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rotate x

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This commit is contained in:
Zhengyu Peng 2021-12-10 13:33:14 -05:00
parent c6b9405b27
commit e6b0bee20d
2 changed files with 223 additions and 3 deletions
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13
software/rpi/hexapod.py
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@ -16,6 +16,7 @@ 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
from path_generator import gen_rotatex_path
SIN30 = 0.5
@ -101,6 +102,8 @@ class Hexapod:
self.climb_path = gen_climb_path()
self.rotatex_path = gen_rotatex_path(self.standby_coordinate)
self.standby()
time.sleep(1)
@ -128,8 +131,11 @@ class Hexapod:
# for mm in range(0, 20):
# self.move(self.shiftright_path, 0.005)
for mm in range(0, 20):
self.move(self.climb_path, 0.005)
# for mm in range(0, 20):
# self.move(self.climb_path, 0.005)
self.move(self.rotatex_path, 0.005)
time.sleep(1)
self.standby()
@ -150,7 +156,8 @@ class Hexapod:
def move(self, path, interval):
for p_idx in range(0, np.shape(path)[0]):
dest = path[p_idx, :, :]+self.standby_coordinate
# dest = path[p_idx, :, :]+self.standby_coordinate
dest = path[p_idx, :, :]
angles = self.inverse_kinematics(dest)
self.leg_0.move_junctions(angles[0, :])

213
software/rpi/path_generator.py
View File

@ -1,5 +1,6 @@
from lib import semicircle_generator, semicircle2_generator
from lib import path_rotate_z
from lib import get_rotate_x_matrix
import numpy as np
from collections import deque
@ -210,3 +211,215 @@ def gen_climb_path():
climbpath[:, 5, :] = mir_lpath
return climbpath
def gen_rotatex_path(standby_coordinate):
# standby_coordinate = np.ones((6,3))
g_steps = 20
swing_angle = 15
y_radius = 15
assert (g_steps % 4) == 0
quarter = int(g_steps/4)
path = np.zeros((g_steps, 6, 3))
result = []
step_angle = swing_angle / quarter
step_offset = y_radius / quarter
for i in range(quarter):
m = get_rotate_x_matrix(swing_angle - i*step_angle)
m[1, 3] = -i * step_offset
path[i, 0, 0] = standby_coordinate[0, 0]*m[0, 0]+standby_coordinate[0,
1]*m[0, 1]+standby_coordinate[0, 2]*m[0, 2]+m[0, 3]
path[i, 0, 1] = standby_coordinate[0, 0]*m[1, 0]+standby_coordinate[0,
1]*m[1, 1]+standby_coordinate[0, 2]*m[1, 2]+m[1, 3]
path[i, 0, 2] = standby_coordinate[0, 0]*m[2, 0]+standby_coordinate[0,
1]*m[2, 1]+standby_coordinate[0, 2]*m[2, 2]+m[2, 3]
path[i, 1, 0] = standby_coordinate[1, 0]*m[0, 0]+standby_coordinate[1,
1]*m[0, 1]+standby_coordinate[1, 2]*m[0, 2]+m[0, 3]
path[i, 1, 1] = standby_coordinate[1, 0]*m[1, 0]+standby_coordinate[1,
1]*m[1, 1]+standby_coordinate[1, 2]*m[1, 2]+m[1, 3]
path[i, 1, 2] = standby_coordinate[1, 0]*m[2, 0]+standby_coordinate[1,
1]*m[2, 1]+standby_coordinate[1, 2]*m[2, 2]+m[2, 3]
path[i, 2, 0] = standby_coordinate[2, 0]*m[0, 0]+standby_coordinate[2,
1]*m[0, 1]+standby_coordinate[2, 2]*m[0, 2]+m[0, 3]
path[i, 2, 1] = standby_coordinate[2, 0]*m[1, 0]+standby_coordinate[2,
1]*m[1, 1]+standby_coordinate[2, 2]*m[1, 2]+m[1, 3]
path[i, 2, 2] = standby_coordinate[2, 0]*m[2, 0]+standby_coordinate[2,
1]*m[2, 1]+standby_coordinate[2, 2]*m[2, 2]+m[2, 3]
path[i, 3, 0] = standby_coordinate[3, 0]*m[0, 0]+standby_coordinate[3,
1]*m[0, 1]+standby_coordinate[3, 2]*m[0, 2]+m[0, 3]
path[i, 3, 1] = standby_coordinate[3, 0]*m[1, 0]+standby_coordinate[3,
1]*m[1, 1]+standby_coordinate[3, 2]*m[1, 2]+m[1, 3]
path[i, 3, 2] = standby_coordinate[3, 0]*m[2, 0]+standby_coordinate[3,
1]*m[2, 1]+standby_coordinate[3, 2]*m[2, 2]+m[2, 3]
path[i, 4, 0] = standby_coordinate[4, 0]*m[0, 0]+standby_coordinate[4,
1]*m[0, 1]+standby_coordinate[4, 2]*m[0, 2]+m[0, 3]
path[i, 4, 1] = standby_coordinate[4, 0]*m[1, 0]+standby_coordinate[4,
1]*m[1, 1]+standby_coordinate[4, 2]*m[1, 2]+m[1, 3]
path[i, 4, 2] = standby_coordinate[4, 0]*m[2, 0]+standby_coordinate[4,
1]*m[2, 1]+standby_coordinate[4, 2]*m[2, 2]+m[2, 3]
path[i, 5, 0] = standby_coordinate[5, 0]*m[0, 0]+standby_coordinate[5,
1]*m[0, 1]+standby_coordinate[5, 2]*m[0, 2]+m[0, 3]
path[i, 5, 1] = standby_coordinate[5, 0]*m[1, 0]+standby_coordinate[5,
1]*m[1, 1]+standby_coordinate[5, 2]*m[1, 2]+m[1, 3]
path[i, 5, 2] = standby_coordinate[5, 0]*m[2, 0]+standby_coordinate[5,
1]*m[2, 1]+standby_coordinate[5, 2]*m[2, 2]+m[2, 3]
result.append(m)
for i in range(quarter):
m = get_rotate_x_matrix(-i*step_angle)
m[1, 3] = -y_radius + i * step_offset
idx = i+quarter
path[idx, 0, 0] = standby_coordinate[0, 0]*m[0, 0]+standby_coordinate[0,
1]*m[0, 1]+standby_coordinate[0, 2]*m[0, 2]+m[0, 3]
path[idx, 0, 1] = standby_coordinate[0, 0]*m[1, 0]+standby_coordinate[0,
1]*m[1, 1]+standby_coordinate[0, 2]*m[1, 2]+m[1, 3]
path[idx, 0, 2] = standby_coordinate[0, 0]*m[2, 0]+standby_coordinate[0,
1]*m[2, 1]+standby_coordinate[0, 2]*m[2, 2]+m[2, 3]
path[idx, 1, 0] = standby_coordinate[1, 0]*m[0, 0]+standby_coordinate[1,
1]*m[0, 1]+standby_coordinate[1, 2]*m[0, 2]+m[0, 3]
path[idx, 1, 1] = standby_coordinate[1, 0]*m[1, 0]+standby_coordinate[1,
1]*m[1, 1]+standby_coordinate[1, 2]*m[1, 2]+m[1, 3]
path[idx, 1, 2] = standby_coordinate[1, 0]*m[2, 0]+standby_coordinate[1,
1]*m[2, 1]+standby_coordinate[1, 2]*m[2, 2]+m[2, 3]
path[idx, 2, 0] = standby_coordinate[2, 0]*m[0, 0]+standby_coordinate[2,
1]*m[0, 1]+standby_coordinate[2, 2]*m[0, 2]+m[0, 3]
path[idx, 2, 1] = standby_coordinate[2, 0]*m[1, 0]+standby_coordinate[2,
1]*m[1, 1]+standby_coordinate[2, 2]*m[1, 2]+m[1, 3]
path[idx, 2, 2] = standby_coordinate[2, 0]*m[2, 0]+standby_coordinate[2,
1]*m[2, 1]+standby_coordinate[2, 2]*m[2, 2]+m[2, 3]
path[idx, 3, 0] = standby_coordinate[3, 0]*m[0, 0]+standby_coordinate[3,
1]*m[0, 1]+standby_coordinate[3, 2]*m[0, 2]+m[0, 3]
path[idx, 3, 1] = standby_coordinate[3, 0]*m[1, 0]+standby_coordinate[3,
1]*m[1, 1]+standby_coordinate[3, 2]*m[1, 2]+m[1, 3]
path[idx, 3, 2] = standby_coordinate[3, 0]*m[2, 0]+standby_coordinate[3,
1]*m[2, 1]+standby_coordinate[3, 2]*m[2, 2]+m[2, 3]
path[idx, 4, 0] = standby_coordinate[4, 0]*m[0, 0]+standby_coordinate[4,
1]*m[0, 1]+standby_coordinate[4, 2]*m[0, 2]+m[0, 3]
path[idx, 4, 1] = standby_coordinate[4, 0]*m[1, 0]+standby_coordinate[4,
1]*m[1, 1]+standby_coordinate[4, 2]*m[1, 2]+m[1, 3]
path[idx, 4, 2] = standby_coordinate[4, 0]*m[2, 0]+standby_coordinate[4,
1]*m[2, 1]+standby_coordinate[4, 2]*m[2, 2]+m[2, 3]
path[idx, 5, 0] = standby_coordinate[5, 0]*m[0, 0]+standby_coordinate[5,
1]*m[0, 1]+standby_coordinate[5, 2]*m[0, 2]+m[0, 3]
path[idx, 5, 1] = standby_coordinate[5, 0]*m[1, 0]+standby_coordinate[5,
1]*m[1, 1]+standby_coordinate[5, 2]*m[1, 2]+m[1, 3]
path[idx, 5, 2] = standby_coordinate[5, 0]*m[2, 0]+standby_coordinate[5,
1]*m[2, 1]+standby_coordinate[5, 2]*m[2, 2]+m[2, 3]
result.append(m)
for i in range(quarter):
m = get_rotate_x_matrix(i*step_angle-swing_angle)
m[1, 3] = i * step_offset
idx = i+quarter*2
path[idx, 0, 0] = standby_coordinate[0, 0]*m[0, 0]+standby_coordinate[0,
1]*m[0, 1]+standby_coordinate[0, 2]*m[0, 2]+m[0, 3]
path[idx, 0, 1] = standby_coordinate[0, 0]*m[1, 0]+standby_coordinate[0,
1]*m[1, 1]+standby_coordinate[0, 2]*m[1, 2]+m[1, 3]
path[idx, 0, 2] = standby_coordinate[0, 0]*m[2, 0]+standby_coordinate[0,
1]*m[2, 1]+standby_coordinate[0, 2]*m[2, 2]+m[2, 3]
path[idx, 1, 0] = standby_coordinate[1, 0]*m[0, 0]+standby_coordinate[1,
1]*m[0, 1]+standby_coordinate[1, 2]*m[0, 2]+m[0, 3]
path[idx, 1, 1] = standby_coordinate[1, 0]*m[1, 0]+standby_coordinate[1,
1]*m[1, 1]+standby_coordinate[1, 2]*m[1, 2]+m[1, 3]
path[idx, 1, 2] = standby_coordinate[1, 0]*m[2, 0]+standby_coordinate[1,
1]*m[2, 1]+standby_coordinate[1, 2]*m[2, 2]+m[2, 3]
path[idx, 2, 0] = standby_coordinate[2, 0]*m[0, 0]+standby_coordinate[2,
1]*m[0, 1]+standby_coordinate[2, 2]*m[0, 2]+m[0, 3]
path[idx, 2, 1] = standby_coordinate[2, 0]*m[1, 0]+standby_coordinate[2,
1]*m[1, 1]+standby_coordinate[2, 2]*m[1, 2]+m[1, 3]
path[idx, 2, 2] = standby_coordinate[2, 0]*m[2, 0]+standby_coordinate[2,
1]*m[2, 1]+standby_coordinate[2, 2]*m[2, 2]+m[2, 3]
path[idx, 3, 0] = standby_coordinate[3, 0]*m[0, 0]+standby_coordinate[3,
1]*m[0, 1]+standby_coordinate[3, 2]*m[0, 2]+m[0, 3]
path[idx, 3, 1] = standby_coordinate[3, 0]*m[1, 0]+standby_coordinate[3,
1]*m[1, 1]+standby_coordinate[3, 2]*m[1, 2]+m[1, 3]
path[idx, 3, 2] = standby_coordinate[3, 0]*m[2, 0]+standby_coordinate[3,
1]*m[2, 1]+standby_coordinate[3, 2]*m[2, 2]+m[2, 3]
path[idx, 4, 0] = standby_coordinate[4, 0]*m[0, 0]+standby_coordinate[4,
1]*m[0, 1]+standby_coordinate[4, 2]*m[0, 2]+m[0, 3]
path[idx, 4, 1] = standby_coordinate[4, 0]*m[1, 0]+standby_coordinate[4,
1]*m[1, 1]+standby_coordinate[4, 2]*m[1, 2]+m[1, 3]
path[idx, 4, 2] = standby_coordinate[4, 0]*m[2, 0]+standby_coordinate[4,
1]*m[2, 1]+standby_coordinate[4, 2]*m[2, 2]+m[2, 3]
path[idx, 5, 0] = standby_coordinate[5, 0]*m[0, 0]+standby_coordinate[5,
1]*m[0, 1]+standby_coordinate[5, 2]*m[0, 2]+m[0, 3]
path[idx, 5, 1] = standby_coordinate[5, 0]*m[1, 0]+standby_coordinate[5,
1]*m[1, 1]+standby_coordinate[5, 2]*m[1, 2]+m[1, 3]
path[idx, 5, 2] = standby_coordinate[5, 0]*m[2, 0]+standby_coordinate[5,
1]*m[2, 1]+standby_coordinate[5, 2]*m[2, 2]+m[2, 3]
result.append(m)
for i in range(quarter):
m = get_rotate_x_matrix(i*step_angle)
m[1, 3] = y_radius-i * step_offset
idx = i+quarter*3
path[idx, 0, 0] = standby_coordinate[0, 0]*m[0, 0]+standby_coordinate[0,
1]*m[0, 1]+standby_coordinate[0, 2]*m[0, 2]+m[0, 3]
path[idx, 0, 1] = standby_coordinate[0, 0]*m[1, 0]+standby_coordinate[0,
1]*m[1, 1]+standby_coordinate[0, 2]*m[1, 2]+m[1, 3]
path[idx, 0, 2] = standby_coordinate[0, 0]*m[2, 0]+standby_coordinate[0,
1]*m[2, 1]+standby_coordinate[0, 2]*m[2, 2]+m[2, 3]
path[idx, 1, 0] = standby_coordinate[1, 0]*m[0, 0]+standby_coordinate[1,
1]*m[0, 1]+standby_coordinate[1, 2]*m[0, 2]+m[0, 3]
path[idx, 1, 1] = standby_coordinate[1, 0]*m[1, 0]+standby_coordinate[1,
1]*m[1, 1]+standby_coordinate[1, 2]*m[1, 2]+m[1, 3]
path[idx, 1, 2] = standby_coordinate[1, 0]*m[2, 0]+standby_coordinate[1,
1]*m[2, 1]+standby_coordinate[1, 2]*m[2, 2]+m[2, 3]
path[idx, 2, 0] = standby_coordinate[2, 0]*m[0, 0]+standby_coordinate[2,
1]*m[0, 1]+standby_coordinate[2, 2]*m[0, 2]+m[0, 3]
path[idx, 2, 1] = standby_coordinate[2, 0]*m[1, 0]+standby_coordinate[2,
1]*m[1, 1]+standby_coordinate[2, 2]*m[1, 2]+m[1, 3]
path[idx, 2, 2] = standby_coordinate[2, 0]*m[2, 0]+standby_coordinate[2,
1]*m[2, 1]+standby_coordinate[2, 2]*m[2, 2]+m[2, 3]
path[idx, 3, 0] = standby_coordinate[3, 0]*m[0, 0]+standby_coordinate[3,
1]*m[0, 1]+standby_coordinate[3, 2]*m[0, 2]+m[0, 3]
path[idx, 3, 1] = standby_coordinate[3, 0]*m[1, 0]+standby_coordinate[3,
1]*m[1, 1]+standby_coordinate[3, 2]*m[1, 2]+m[1, 3]
path[idx, 3, 2] = standby_coordinate[3, 0]*m[2, 0]+standby_coordinate[3,
1]*m[2, 1]+standby_coordinate[3, 2]*m[2, 2]+m[2, 3]
path[idx, 4, 0] = standby_coordinate[4, 0]*m[0, 0]+standby_coordinate[4,
1]*m[0, 1]+standby_coordinate[4, 2]*m[0, 2]+m[0, 3]
path[idx, 4, 1] = standby_coordinate[4, 0]*m[1, 0]+standby_coordinate[4,
1]*m[1, 1]+standby_coordinate[4, 2]*m[1, 2]+m[1, 3]
path[idx, 4, 2] = standby_coordinate[4, 0]*m[2, 0]+standby_coordinate[4,
1]*m[2, 1]+standby_coordinate[4, 2]*m[2, 2]+m[2, 3]
path[idx, 5, 0] = standby_coordinate[5, 0]*m[0, 0]+standby_coordinate[5,
1]*m[0, 1]+standby_coordinate[5, 2]*m[0, 2]+m[0, 3]
path[idx, 5, 1] = standby_coordinate[5, 0]*m[1, 0]+standby_coordinate[5,
1]*m[1, 1]+standby_coordinate[5, 2]*m[1, 2]+m[1, 3]
path[idx, 5, 2] = standby_coordinate[5, 0]*m[2, 0]+standby_coordinate[5,
1]*m[2, 1]+standby_coordinate[5, 2]*m[2, 2]+m[2, 3]
result.append(m)
return path
# return result, "matrix", 50, (0, quarter*2)