = np.tile(mir_path[:, np.newaxis, :], (1, 3, 1))
<<<<<<< HEAD
return path+np.tile(standby_coordinate, (g_steps, 1, 1)) return path+np.tile(standby_coordinate, (g_steps, 1, 1))
@ -172,6 +193,14 @@ def gen_climb_path(standby_coordinate,
z_radius = 80, z_radius = 80,
x_radius = 30, x_radius = 30,
z_shift = -30): z_shift = -30):
=======
def gen_climb_path(standby_coordinate,
g_steps=20,
y_radius=20,
z_radius=80,
x_radius=30,
z_shift=-30):
>>>>>>> 17d87ef422229801dda42aa0696f121b8358aeda
assert (g_steps % 4) == 0 assert (g_steps % 4) == 0
halfsteps = int(g_steps/2) halfsteps = int(g_steps/2)
@ -195,13 +224,10 @@ def gen_climb_path(standby_coordinate,
return path+np.tile(standby_coordinate, (g_steps, 1, 1)) return path+np.tile(standby_coordinate, (g_steps, 1, 1))
def gen_rotatex_path(standby_coordinate): def gen_rotatex_path(standby_coordinate,
# standby_coordinate = np.ones((6,3)) g_steps=20,
g_steps = 20 swing_angle=15,
y_radius=15):
swing_angle = 15
y_radius = 15
assert (g_steps % 4) == 0 assert (g_steps % 4) == 0
quarter = int(g_steps/4) quarter = int(g_steps/4)