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Update path_generator.py

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This commit is contained in:
Zhengyu Peng 2021-12-10 17:04:17 -05:00
parent 053ab6ff4e
commit bcac9d13c7
1 changed files with 22 additions and 27 deletions
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49
software/rpi/path_generator.py
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@ -89,9 +89,9 @@ def gen_fastbackward_path(standby_coordinate,
return path+np.tile(standby_coordinate, (g_steps, 1, 1)) return path+np.tile(standby_coordinate, (g_steps, 1, 1))
def gen_leftturn_path(standby_coordinate): def gen_leftturn_path(standby_coordinate,
g_steps = 20 g_steps=20,
g_radius = 25 g_radius=25):
assert (g_steps % 4) == 0 assert (g_steps % 4) == 0
halfsteps = int(g_steps/2) halfsteps = int(g_steps/2)
@ -109,9 +109,9 @@ def gen_leftturn_path(standby_coordinate):
return leftturn+np.tile(standby_coordinate, (g_steps, 1, 1)) return leftturn+np.tile(standby_coordinate, (g_steps, 1, 1))
def gen_rightturn_path(standby_coordinate): def gen_rightturn_path(standby_coordinate,
g_steps = 20 g_steps=20,
g_radius = 25 g_radius=25):
assert (g_steps % 4) == 0 assert (g_steps % 4) == 0
halfsteps = int(g_steps/2) halfsteps = int(g_steps/2)
@ -129,9 +129,9 @@ def gen_rightturn_path(standby_coordinate):
return rightturn+np.tile(standby_coordinate, (g_steps, 1, 1)) return rightturn+np.tile(standby_coordinate, (g_steps, 1, 1))
def gen_shiftleft_path(standby_coordinate): def gen_shiftleft_path(standby_coordinate,
g_steps = 20 g_steps=20,
g_radius = 25 g_radius=25):
assert (g_steps % 4) == 0 assert (g_steps % 4) == 0
halfsteps = int(g_steps/2) halfsteps = int(g_steps/2)
@ -151,9 +151,9 @@ def gen_shiftleft_path(standby_coordinate):
return shiftleft+np.tile(standby_coordinate, (g_steps, 1, 1)) return shiftleft+np.tile(standby_coordinate, (g_steps, 1, 1))
def gen_shiftright_path(standby_coordinate): def gen_shiftright_path(standby_coordinate,
g_steps = 20 g_steps=20,
g_radius = 25 g_radius=25):
assert (g_steps % 4) == 0 assert (g_steps % 4) == 0
halfsteps = int(g_steps/2) halfsteps = int(g_steps/2)
@ -173,14 +173,12 @@ def gen_shiftright_path(standby_coordinate):
return shiftright+np.tile(standby_coordinate, (g_steps, 1, 1)) return shiftright+np.tile(standby_coordinate, (g_steps, 1, 1))
def gen_climb_path(standby_coordinate): def gen_climb_path(standby_coordinate,
g_steps = 20 g_steps=20,
y_radius = 20 y_radius=20,
z_radius = 80 z_radius=80,
x_radius = 30 x_radius=30,
z_shift=-30):
z_shift = -30
assert (g_steps % 4) == 0 assert (g_steps % 4) == 0
halfsteps = int(g_steps/2) halfsteps = int(g_steps/2)
@ -207,13 +205,10 @@ def gen_climb_path(standby_coordinate):
return climbpath+np.tile(standby_coordinate, (g_steps, 1, 1)) return climbpath+np.tile(standby_coordinate, (g_steps, 1, 1))
def gen_rotatex_path(standby_coordinate): def gen_rotatex_path(standby_coordinate,
# standby_coordinate = np.ones((6,3)) g_steps=20,
g_steps = 20 swing_angle=15,
y_radius=15):
swing_angle = 15
y_radius = 15
assert (g_steps % 4) == 0 assert (g_steps % 4) == 0
quarter = int(g_steps/4) quarter = int(g_steps/4)