From 65c9d112962278d7c014baffb4ed70f0a9c43d45 Mon Sep 17 00:00:00 2001 From: Zhengyu Peng Date: Sat, 11 Dec 2021 15:23:58 -0500 Subject: [PATCH 1/2] Update README.md --- README.md | 19 +++++++++---------- 1 file changed, 9 insertions(+), 10 deletions(-) diff --git a/README.md b/README.md index 8451b95..171f155 100644 --- a/README.md +++ b/README.md @@ -1,7 +1,7 @@ -![banner](files/hexapod_og.jpg) - # Hexapod +![banner](files/hexapod_og.jpg) + Hexapod using Raspberry Pi Zero W This is a Hexapod project. @@ -22,19 +22,18 @@ You can use any mobile phone (iOS or Android) to control the movement of hexapod If you want to make one hexapod by yourself. You should at least knows how to: * Mechanism part - * Use `3D printer` to print a model. - * Able to adjust 3D model to fit your custom need. + * Use `3D printer` to print a model. + * Able to adjust 3D model to fit your custom need. * Electronics - * Make a `PCB` (suggest to use professional PCB services) - * Soldering `SMD` component (0805 and TSSOP28) - * How to use/charge/store `LIPO batteries` + * Make a `PCB` (suggest to use professional PCB services) + * Soldering `SMD` component (0805 and TSSOP28) + * How to use/charge/store `LIPO batteries` * Software - * Use `Linkit 7697` (ie. upload and run any program) - * Use `LRemote` to communicate 7697 and your mobile phone + * Use `Linkit 7697` (ie. upload and run any program) + * Use `LRemote` to communicate 7697 and your mobile phone ## Table of Content 1. [Mechanism](mechanism/) - How to build the body 1. [Electronics](electronics/) - Circuit explanition 1. [Software](software/) - The software running on Linkit 7697 - From 8457f3ac8f339456a4c851a3d4fe1f9a553fc71d Mon Sep 17 00:00:00 2001 From: Zhengyu Peng Date: Sat, 11 Dec 2021 15:27:10 -0500 Subject: [PATCH 2/2] Update path_generator.py --- software/rpi/path_generator.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/software/rpi/path_generator.py b/software/rpi/path_generator.py index 0994ac7..879eca8 100644 --- a/software/rpi/path_generator.py +++ b/software/rpi/path_generator.py @@ -317,8 +317,8 @@ def gen_rotatez_path(standby_coordinate, x = xy_radius * np.cos(i*step_angle) y = xy_radius * np.sin(i*step_angle) - m = get_rotate_y_matrix(np.arctan2( - x, z_lift)*180/np.pi) * get_rotate_x_matrix(np.arctan2(y, z_lift)*180/np.pi) + m = get_rotate_y_matrix(np.arctan2(x, z_lift)*180/np.pi) * \ + get_rotate_x_matrix(np.arctan2(y, z_lift)*180/np.pi) path[i, :, :] = ((np.matmul(m, scx.T)).T)[:, :-1]