#!python # # 2021 - PRESENT Zhengyu Peng # Website: https://zpeng.me # # ` ` # -:. -#: # -//:. -###: # -////:. -#####: # -/:.://:. -###++##: # .. `://:- -###+. :##: # `:/+####+. :##: # .::::::::/+###. :##: # .////-----+##: `:###: # `-//:. :##: `:###/. # `-//:. :##:`:###/. # `-//:+######/. # `-/+####/. # `+##+. # :##: # :##: # :##: # :##: # :##: # .+: # Libraries # https://circuitpython.readthedocs.io/projects/servokit/en/latest/ from audioop import reverse from adafruit_servokit import ServoKit from leg import Leg from queue import Queue, Empty # python3-numpy import numpy as np import time import json from path_generator import gen_walk_path from path_generator import gen_fastwalk_path from path_generator import gen_turn_path # from path_generator import gen_shift_path from path_generator import gen_climb_path from path_generator import gen_rotatex_path, gen_rotatey_path, gen_rotatez_path from path_generator import gen_twist_path from threading import Thread from tcpserver import TCPServer from btserver import BluetoothServer class Hexapod(Thread): CMD_STANDBY = 'standby' CMD_LAYDOWN = 'laydown' CMD_WALK_0 = 'walk0' CMD_WALK_180 = 'walk180' CMD_WALK_R45 = 'walkr45' CMD_WALK_R90 = 'walkr90' CMD_WALK_R135 = 'walkr135' CMD_WALK_L45 = 'walkl45' CMD_WALK_L90 = 'walkl90' CMD_WALK_L135 = 'walkl135' CMD_FASTFORWARD = 'fastforward' CMD_FASTBACKWARD = 'fastbackward' CMD_TURNLEFT = 'turnleft' CMD_TURNRIGHT = 'turnright' CMD_CLIMBFORWARD = 'climbforward' CMD_CLIMBBACKWARD = 'climbbackward' CMD_ROTATEX = 'rotatex' CMD_ROTATEY = 'rotatey' CMD_ROTATEZ = 'rotatez' CMD_TWIST = 'twist' CMD_CALIBRATION = 'calibration' CMD_NORMAL = 'normal' def __init__(self, in_cmd_queue): Thread.__init__(self) self.cmd_queue = in_cmd_queue self.interval = 0.005 self.calibration_mode = False with open('/home/pi/hexapod/software/raspberry pi/config.json', 'r') as read_file: self.config = json.load(read_file) # legs' coordinates # x -> right # y -> front # z -> up # origin is the center of the body # roots are the positions of the bottom screws # length units are in mm # time units are in ms self.mount_x = np.array(self.config['legMountX']) self.mount_y = np.array(self.config['legMountY']) self.root_j1 = self.config['legRootToJoint1'] self.j1_j2 = self.config['legJoint1ToJoint2'] self.j2_j3 = self.config['legJoint2ToJoint3'] self.j3_tip = self.config['legJoint3ToTip'] self.mount_angle = np.array(self.config['legMountAngle'])/180*np.pi self.mount_position = np.zeros((6, 3)) self.mount_position[:, 0] = self.mount_x self.mount_position[:, 1] = self.mount_y # Objects self.pca_right = ServoKit(channels=16, address=0x40, frequency=120) self.pca_left = ServoKit(channels=16, address=0x41, frequency=120) self.legs = [ # front right Leg(0, [self.pca_left.servo[15], self.pca_left.servo[14], self.pca_left.servo[13]], correction=self.config.get('leg0Offset', [0, 0, 0])), # center right Leg(1, [self.pca_left.servo[8], self.pca_left.servo[4], self.pca_left.servo[11]], correction=self.config.get('leg1Offset', [0, 0, 0])), # rear right Leg(2, [self.pca_left.servo[0], self.pca_left.servo[1], self.pca_left.servo[2]], correction=self.config.get('leg2Offset', [0, 0, 0])), # rear left Leg(3, [self.pca_right.servo[15], self.pca_right.servo[14], self.pca_right.servo[13]], correction=self.config.get('leg3Offset', [0, 0, 0])), # center left Leg(4, [self.pca_right.servo[7], self.pca_right.servo[11], self.pca_right.servo[6]], correction=self.config.get('leg4Offset', [0, 0, 0])), # front left Leg(5, [self.pca_right.servo[0], self.pca_right.servo[2], self.pca_right.servo[5]], correction=self.config.get('leg5Offset', [0, 0, 0]))] # self.leg_0.reset(True) # self.leg_1.reset(True) # self.leg_2.reset(True) # self.leg_3.reset(True) # self.leg_4.reset(True) # self.leg_5.reset(True) self.standby_posture = self.gen_posture(60, 75) self.current_motion = self.standby_posture self.cmd_dict = { self.CMD_STANDBY: self.standby_posture, self.CMD_LAYDOWN: self.gen_posture(0, 15), self.CMD_WALK_0: gen_walk_path( self.standby_posture['coord'], direction=0), self.CMD_WALK_180: gen_walk_path( self.standby_posture['coord'], direction=180), self.CMD_WALK_R45: gen_walk_path( self.standby_posture['coord'], direction=315), self.CMD_WALK_R90: gen_walk_path( self.standby_posture['coord'], direction=270), self.CMD_WALK_R135: gen_walk_path( self.standby_posture['coord'], direction=225), self.CMD_WALK_L45: gen_walk_path( self.standby_posture['coord'], direction=45), self.CMD_WALK_L90: gen_walk_path( self.standby_posture['coord'], direction=90), self.CMD_WALK_L135: gen_walk_path( self.standby_posture['coord'], direction=135), self.CMD_FASTFORWARD: gen_fastwalk_path( self.standby_posture['coord']), self.CMD_FASTBACKWARD: gen_fastwalk_path( self.standby_posture['coord'], reverse=True), self.CMD_TURNLEFT: gen_turn_path( self.standby_posture['coord'], direction='left'), self.CMD_TURNRIGHT: gen_turn_path( self.standby_posture['coord'], direction='right'), self.CMD_CLIMBFORWARD: gen_climb_path( self.standby_posture['coord'], reverse=False), self.CMD_CLIMBBACKWARD: gen_climb_path( self.standby_posture['coord'], reverse=True), self.CMD_ROTATEX: gen_rotatex_path(self.standby_posture['coord']), self.CMD_ROTATEY: gen_rotatey_path(self.standby_posture['coord']), self.CMD_ROTATEZ: gen_rotatez_path(self.standby_posture['coord']), self.CMD_TWIST: gen_twist_path(self.standby_posture['coord']) } self.posture(self.standby_posture['coord']) time.sleep(1) def gen_posture(self, j2_angle, j3_angle): j2_rad = j2_angle/180*np.pi j3_rad = j3_angle/180*np.pi posture = np.zeros((6, 3)) posture[:, 0] = self.mount_x+(self.root_j1+self.j1_j2+( self.j2_j3*np.sin(j2_rad))+self.j3_tip*np.cos(j3_rad)) *\ np.cos(self.mount_angle) posture[:, 1] = self.mount_y + (self.root_j1+self.j1_j2+( self.j2_j3*np.sin(j2_rad))+self.j3_tip*np.cos(j3_rad)) *\ np.sin(self.mount_angle) posture[:, 2] = self.j2_j3 * \ np.cos(j2_rad) - self.j3_tip * \ np.sin(j3_rad) return {'coord': posture, 'type': 'posture'} def posture(self, coordinate): angles = self.inverse_kinematics(coordinate) self.legs[0].move_junctions(angles[0, :]) self.legs[5].move_junctions(angles[5, :]) self.legs[1].move_junctions(angles[1, :]) self.legs[4].move_junctions(angles[4, :]) self.legs[2].move_junctions(angles[2, :]) self.legs[3].move_junctions(angles[3, :]) def move(self, path): for p_idx in range(0, np.shape(path)[0]): dest = path[p_idx, :, :] angles = self.inverse_kinematics(dest) self.legs[0].move_junctions(angles[0, :]) self.legs[5].move_junctions(angles[5, :]) self.legs[1].move_junctions(angles[1, :]) self.legs[4].move_junctions(angles[4, :]) self.legs[2].move_junctions(angles[2, :]) self.legs[3].move_junctions(angles[3, :]) # time.sleep(self.interval) def motion(self, path): for p_idx in range(0, np.shape(path)[0]): dest = path[p_idx, :, :] angles = self.inverse_kinematics(dest) self.legs[0].move_junctions(angles[0, :]) self.legs[5].move_junctions(angles[5, :]) self.legs[1].move_junctions(angles[1, :]) self.legs[4].move_junctions(angles[4, :]) self.legs[2].move_junctions(angles[2, :]) self.legs[3].move_junctions(angles[3, :]) try: cmd_string = self.cmd_queue.get(block=False) print('interrput') except Empty: # time.sleep(self.interval) pass else: self.cmd_handler(cmd_string) break def inverse_kinematics(self, dest): temp_dest = dest-self.mount_position local_dest = np.zeros_like(dest) local_dest[:, 0] = temp_dest[:, 0] * \ np.cos(self.mount_angle) + \ temp_dest[:, 1] * np.sin(self.mount_angle) local_dest[:, 1] = temp_dest[:, 0] * \ np.sin(self.mount_angle) - \ temp_dest[:, 1] * np.cos(self.mount_angle) local_dest[:, 2] = temp_dest[:, 2] angles = np.zeros((6, 3)) x = local_dest[:, 0] - self.root_j1 y = local_dest[:, 1] angles[:, 0] = -(np.arctan2(y, x) * 180 / np.pi)+90 x = np.sqrt(x*x + y*y) - self.j1_j2 y = local_dest[:, 2] ar = np.arctan2(y, x) lr2 = x*x + y*y lr = np.sqrt(lr2) a1 = np.arccos((lr2 + self.j2_j3*self.j2_j3 - self.j3_tip*self.j3_tip)/(2*self.j2_j3*lr)) a2 = np.arccos((lr2 - self.j2_j3*self.j2_j3 + self.j3_tip*self.j3_tip)/(2*self.j3_tip*lr)) angles[:, 1] = 90-((ar + a1) * 180 / np.pi) angles[:, 2] = (90 - ((a1 + a2) * 180 / np.pi))+90 return angles def cmd_handler(self, cmd_string): data = cmd_string.split(':')[-2] if data == self.CMD_CALIBRATION: self.calibration_mode = True self.legs[0].reset(calibrated=True) self.legs[1].reset(calibrated=True) self.legs[2].reset(calibrated=True) self.legs[3].reset(calibrated=True) self.legs[4].reset(calibrated=True) self.legs[5].reset(calibrated=True) elif data == self.CMD_NORMAL: self.calibration_mode = False else: if self.calibration_mode: self.calibration_cmd_handler(data) else: self.current_motion = self.cmd_dict.get( data, self.standby_posture) self.cmd_queue.task_done() def calibration_cmd_handler(self, cmd_string): data_array = cmd_string.split(',') if len(data_array) == 4: op = data_array[0].lstrip() leg_idx = int(data_array[1]) if leg_idx < 0 or leg_idx > 5: return joint_idx = int(data_array[2]) if joint_idx < 0 or joint_idx > 2: return angle = float(data_array[3]) if op == 'angle': self.legs[leg_idx].set_angle(joint_idx, angle) elif op == 'offset': self.legs[leg_idx].correction[joint_idx] = angle self.legs[leg_idx].reset(calibrated=True) config_str = 'leg'+str(leg_idx)+'Offset' self.config[config_str] = self.legs[leg_idx].correction self.save_config() def save_config(self): try: json.dump(self.config, open('/home/pi/hexapod/software/raspberry pi/config.json', 'w+'), indent=4) except PermissionError as err: pass def run(self): while True: # if self.current_motion is None: try: cmd_string = self.cmd_queue.get(block=False) except Empty: # time.sleep(self.interval) pass else: self.cmd_handler(cmd_string) if not self.calibration_mode: if self.current_motion['type'] == 'motion': self.motion(self.current_motion['coord']) elif self.current_motion['type'] == 'posture': self.posture(self.current_motion['coord']) def main(): q = Queue() tcp_server = TCPServer(q) tcp_server.start() bt_server = BluetoothServer(q) bt_server.start() hexapod = Hexapod(q) hexapod.start() if __name__ == '__main__': main()