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rotate x

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This commit is contained in:
Zhengyu Peng
2021-12-10 13:33:14 -05:00
parent 578b390b72
commit bee5b3a67d
2 changed files with 223 additions and 3 deletions
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13
software/rpi/hexapod.py
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@ -16,6 +16,7 @@ from path_generator import gen_fastforward_path, gen_fastbackward_path
from path_generator import gen_leftturn_path, gen_rightturn_path
from path_generator import gen_shiftleft_path, gen_shiftright_path
from path_generator import gen_climb_path
from path_generator import gen_rotatex_path
SIN30 = 0.5
@ -101,6 +102,8 @@ class Hexapod:
self.climb_path = gen_climb_path()
self.rotatex_path = gen_rotatex_path(self.standby_coordinate)
self.standby()
time.sleep(1)
@ -128,8 +131,11 @@ class Hexapod:
# for mm in range(0, 20):
# self.move(self.shiftright_path, 0.005)
for mm in range(0, 20):
self.move(self.climb_path, 0.005)
# for mm in range(0, 20):
# self.move(self.climb_path, 0.005)
self.move(self.rotatex_path, 0.005)
time.sleep(1)
self.standby()
@ -150,7 +156,8 @@ class Hexapod:
def move(self, path, interval):
for p_idx in range(0, np.shape(path)[0]):
dest = path[p_idx, :, :]+self.standby_coordinate
# dest = path[p_idx, :, :]+self.standby_coordinate
dest = path[p_idx, :, :]
angles = self.inverse_kinematics(dest)
self.leg_0.move_junctions(angles[0, :])