use numpy array

software/rpi/hexapod.py

@@ -103,7 +103,7 @@ class Hexapod:
 
         for mm in range(0, 30):
             for idx in range(0, 20):
-                move_to = np.array([full_path[0][0][idx], full_path[0][1][idx], full_path[0][2][idx], full_path[0][3][idx], full_path[0][4][idx], full_path[0][5][idx]])+self.standby_coordinate
+                move_to = full_path[idx, :, :]+self.standby_coordinate
 
                 self.ik(move_to)
 
@@ -139,7 +139,6 @@ class Hexapod:
 
     def standby(self):
 
-
         self.standby_coordinate[:, 0] = np.array(self.mount_x)+(self.root_j1+self.j1_j2+(
             self.j2_j3*COS30)+self.j3_tip*SIN15)*np.cos(self.mount_angle)
         self.standby_coordinate[:, 1] = self.mount_y + (self.root_j1+self.j1_j2+(
@@ -204,12 +203,20 @@ class Hexapod:
         g_radius = 25
         halfsteps = int(g_steps/2)
 
-        path = semicircle_generator(g_radius, g_steps)
+        path = np.zeros((g_steps, 6, 3))
+
+        path[:, 0, :] = semicircle_generator(g_radius, g_steps)
+
+        mir_path = np.roll(path[:, 0, :], halfsteps, axis=0)
+        path[:, 2, :] = path[:, 0, :]
+        path[:, 4, :] = path[:, 0, :]
+        path[:, 1, :] = mir_path
+        path[:, 3, :] = mir_path
+        path[:, 5, :] = mir_path
 
-        mir_path = deque(path)
+        return path
-        mir_path.rotate(halfsteps)
 
-        return [path, mir_path, path, mir_path, path, mir_path, ], "shift", 20, (0, halfsteps)
+        # return [path, mir_path, path, mir_path, path, mir_path, ], "shift", 20, (0, halfsteps)
 
 
 def main():

software/rpi/lib.py

@@ -9,25 +9,24 @@ def semicircle_generator(radius, steps, reverse=False):
 
     step_angle = np.pi / halfsteps
 
-    result = []
+    result = np.zeros((steps, 3))
+    halfsteps_array = np.arange(halfsteps)
 
     # first half, move backward (only y change)
-    for i in range(halfsteps):
+    result[:halfsteps, 1] = radius - halfsteps_array*radius*2/(halfsteps)
-        result.append((0, radius - i*radius*2/(halfsteps), 0))
 
     # second half, move forward in semicircle shape (y, z change)
-    for i in range(halfsteps):
+    angle = np.pi - step_angle*halfsteps_array
-        angle = np.pi - step_angle*i
+    y = radius * np.cos(angle)
-        y = radius * math.cos(angle)
+    z = radius * np.sin(angle)
-        z = radius * math.sin(angle)
+    result[halfsteps:, 1] = y
-        result.append((0, y, z))
+    result[halfsteps:, 2] = z
 
-    result = deque(result)
+    result = np.roll(result, int(steps/4), axis=0)
-    result.rotate(int(steps/4))
 
     if reverse:
-        result = deque(reversed(result))
+        result = np.flip(result, axis=0)
-        result.rotate(1)
+        result = np.roll(result, 1, axis=0)
 
     return result