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

Update hexapod.py

Browse Source
This commit is contained in:
Zhengyu Peng
2022-02-23 13:12:00 -05:00
parent 7033e4bdf3
commit b25d81e28d
1 changed files with 4 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files

6
software/raspberry pi/hexapod.py
View File

@@ -188,9 +188,11 @@ class Hexapod(Thread):
posture = np.zeros((6, 3))
posture[:, 0] = self.mount_x+(self.root_j1+self.j1_j2+(
self.j2_j3*np.sin(j2_rad))+self.j3_tip*np.cos(j3_rad))*np.cos(self.mount_angle)
self.j2_j3*np.sin(j2_rad))+self.j3_tip*np.cos(j3_rad)) *\
np.cos(self.mount_angle)
posture[:, 1] = self.mount_y + (self.root_j1+self.j1_j2+(
self.j2_j3*np.sin(j2_rad))+self.j3_tip*np.cos(j3_rad))*np.sin(self.mount_angle)
self.j2_j3*np.sin(j2_rad))+self.j3_tip*np.cos(j3_rad)) *\
np.sin(self.mount_angle)
posture[:, 2] = self.j2_j3 * \
np.cos(j2_rad) - self.j3_tip * \
np.sin(j3_rad)