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 16:40:20 -05:00
parent 21feba0141
commit b03528530c
3 changed files with 18 additions and 34 deletions
Download Patch File Download Diff File Expand all files Collapse all files

17
software/rpi/lib.py
View File

@ -17,10 +17,8 @@ def semicircle_generator(radius, steps, reverse=False):
# second half, move forward in semicircle shape (y, z change)
angle = np.pi - step_angle*halfsteps_array
y = radius * np.cos(angle)
z = radius * np.sin(angle)
result[halfsteps:, 1] = y
result[halfsteps:, 2] = z
result[halfsteps:, 1] = radius * np.cos(angle)
result[halfsteps:, 2] = radius * np.sin(angle)
result = np.roll(result, int(steps/4), axis=0)
@ -43,14 +41,11 @@ def semicircle2_generator(steps, y_radius, z_radius, x_radius, reverse=False):
# first half, move backward (only y change)
result[:halfsteps, 1] = y_radius - halfsteps_array*y_radius*2/(halfsteps)
# second half, move forward in semicircle shape (y, z change)
# second half, move forward in semicircle shape (x, y, z change)
angle = np.pi - step_angle*halfsteps_array
y = y_radius * np.cos(angle)
z = z_radius * np.sin(angle)
x = x_radius * np.sin(angle)
result[halfsteps:, 0] = x
result[halfsteps:, 1] = y
result[halfsteps:, 2] = z
result[halfsteps:, 0] = x_radius * np.sin(angle)
result[halfsteps:, 1] = y_radius * np.cos(angle)
result[halfsteps:, 2] = z_radius * np.sin(angle)
result = np.roll(result, int(steps/4), axis=0)