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Merge branch 'master' of github.com:rookiepeng/hexapod

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This commit is contained in:
Zhengyu Peng
2021-12-11 22:02:57 -05:00
parent f44c60590b 42e61f3b55
commit cf125414ae
2 changed files with 11 additions and 12 deletions
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4
software/rpi/path_generator.py
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@ -317,8 +317,8 @@ def gen_rotatez_path(standby_coordinate,
x = xy_radius * np.cos(i*step_angle)
y = xy_radius * np.sin(i*step_angle)
m = get_rotate_y_matrix(np.arctan2(
x, z_lift)*180/np.pi) * get_rotate_x_matrix(np.arctan2(y, z_lift)*180/np.pi)
m = get_rotate_y_matrix(np.arctan2(x, z_lift)*180/np.pi) * \
get_rotate_x_matrix(np.arctan2(y, z_lift)*180/np.pi)
path[i, :, :] = ((np.matmul(m, scx.T)).T)[:, :-1]