start work with real oliver proto. fix motor driver shim, add very basic motor scaling.
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parent
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2
software/android/.idea/compiler.xml
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software/android/.idea/compiler.xml
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@ -1,6 +1,6 @@
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<?xml version="1.0" encoding="UTF-8"?>
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<project version="4">
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<component name="CompilerConfiguration">
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<bytecodeTargetLevel target="11" />
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<bytecodeTargetLevel target="17" />
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</component>
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</project>
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software/android/.idea/gradle.xml
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1
software/android/.idea/gradle.xml
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@ -7,6 +7,7 @@
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<option name="testRunner" value="GRADLE" />
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<option name="distributionType" value="DEFAULT_WRAPPED" />
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<option name="externalProjectPath" value="$PROJECT_DIR$" />
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<option name="gradleJvm" value="Embedded JDK" />
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<option name="modules">
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<set>
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<option value="$PROJECT_DIR$" />
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software/android/.idea/misc.xml
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software/android/.idea/misc.xml
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@ -29,7 +29,7 @@
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</map>
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</option>
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</component>
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<component name="ProjectRootManager" version="2" languageLevel="JDK_11" default="true" project-jdk-name="Android Studio default JDK" project-jdk-type="JavaSDK">
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<component name="ProjectRootManager" version="2" languageLevel="JDK_17" default="true" project-jdk-name="jbr-17" project-jdk-type="JavaSDK">
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<output url="file://$PROJECT_DIR$/build/classes" />
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</component>
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<component name="ProjectType">
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@ -42,6 +42,7 @@ Implementation Notes
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try:
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from typing import Optional
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import maestro
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import time
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#from busio import I2C
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#from adafruit_motor.servo import Servo, ContinuousServo
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except ImportError:
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@ -135,6 +136,7 @@ class _Servo:
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if servo_channel >= num_channels or servo_channel < 0:
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raise ValueError("servo must be 0-{}!".format(num_channels - 1))
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servo = pololuservo(servo_channel)
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return servo
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raise ValueError("Channel {} is already in use.".format(servo_channel))
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@ -142,13 +144,19 @@ class _Servo:
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return len(self.kit._items)
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class pololuservo:
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def __init__(self, ch, actuation_range: int = 180, min_pulse: int = 3000, max_pulse: int = 9000):
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def __init__(self, ch, actuation_range: int = 180, min_pulse: int = 1600, max_pulse: int = 9900):
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self.ch = ch
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self.actuation_range = actuation_range
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self._min_duty = min_pulse
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self._max_duty = max_pulse
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self._duty_range = max_pulse = min_pulse
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self._duty_range = max_pulse - min_pulse
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self.duty_cycle = 0
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print("init servo", ch)
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pca.setAccel(ch, 10)
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pca.setTarget(ch, int((max_pulse-min_pulse)/2 + min_pulse)) # set midpoint
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time.sleep(0.1)
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pca.setAccel(ch, 0)
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@property
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def angle(self) -> Optional[float]:
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@ -159,7 +167,7 @@ class pololuservo:
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return self.actuation_range * self.fraction
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@angle.setter
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def angle(self, new_angle: Optional[int]) -> None:
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def angle(self, new_angle: Optional[float]) -> None:
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if new_angle is None: # disable the servo by sending 0 signal
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self.fraction = None
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return
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@ -185,7 +193,14 @@ class pololuservo:
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return
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if not 0.0 <= value <= 1.0:
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raise ValueError("Must be 0.0 to 1.0")
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#if self.ch > 2 and self.ch < 6:
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# valuetmp = 1.0 - value
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# self.duty_cycle = self._min_duty + int(valuetmp * self._duty_range)
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#else:
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self.duty_cycle = self._min_duty + int(value * self._duty_range)
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#print(self.ch)
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pca.setTarget(self.ch,self.duty_cycle)
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#if self.ch == 0:
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#print(value)
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pca.setTarget(self.ch,int(self.duty_cycle))
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time.sleep(0.002)
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#self._pwm_out.duty_cycle = duty_cycle
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@ -38,14 +38,14 @@
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"movementInterval": 5,
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"movementSwitchDuration": 150,
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"leg0Offset": [
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4.0,
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6.0,
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2
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0,
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10,
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25
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],
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"leg0Scale": [
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1,
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1,
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1
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-1,
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-1
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],
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"leg1Offset": [
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-1.0,
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@ -89,8 +89,8 @@
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],
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"leg5Offset": [
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0,
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4.0,
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-10
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10,
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-40
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],
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"leg5Scale": [
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1,
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@ -93,7 +93,7 @@ class Hexapod(Thread):
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self.calibration_mode = False
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with open('/home/cole/Downloads/hexapod/software/raspberry pi/config.json', 'r') as read_file:
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with open('config.json', 'r') as read_file:
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self.config = json.load(read_file)
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# legs' coordinates
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@ -116,40 +116,40 @@ class Hexapod(Thread):
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self.mount_position[:, 1] = self.mount_y
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# Objects
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self.pca_right = ServoKit(channels=18, address="/dev/ttyUSB0", frequency=0x0c)
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self.pca_left = ServoKit(channels=18, address="/dev/ttyUSB0", frequency=0x0d)
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self.pca_right = ServoKit(channels=18, address="/dev/ttyACM0", frequency=0x0c)
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#self.pca_left = ServoKit(channels=18, address="/dev/ttyACM0", frequency=0x0c)
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self.pca_left = self.pca_right
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self.legs = [
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# front right
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Leg(0,
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[self.pca_left.servo[15], self.pca_left.servo[14],
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self.pca_left.servo[13]],
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correction=self.config.get('leg0Offset', [0, 0, 0])),
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[self.pca_left.servo[2], self.pca_left.servo[1],
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self.pca_left.servo[0]],
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correction=self.config.get('leg0Offset', [0, 0, 0]), scale=self.config.get('leg0Scale', [1, 1, 1])),
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# center right
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Leg(1,
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[self.pca_left.servo[8], self.pca_left.servo[4],
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self.pca_left.servo[11]],
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correction=self.config.get('leg1Offset', [0, 0, 0])),
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[self.pca_left.servo[6], self.pca_left.servo[7],
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self.pca_left.servo[8]],
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correction=self.config.get('leg1Offset', [0, 0, 0]), scale=self.config.get('leg1Scale', [1, 1, 1])),
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# rear right
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Leg(2,
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[self.pca_left.servo[0], self.pca_left.servo[1],
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self.pca_left.servo[2]],
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correction=self.config.get('leg2Offset', [0, 0, 0])),
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[self.pca_left.servo[12], self.pca_left.servo[13],
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self.pca_left.servo[14]],
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correction=self.config.get('leg2Offset', [0, 0, 0]), scale=self.config.get('leg2Scale', [1, 1, 1])),
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# rear left
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Leg(3,
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[self.pca_right.servo[15], self.pca_right.servo[14],
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self.pca_right.servo[13]],
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correction=self.config.get('leg3Offset', [0, 0, 0])),
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[self.pca_right.servo[15], self.pca_right.servo[16],
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self.pca_right.servo[17]],
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correction=self.config.get('leg3Offset', [0, 0, 0]), scale=self.config.get('leg3Scale', [1, 1, 1])),
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# center left
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Leg(4,
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[self.pca_right.servo[7], self.pca_right.servo[11],
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self.pca_right.servo[6]],
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correction=self.config.get('leg4Offset', [0, 0, 0])),
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[self.pca_right.servo[9], self.pca_right.servo[10],
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self.pca_right.servo[11]],
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correction=self.config.get('leg4Offset', [0, 0, 0]), scale=self.config.get('leg4Scale', [1, 1, 1])),
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# front left
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Leg(5,
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[self.pca_right.servo[0], self.pca_right.servo[2],
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self.pca_right.servo[5]],
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correction=self.config.get('leg5Offset', [0, 0, 0]))]
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[self.pca_right.servo[5], self.pca_right.servo[4],
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self.pca_right.servo[3]],
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correction=self.config.get('leg5Offset', [0, 0, 0]), scale=self.config.get('leg5Scale', [1, 1, 1]))]
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# self.leg_0.reset(True)
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# self.leg_1.reset(True)
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@ -263,7 +263,7 @@ class Hexapod(Thread):
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try:
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cmd_string = self.cmd_queue.get(block=False)
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print('interrput')
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print('interrupt')
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except Empty:
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# time.sleep(self.interval)
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pass
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@ -300,7 +300,6 @@ class Hexapod(Thread):
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angles[:, 1] = 90-((ar + a1) * 180 / np.pi)
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angles[:, 2] = (90 - ((a1 + a2) * 180 / np.pi))+90
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return angles
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def cmd_handler(self, cmd_string):
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@ -352,7 +351,7 @@ class Hexapod(Thread):
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def save_config(self):
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try:
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json.dump(self.config, open(
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'/home/pi/hexapod/software/raspberry pi/config.json', 'w+'), indent=4)
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'/home/amelia/hexapod/software/raspberry pi/config2.json', 'w+'), indent=4)
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except PermissionError as err:
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pass
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@ -362,7 +361,7 @@ class Hexapod(Thread):
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try:
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cmd_string = self.cmd_queue.get(block=False)
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except Empty:
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# time.sleep(self.interval)
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#time.sleep(self.interval)
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pass
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else:
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self.cmd_handler(cmd_string)
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self.junction_servos = junction_servos
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self.correction = correction
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self.constraint = constraint
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self.scale = scale
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def set_angle(self, junction, angle):
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set_angle = np.min(
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@ -50,9 +51,20 @@ class Leg:
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self.junction_servos[junction].angle = angle
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def move_junctions(self, angles):
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self.set_angle(0, angles[0])
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self.set_angle(1, angles[1])
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self.set_angle(2, angles[2])
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if self.scale[0] < 0:
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self.set_angle(0, self.constraint[0][1] + self.constraint[0][0] - angles[0])
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#print(self.scale, self.constraint[0][1] + self.constraint[0][0] - angles[0])
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else:
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self.set_angle(0, angles[0])
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#print(self.scale, angles[0])
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if self.scale[1] < 0:
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self.set_angle(1, self.constraint[1][1] + self.constraint[1][0] - angles[1])
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else:
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self.set_angle(1, angles[1])
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if self.scale[2] < 0:
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self.set_angle(2, self.constraint[2][1] + self.constraint[2][0] - angles[2])
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else:
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self.set_angle(2, angles[2])
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def reset(self, calibrated=False):
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if calibrated:
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