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Update hexapod.py

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master
Zhengyu Peng 3 years ago
parent 6ba63d7160
commit d6e23e49af
1 changed files with 71 additions and 51 deletions
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software/raspberry pi/hexapod.py
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@ -118,36 +118,37 @@ class Hexapod(Thread):
self.pca_right = ServoKit(channels=16, address=0x40, frequency=120) self.pca_right = ServoKit(channels=16, address=0x40, frequency=120)
self.pca_left = ServoKit(channels=16, address=0x41, frequency=120) self.pca_left = ServoKit(channels=16, address=0x41, frequency=120)
self.legs = [
# front right # front right
self.leg_0 = Leg(0, Leg(0,
[self.pca_left.servo[15], self.pca_left.servo[14], [self.pca_left.servo[15], self.pca_left.servo[14],
self.pca_left.servo[13]], self.pca_left.servo[13]],
correction=self.config.get('leg0Offset', [0, 0, 0])) correction=self.config.get('leg0Offset', [0, 0, 0])),
# center right # center right
self.leg_1 = Leg(1, Leg(1,
[self.pca_left.servo[8], self.pca_left.servo[4], [self.pca_left.servo[8], self.pca_left.servo[4],
self.pca_left.servo[11]], self.pca_left.servo[11]],
correction=self.config.get('leg1Offset', [0, 0, 0])) correction=self.config.get('leg1Offset', [0, 0, 0])),
# rear right # rear right
self.leg_2 = Leg(2, Leg(2,
[self.pca_left.servo[0], self.pca_left.servo[1], [self.pca_left.servo[0], self.pca_left.servo[1],
self.pca_left.servo[2]], self.pca_left.servo[2]],
correction=self.config.get('leg2Offset', [0, 0, 0])) correction=self.config.get('leg2Offset', [0, 0, 0])),
# rear left # rear left
self.leg_3 = Leg(3, Leg(3,
[self.pca_right.servo[15], self.pca_right.servo[14], [self.pca_right.servo[15], self.pca_right.servo[14],
self.pca_right.servo[13]], self.pca_right.servo[13]],
correction=self.config.get('leg3Offset', [0, 0, 0])) correction=self.config.get('leg3Offset', [0, 0, 0])),
# center left # center left
self.leg_4 = Leg(4, Leg(4,
[self.pca_right.servo[7], self.pca_right.servo[11], [self.pca_right.servo[7], self.pca_right.servo[11],
self.pca_right.servo[6]], self.pca_right.servo[6]],
correction=self.config.get('leg4Offset', [0, 0, 0])) correction=self.config.get('leg4Offset', [0, 0, 0])),
# front left # front left
self.leg_5 = Leg(5, Leg(5,
[self.pca_right.servo[0], self.pca_right.servo[2], [self.pca_right.servo[0], self.pca_right.servo[2],
self.pca_right.servo[5]], self.pca_right.servo[5]],
correction=self.config.get('leg5Offset', [0, 0, 0])) correction=self.config.get('leg5Offset', [0, 0, 0]))]
# self.leg_0.reset(True) # self.leg_0.reset(True)
# self.leg_1.reset(True) # self.leg_1.reset(True)
@ -220,28 +221,28 @@ class Hexapod(Thread):
def posture(self, coordinate): def posture(self, coordinate):
angles = self.inverse_kinematics(coordinate) angles = self.inverse_kinematics(coordinate)
self.leg_0.move_junctions(angles[0, :]) self.legs[0].move_junctions(angles[0, :])
self.leg_5.move_junctions(angles[5, :]) self.legs[5].move_junctions(angles[5, :])
self.leg_1.move_junctions(angles[1, :]) self.legs[1].move_junctions(angles[1, :])
self.leg_4.move_junctions(angles[4, :]) self.legs[4].move_junctions(angles[4, :])
self.leg_2.move_junctions(angles[2, :]) self.legs[2].move_junctions(angles[2, :])
self.leg_3.move_junctions(angles[3, :]) self.legs[3].move_junctions(angles[3, :])
def move(self, path): def move(self, path):
for p_idx in range(0, np.shape(path)[0]): for p_idx in range(0, np.shape(path)[0]):
dest = path[p_idx, :, :] dest = path[p_idx, :, :]
angles = self.inverse_kinematics(dest) angles = self.inverse_kinematics(dest)
self.leg_0.move_junctions(angles[0, :]) self.legs[0].move_junctions(angles[0, :])
self.leg_5.move_junctions(angles[5, :]) self.legs[5].move_junctions(angles[5, :])
self.leg_1.move_junctions(angles[1, :]) self.legs[1].move_junctions(angles[1, :])
self.leg_4.move_junctions(angles[4, :]) self.legs[4].move_junctions(angles[4, :])
self.leg_2.move_junctions(angles[2, :]) self.legs[2].move_junctions(angles[2, :])
self.leg_3.move_junctions(angles[3, :]) self.legs[3].move_junctions(angles[3, :])
# time.sleep(self.interval) # time.sleep(self.interval)
@ -250,14 +251,14 @@ class Hexapod(Thread):
dest = path[p_idx, :, :] dest = path[p_idx, :, :]
angles = self.inverse_kinematics(dest) angles = self.inverse_kinematics(dest)
self.leg_0.move_junctions(angles[0, :]) self.legs[0].move_junctions(angles[0, :])
self.leg_5.move_junctions(angles[5, :]) self.legs[5].move_junctions(angles[5, :])
self.leg_1.move_junctions(angles[1, :]) self.legs[1].move_junctions(angles[1, :])
self.leg_4.move_junctions(angles[4, :]) self.legs[4].move_junctions(angles[4, :])
self.leg_2.move_junctions(angles[2, :]) self.legs[2].move_junctions(angles[2, :])
self.leg_3.move_junctions(angles[3, :]) self.legs[3].move_junctions(angles[3, :])
try: try:
cmd_string = self.cmd_queue.get(block=False) cmd_string = self.cmd_queue.get(block=False)
@ -306,14 +307,33 @@ class Hexapod(Thread):
if data == self.CMD_CALIBRATION: if data == self.CMD_CALIBRATION:
self.calibration_mode = True self.calibration_mode = True
self.legs[0].reset(calibrated=True)
self.legs[1].reset(calibrated=True)
self.legs[2].reset(calibrated=True)
self.legs[3].reset(calibrated=True)
self.legs[4].reset(calibrated=True)
self.legs[5].reset(calibrated=True)
elif data == self.CMD_NORMAL: elif data == self.CMD_NORMAL:
self.calibration_mode = False self.calibration_mode = False
else:
if not self.calibration_mode: if self.calibration_mode:
self.current_motion = self.cmd_dict.get(data, self.standby_posture) self.calibration_cmd_handler(data)
else:
self.current_motion = self.cmd_dict.get(
data, self.standby_posture)
self.cmd_queue.task_done() self.cmd_queue.task_done()
def calibration_cmd_handler(self, cmd_string):
data_array = cmd_string.split(',')
if len(data_array) == 4:
op = data_array[0].lstrip()
leg_idx = int(data_array[1])
joint_idx = int(data_array[2])
angle = float(data_array[3])
if op == 'angle':
self.legs[leg_idx].set_angle(joint_idx, angle)
def run(self): def run(self):
while True: while True:
# if self.current_motion is None: # if self.current_motion is None:

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