shift left and right

master
Zhengyu Peng 3 years ago
parent 4e0b8bd27b
commit ebeb098713

@ -14,6 +14,7 @@ import json
from path_generator import gen_forward_path, gen_backward_path from path_generator import gen_forward_path, gen_backward_path
from path_generator import gen_fastforward_path, gen_fastbackward_path 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_leftturn_path, gen_rightturn_path
from path_generator import gen_shiftleft_path, gen_shiftright_path
SIN30 = 0.5 SIN30 = 0.5
@ -94,6 +95,9 @@ class Hexapod:
self.leftturn_path = gen_leftturn_path() self.leftturn_path = gen_leftturn_path()
self.rightturn_path = gen_rightturn_path() self.rightturn_path = gen_rightturn_path()
self.shiftleft_path = gen_shiftleft_path()
self.shiftright_path = gen_shiftright_path()
self.standby() self.standby()
time.sleep(1) time.sleep(1)
@ -109,11 +113,17 @@ class Hexapod:
# for mm in range(0, 20): # for mm in range(0, 20):
# self.move(self.fastbackward_path, 0.005) # self.move(self.fastbackward_path, 0.005)
# for mm in range(0, 20):
# self.move(self.leftturn_path, 0.005)
# for mm in range(0, 20):
# self.move(self.rightturn_path, 0.005)
for mm in range(0, 20): for mm in range(0, 20):
self.move(self.leftturn_path, 0.005) self.move(self.shiftleft_path, 0.005)
for mm in range(0, 20): for mm in range(0, 20):
self.move(self.rightturn_path, 0.005) self.move(self.shiftright_path, 0.005)
time.sleep(1) time.sleep(1)
self.standby() self.standby()

@ -132,3 +132,47 @@ def gen_rightturn_path():
rightturn[:, 5, :] = np.array(path_rotate_z(mir_path, 135+180)) rightturn[:, 5, :] = np.array(path_rotate_z(mir_path, 135+180))
return rightturn return rightturn
def gen_shiftleft_path():
g_steps = 20
g_radius = 25
assert (g_steps % 4) == 0
halfsteps = int(g_steps/2)
path = semicircle_generator(g_radius, g_steps)
# shift 90 degree to make the path "left" shift
path = path_rotate_z(path, 90)
mir_path = np.roll(path, halfsteps, axis=0)
shiftleft = np.zeros((g_steps, 6, 3))
shiftleft[:, 0, :] = path
shiftleft[:, 1, :] = mir_path
shiftleft[:, 2, :] = path
shiftleft[:, 3, :] = mir_path
shiftleft[:, 4, :] = path
shiftleft[:, 5, :] = mir_path
return shiftleft
def gen_shiftright_path():
g_steps = 20
g_radius = 25
assert (g_steps % 4) == 0
halfsteps = int(g_steps/2)
path = semicircle_generator(g_radius, g_steps)
# shift 90 degree to make the path "left" shift
path = path_rotate_z(path, 270)
mir_path = np.roll(path, halfsteps, axis=0)
shiftright = np.zeros((g_steps, 6, 3))
shiftright[:, 0, :] = path
shiftright[:, 1, :] = mir_path
shiftright[:, 2, :] = path
shiftright[:, 3, :] = mir_path
shiftright[:, 4, :] = path
shiftright[:, 5, :] = mir_path
return shiftright

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