Merge branch 'master' of github.com:rookiepeng/hexapod
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README.md
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README.md
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# Hexapod
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Hexapod using Raspberry Pi Zero W
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This is a Hexapod project.
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@ -22,19 +22,18 @@ You can use any mobile phone (iOS or Android) to control the movement of hexapod
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If you want to make one hexapod by yourself. You should at least knows how to:
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* Mechanism part
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* Use `3D printer` to print a model.
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* Able to adjust 3D model to fit your custom need.
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* Use `3D printer` to print a model.
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* Able to adjust 3D model to fit your custom need.
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* Electronics
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* Make a `PCB` (suggest to use professional PCB services)
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* Soldering `SMD` component (0805 and TSSOP28)
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* How to use/charge/store `LIPO batteries`
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* Make a `PCB` (suggest to use professional PCB services)
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* Soldering `SMD` component (0805 and TSSOP28)
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* How to use/charge/store `LIPO batteries`
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* Software
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* Use `Linkit 7697` (ie. upload and run any program)
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* Use `LRemote` to communicate 7697 and your mobile phone
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* Use `Linkit 7697` (ie. upload and run any program)
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* Use `LRemote` to communicate 7697 and your mobile phone
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## Table of Content
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1. [Mechanism](mechanism/) - How to build the body
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1. [Electronics](electronics/) - Circuit explanition
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1. [Software](software/) - The software running on Linkit 7697
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@ -317,8 +317,8 @@ def gen_rotatez_path(standby_coordinate,
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x = xy_radius * np.cos(i*step_angle)
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y = xy_radius * np.sin(i*step_angle)
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m = get_rotate_y_matrix(np.arctan2(
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x, z_lift)*180/np.pi) * get_rotate_x_matrix(np.arctan2(y, z_lift)*180/np.pi)
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m = get_rotate_y_matrix(np.arctan2(x, z_lift)*180/np.pi) * \
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get_rotate_x_matrix(np.arctan2(y, z_lift)*180/np.pi)
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path[i, :, :] = ((np.matmul(m, scx.T)).T)[:, :-1]
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