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

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Zhengyu Peng 2021-12-11 22:02:57 -05:00
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README.md
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@ -1,7 +1,7 @@
![banner](files/hexapod_og.jpg)
# Hexapod # Hexapod
![banner](files/hexapod_og.jpg)
Hexapod using Raspberry Pi Zero W Hexapod using Raspberry Pi Zero W
This is a Hexapod project. 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: If you want to make one hexapod by yourself. You should at least knows how to:
* Mechanism part * Mechanism part
* Use `3D printer` to print a model. * Use `3D printer` to print a model.
* Able to adjust 3D model to fit your custom need. * Able to adjust 3D model to fit your custom need.
* Electronics * Electronics
* Make a `PCB` (suggest to use professional PCB services) * Make a `PCB` (suggest to use professional PCB services)
* Soldering `SMD` component (0805 and TSSOP28) * Soldering `SMD` component (0805 and TSSOP28)
* How to use/charge/store `LIPO batteries` * How to use/charge/store `LIPO batteries`
* Software * Software
* Use `Linkit 7697` (ie. upload and run any program) * Use `Linkit 7697` (ie. upload and run any program)
* Use `LRemote` to communicate 7697 and your mobile phone * Use `LRemote` to communicate 7697 and your mobile phone
## Table of Content ## Table of Content
1. [Mechanism](mechanism/) - How to build the body 1. [Mechanism](mechanism/) - How to build the body
1. [Electronics](electronics/) - Circuit explanition 1. [Electronics](electronics/) - Circuit explanition
1. [Software](software/) - The software running on Linkit 7697 1. [Software](software/) - The software running on Linkit 7697

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software/rpi/path_generator.py
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@ -317,8 +317,8 @@ def gen_rotatez_path(standby_coordinate,
x = xy_radius * np.cos(i*step_angle) x = xy_radius * np.cos(i*step_angle)
y = xy_radius * np.sin(i*step_angle) y = xy_radius * np.sin(i*step_angle)
m = get_rotate_y_matrix(np.arctan2( m = get_rotate_y_matrix(np.arctan2(x, z_lift)*180/np.pi) * \
x, z_lift)*180/np.pi) * get_rotate_x_matrix(np.arctan2(y, 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] path[i, :, :] = ((np.matmul(m, scx.T)).T)[:, :-1]