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This commit is contained in:
Zhengyu Peng
2022-02-23 15:55:58 -05:00
parent c3192d33a1
commit 965e3acfd8
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(

64
software/raspberry pi/path_generator.py
View File

@@ -30,21 +30,46 @@ from lib import get_rotate_x_matrix, get_rotate_y_matrix, get_rotate_z_matrix
import numpy as np
# def gen_walk_path(standby_coordinate,
# g_steps=20,
# g_radius=25,
# reverse=False):
# assert (g_steps % 4) == 0
# halfsteps = int(g_steps/2)
# path = np.zeros((g_steps, 6, 3))
# semi_circle = semicircle_generator(g_radius, g_steps, reverse=reverse)
# path[:, [0, 2, 4], :] = np.tile(semi_circle[:, np.newaxis, :], (1, 3, 1))
# path[:, [1, 3, 5], :] = np.tile(
# np.roll(semi_circle[:, np.newaxis, :], halfsteps, axis=0), (1, 3, 1))
# return {'coord': path+np.tile(standby_coordinate, (g_steps, 1, 1)),
# 'type': 'motion'}
def gen_walk_path(standby_coordinate,
g_steps=20,
g_radius=25,
reverse=False):
direction=0):
assert (g_steps % 4) == 0
halfsteps = int(g_steps/2)
# if direction == 'left':
# shift_angle = 90
# elif direction == 'right':
# shift_angle = 270
semi_circle = semicircle_generator(g_radius, g_steps)
# shift 90 degree to make the path "left" shift
semi_circle = np.array(path_rotate_z(semi_circle, direction))
mir_path = np.roll(semi_circle, halfsteps, axis=0)
path = np.zeros((g_steps, 6, 3))
semi_circle = semicircle_generator(g_radius, g_steps, reverse=reverse)
path[:, [0, 2, 4], :] = np.tile(semi_circle[:, np.newaxis, :], (1, 3, 1))
path[:, [1, 3, 5], :] = np.tile(
np.roll(semi_circle[:, np.newaxis, :], halfsteps, axis=0), (1, 3, 1))
path[:, [1, 3, 5], :] = np.tile(mir_path[:, np.newaxis, :], (1, 3, 1))
return {'coord': path+np.tile(standby_coordinate, (g_steps, 1, 1)),
'type': 'motion'}
@@ -107,31 +132,6 @@ def gen_turn_path(standby_coordinate,
'type': 'motion'}
def gen_shift_path(standby_coordinate,
g_steps=20,
g_radius=25,
direction='left'):
assert (g_steps % 4) == 0
halfsteps = int(g_steps/2)
if direction == 'left':
shift_angle = 90
elif direction == 'right':
shift_angle = 270
semi_circle = semicircle_generator(g_radius, g_steps)
# shift 90 degree to make the path "left" shift
semi_circle = np.array(path_rotate_z(semi_circle, shift_angle))
mir_path = np.roll(semi_circle, halfsteps, axis=0)
path = np.zeros((g_steps, 6, 3))
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))
return {'coord': path+np.tile(standby_coordinate, (g_steps, 1, 1)),
'type': 'motion'}
def gen_climb_path(standby_coordinate,
g_steps=20,
y_radius=20,