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Update hexapod.py

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Zhengyu Peng
2021-12-08 11:28:39 -05:00
parent 7aefe1a5ad
commit cbe0c9c8c8
1 changed files with 26 additions and 2 deletions
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software/rpi/hexapod.py
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@@ -69,15 +69,39 @@ class Hexapod:
self.leg_4.reset()
self.leg_5.reset()
self.standby()
def standby(self):
self.standby_coordinate = np.zeros((6, 3))
self.standby_coordinate[:, 2] = self.config['legJoint3ToTip'] * \
COS15 - self.config['legJoint2ToJoint3']*SIN30
self.standby_coordinate[:, 2] = self.config['legJoint2ToJoint3'] * \
SIN30 - self.config['legJoint3ToTip'] * COS15
self.standby_coordinate[:, 0] = np.array(self.config['legMountX'])+(self.config['legRootToJoint1']+self.config['legJoint1ToJoint2']+(
self.config['legJoint2ToJoint3']*COS30)+self.config['legJoint3ToTip']*SIN15)*COS45
self.standby_coordinate[:, 1] = np.array(self.config['legMountY']) + (self.config['legRootToJoint1']+self.config['legJoint1ToJoint2']+(
self.config['legJoint2ToJoint3']*COS30)+self.config['legJoint3ToTip']*SIN15)*SIN45
self.ik(self.standby_coordinate)
def ik(self, to):
self.angles = np.zeros((6, 3))
x = to[:, 0] - self.config['legRootToJoint1']
y = to[:, 1]
self.angles[:, 0] = (np.atan2(y, x) * 180 / np.pi)
x = np.sqrt(x*x + y*y) - self.config['legJoint1ToJoint2']
y = to[:, 2]
ar = np.atan2(y, x)
lr2 = x*x + y*y
lr = np.sqrt(lr2)
a1 = np.acos((lr2 + self.config['legJoint2ToJoint3']*self.config['legJoint2ToJoint3'] -
self.config['legJoint3ToTip']*self.config['legJoint3ToTip'])/(2*self.config['legJoint2ToJoint3']*lr))
a2 = np.acos((lr2 - self.config['legJoint2ToJoint3']*self.config['legJoint2ToJoint3'] +
self.config['legJoint3ToTip']*self.config['legJoint3ToTip'])/(2*self.config['legJoint3ToTip']*lr))
self.angles[:, 1] = ((ar + a1) * 180 / np.pi)
self.angles[:, 2] = (90 - ((a1 + a2) * 180 / np.pi))
def main():