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hexapod
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rotate z

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master
Zhengyu Peng 3 years ago
parent 063f73588e
commit f754e3e812
2 changed files with 66 additions and 2 deletions
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5
software/rpi/hexapod.py
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@ -16,7 +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_leftturn_path, gen_rightturn_path
from path_generator import gen_shiftleft_path, gen_shiftright_path from path_generator import gen_shiftleft_path, gen_shiftright_path
from path_generator import gen_climb_path from path_generator import gen_climb_path
from path_generator import gen_rotatex_path, gen_rotatey_path from path_generator import gen_rotatex_path, gen_rotatey_path, gen_rotatez_path
SIN30 = 0.5 SIN30 = 0.5
@ -104,6 +104,7 @@ class Hexapod:
self.rotatex_path = gen_rotatex_path(self.standby_coordinate) self.rotatex_path = gen_rotatex_path(self.standby_coordinate)
self.rotatey_path = gen_rotatey_path(self.standby_coordinate) self.rotatey_path = gen_rotatey_path(self.standby_coordinate)
self.rotatez_path = gen_rotatez_path(self.standby_coordinate)
self.standby() self.standby()
time.sleep(1) time.sleep(1)
@ -137,7 +138,7 @@ class Hexapod:
# self.move(self.rotatex_path, 0.005) # self.move(self.rotatex_path, 0.005)
for mm in range(0, 20): for mm in range(0, 20):
self.move(self.rotatey_path, 0.005) self.move(self.rotatez_path, 0.005)
time.sleep(1) time.sleep(1)
self.standby() self.standby()

63
software/rpi/path_generator.py
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@ -633,3 +633,66 @@ def gen_rotatey_path(standby_coordinate):
# result.append(m) # result.append(m)
return path return path
def gen_rotatez_path(standby_coordinate):
# standby_coordinate = np.ones((6,3))
g_steps = 20
z_lift = 4.5
xy_radius = 1
assert (g_steps % 4) == 0
path = np.zeros((g_steps, 6, 3))
step_angle = 2*np.pi / g_steps
for i in range(g_steps):
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)
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]
return path
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