shark/hexapod
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

update

Browse Source
This commit is contained in:
Zhengyu Peng
2021-12-10 15:32:53 -05:00
parent b53c68bb7a
commit 937c23f2be
2 changed files with 29 additions and 29 deletions
Download Patch File Download Diff File Expand all files Collapse all files

36
software/rpi/path_generator.py
View File

@ -5,7 +5,7 @@ import numpy as np
from collections import deque
def gen_forward_path():
def gen_forward_path(standby_coordinate):
# assert (g_steps % 4) == 0
g_steps = 20
g_radius = 25
@ -22,10 +22,10 @@ def gen_forward_path():
path[:, 3, :] = mir_path
path[:, 5, :] = mir_path
return path
return path+np.tile(standby_coordinate, (g_steps, 1, 1))
def gen_backward_path():
def gen_backward_path(standby_coordinate):
# assert (g_steps % 4) == 0
g_steps = 20
g_radius = 25
@ -42,10 +42,10 @@ def gen_backward_path():
path[:, 3, :] = mir_path
path[:, 5, :] = mir_path
return path
return path+np.tile(standby_coordinate, (g_steps, 1, 1))
def gen_fastforward_path():
def gen_fastforward_path(standby_coordinate):
g_steps = 20
y_radius = 50
z_radius = 30
@ -67,10 +67,10 @@ def gen_fastforward_path():
path[:, 3, :] = mir_lpath
path[:, 5, :] = mir_lpath
return path
return path+np.tile(standby_coordinate, (g_steps, 1, 1))
def gen_fastbackward_path():
def gen_fastbackward_path(standby_coordinate):
g_steps = 20
y_radius = 50
z_radius = 30
@ -92,10 +92,10 @@ def gen_fastbackward_path():
path[:, 3, :] = mir_lpath
path[:, 5, :] = mir_lpath
return path
return path+np.tile(standby_coordinate, (g_steps, 1, 1))
def gen_leftturn_path():
def gen_leftturn_path(standby_coordinate):
g_steps = 20
g_radius = 25
assert (g_steps % 4) == 0
@ -112,10 +112,10 @@ def gen_leftturn_path():
leftturn[:, 4, :] = np.array(path_rotate_z(path, 180))
leftturn[:, 5, :] = np.array(path_rotate_z(mir_path, 135))
return leftturn
return leftturn+np.tile(standby_coordinate, (g_steps, 1, 1))
def gen_rightturn_path():
def gen_rightturn_path(standby_coordinate):
g_steps = 20
g_radius = 25
assert (g_steps % 4) == 0
@ -132,10 +132,10 @@ def gen_rightturn_path():
rightturn[:, 4, :] = np.array(path_rotate_z(path, 180+180))
rightturn[:, 5, :] = np.array(path_rotate_z(mir_path, 135+180))
return rightturn
return rightturn+np.tile(standby_coordinate, (g_steps, 1, 1))
def gen_shiftleft_path():
def gen_shiftleft_path(standby_coordinate):
g_steps = 20
g_radius = 25
assert (g_steps % 4) == 0
@ -154,10 +154,10 @@ def gen_shiftleft_path():
shiftleft[:, 4, :] = path
shiftleft[:, 5, :] = mir_path
return shiftleft
return shiftleft+np.tile(standby_coordinate, (g_steps, 1, 1))
def gen_shiftright_path():
def gen_shiftright_path(standby_coordinate):
g_steps = 20
g_radius = 25
assert (g_steps % 4) == 0
@ -176,10 +176,10 @@ def gen_shiftright_path():
shiftright[:, 4, :] = path
shiftright[:, 5, :] = mir_path
return shiftright
return shiftright+np.tile(standby_coordinate, (g_steps, 1, 1))
def gen_climb_path():
def gen_climb_path(standby_coordinate):
g_steps = 20
y_radius = 20
z_radius = 80
@ -210,7 +210,7 @@ def gen_climb_path():
climbpath[:, 4, :] = lpath
climbpath[:, 5, :] = mir_lpath
return climbpath
return climbpath+np.tile(standby_coordinate, (g_steps, 1, 1))
def gen_rotatex_path(standby_coordinate):