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4 Commits
5d0571abfa ... master

Author SHA1 Message Date
Cole Deck
80b911dd8d update paths 2023-05-10 19:07:16 -05:00
Cole Deck
e261452350 chain 2023-05-10 15:17:56 -05:00
Cole Deck
0d84232a56 update code 2023-05-10 13:38:54 -05:00
Cole Deck
e329c893d7 add test file 2023-05-09 13:48:12 -05:00
7 changed files with 62 additions and 40 deletions
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6
software/android/.idea/kotlinc.xml generated Normal file
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@ -0,0 +1,6 @@
<?xml version="1.0" encoding="UTF-8"?>
<project version="4">
<component name="KotlinJpsPluginSettings">
<option name="version" value="1.6.21" />
</component>
</project>

4
software/raspberry pi/adafruit_servokit.py
View File

@ -3,7 +3,7 @@
# SPDX-License-Identifier: MIT
#
# MODIFIED to use pololu motor drivers, but compatible with adafruit_servokit driver layout
# by Cole Deck
# by Amelia Deck
# Based on adafruit_motor.py as well
"""
@ -152,7 +152,7 @@ class pololuservo:
self._duty_range = max_pulse - min_pulse
self.duty_cycle = 0
print("init servo", ch)
pca.setAccel(ch, 10)
pca.setAccel(ch, 15)
pca.setTarget(ch, int((max_pulse-min_pulse)/2 + min_pulse)) # set midpoint
time.sleep(0.1)
pca.setAccel(ch, 0)

2
software/raspberry pi/btserver.py
View File

@ -49,7 +49,7 @@ class BluetoothServer(Thread):
self.cmd_queue = out_cmd_queue
with open('/home/cole/Downloads/hexapod/software/raspberry pi/config.json', 'r') as read_file:
with open('config.json', 'r') as read_file:
self.config = json.load(read_file)
try:

40
software/raspberry pi/config.json
View File

@ -38,9 +38,9 @@
"movementInterval": 5,
"movementSwitchDuration": 150,
"leg0Offset": [
0,
10,
25
10,
30
],
"leg0Scale": [
1,
@ -48,29 +48,29 @@
-1
],
"leg1Offset": [
-1.0,
8,
-6
15,
-20,
35
],
"leg1Scale": [
1,
1,
1
-1,
-1
],
"leg2Offset": [
1.0,
12.0,
1.0
-3,
10,
20
],
"leg2Scale": [
1,
1,
1
-1,
-1
],
"leg3Offset": [
-3,
12.0,
-6.0
7,
15,
-10
],
"leg3Scale": [
1,
@ -78,9 +78,9 @@
1
],
"leg4Offset": [
-6,
2,
-6.0
15,
10,
5
],
"leg4Scale": [
1,
@ -88,9 +88,9 @@
1
],
"leg5Offset": [
0,
-7,
10,
-40
-30
],
"leg5Scale": [
1,

32
software/raspberry pi/hexapod.py
View File

@ -1,4 +1,4 @@
#!python
#!/usr/bin/python3
#
# 2021 - PRESENT Zhengyu Peng
# Website: https://zpeng.me
@ -116,39 +116,39 @@ class Hexapod(Thread):
self.mount_position[:, 1] = self.mount_y
# Objects
self.pca_right = ServoKit(channels=18, address="/dev/ttyACM0", frequency=0x0c)
#self.pca_left = ServoKit(channels=18, address="/dev/ttyACM0", frequency=0x0c)
self.pca_left = self.pca_right
self.pca_right = ServoKit(channels=18, address="/dev/serial/by-path/platform-fd500000.pcie-pci-0000:01:00.0-usb-0:1.4:1.0", frequency=0x0c)
self.pca_left = ServoKit(channels=18, address="/dev/serial/by-path/platform-fd500000.pcie-pci-0000:01:00.0-usb-0:1.3:1.0", frequency=0x0d)
#self.pca_left = self.pca_right
self.legs = [
# front right
Leg(0,
[self.pca_left.servo[2], self.pca_left.servo[1],
self.pca_left.servo[0]],
[self.pca_left.servo[0], self.pca_left.servo[1],
self.pca_left.servo[2]],
correction=self.config.get('leg0Offset', [0, 0, 0]), scale=self.config.get('leg0Scale', [1, 1, 1])),
# center right
Leg(1,
[self.pca_left.servo[8], self.pca_left.servo[7],
self.pca_left.servo[6]],
[self.pca_left.servo[3], self.pca_left.servo[4],
self.pca_left.servo[5]],
correction=self.config.get('leg1Offset', [0, 0, 0]), scale=self.config.get('leg1Scale', [1, 1, 1])),
# rear right
Leg(2,
[self.pca_left.servo[12], self.pca_left.servo[13],
self.pca_left.servo[14]],
[self.pca_left.servo[6], self.pca_left.servo[7],
self.pca_left.servo[8]],
correction=self.config.get('leg2Offset', [0, 0, 0]), scale=self.config.get('leg2Scale', [1, 1, 1])),
# rear left
Leg(3,
[self.pca_right.servo[15], self.pca_right.servo[16],
self.pca_right.servo[17]],
[self.pca_right.servo[6], self.pca_right.servo[7],
self.pca_right.servo[8]],
correction=self.config.get('leg3Offset', [0, 0, 0]), scale=self.config.get('leg3Scale', [1, 1, 1])),
# center left
Leg(4,
[self.pca_right.servo[9], self.pca_right.servo[10],
self.pca_right.servo[11]],
[self.pca_right.servo[3], self.pca_right.servo[4],
self.pca_right.servo[5]],
correction=self.config.get('leg4Offset', [0, 0, 0]), scale=self.config.get('leg4Scale', [1, 1, 1])),
# front left
Leg(5,
[self.pca_right.servo[5], self.pca_right.servo[4],
self.pca_right.servo[3]],
[self.pca_right.servo[0], self.pca_right.servo[1],
self.pca_right.servo[2]],
correction=self.config.get('leg5Offset', [0, 0, 0]), scale=self.config.get('leg5Scale', [1, 1, 1]))]
# self.leg_0.reset(True)

2
software/raspberry pi/tcpserver.py
View File

@ -47,7 +47,7 @@ class TCPServer(Thread):
self.cmd_queue = out_cmd_queue
with open('/home/cole/Downloads/hexapod/software/raspberry pi/config.json', 'r') as read_file:
with open('config.json', 'r') as read_file:
self.config = json.load(read_file)
self.ip = '0.0.0.0'

16
software/raspberry pi/test.py Normal file
View File

@ -0,0 +1,16 @@
import maestro
servo = maestro.Controller()
import time
print("1")
for i in range(18):
servo.setAccel(i,10) #set servo 0 acceleration to 4
servo.setSpeed(i,50) #set speed of servo 1
servo.setTarget(i,6000) #set servo to move to center position
time.sleep(1)
#servo.setTarget(0,6000)
#x = servo.getPosition(1) #get the current position of servo 1
print("5")
#servo.close()
print("6")