master
Zhengyu Peng 3 years ago
parent ebeb098713
commit c6b9405b27

@ -15,6 +15,7 @@ from path_generator import gen_forward_path, gen_backward_path
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
SIN30 = 0.5
@ -98,6 +99,8 @@ class Hexapod:
self.shiftleft_path = gen_shiftleft_path()
self.shiftright_path = gen_shiftright_path()
self.climb_path = gen_climb_path()
self.standby()
time.sleep(1)
@ -119,11 +122,14 @@ class Hexapod:
# for mm in range(0, 20):
# self.move(self.rightturn_path, 0.005)
for mm in range(0, 20):
self.move(self.shiftleft_path, 0.005)
# for mm in range(0, 20):
# self.move(self.shiftleft_path, 0.005)
# for mm in range(0, 20):
# self.move(self.shiftright_path, 0.005)
for mm in range(0, 20):
self.move(self.shiftright_path, 0.005)
self.move(self.climb_path, 0.005)
time.sleep(1)
self.standby()

@ -176,3 +176,37 @@ def gen_shiftright_path():
shiftright[:, 5, :] = mir_path
return shiftright
def gen_climb_path():
g_steps = 20
y_radius = 20
z_radius = 80
x_radius = 30
z_shift = -30
assert (g_steps % 4) == 0
halfsteps = int(g_steps/2)
rpath = semicircle2_generator(g_steps, y_radius, z_radius, x_radius)
rpath[:, 2] = rpath[:, 2]+z_shift
# rpath = [(x, y, z + z_shift) for x, y,
# z in semicircle2_generator(g_steps, y_radius, z_radius, x_radius)]
lpath = semicircle2_generator(g_steps, y_radius, z_radius, -x_radius)
lpath[:, 2] = lpath[:, 2]+z_shift
# lpath = [(x, y, z + z_shift) for x, y,
# z in semicircle2_generator(g_steps, y_radius, z_radius, -x_radius)]
mir_rpath = np.roll(rpath, halfsteps, axis=0)
mir_lpath = np.roll(lpath, halfsteps, axis=0)
climbpath = np.zeros((g_steps, 6, 3))
climbpath[:, 0, :] = rpath
climbpath[:, 1, :] = mir_rpath
climbpath[:, 2, :] = rpath
climbpath[:, 3, :] = mir_lpath
climbpath[:, 4, :] = lpath
climbpath[:, 5, :] = mir_lpath
return climbpath

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