#!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_FORWARD = 'forward' CMD_BACKWARD = 'backward' CMD_FASTFORWARD = 'fastforward' CMD_FASTBACKWARD = 'fastbackward' CMD_SHIFTLEFT = 'shiftleft' CMD_SHIFTRIGHT = 'shiftright' CMD_TURNLEFT = 'turnleft' CMD_TURNRIGHT = 'turnright' CMD_CLIMBFORWARD = 'climbforward' CMD_CLIMBBACKWARD = 'climbbackward' CMD_ROTATEX = 'rotatex' CMD_ROTATEY = 'rotatey' CMD_ROTATEZ = 'rotatez' CMD_TWIST = 'twist' def __init__(self, in_cmd_queue): Thread.__init__(self) self.cmd_queue = in_cmd_queue self.interval = 0.005 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) # front right self.leg_0 = Leg(0, [self.pca_left.servo[15], self.pca_left.servo[2], self.pca_left.servo[1]], correction=[4, 6, 2]) # center right self.leg_1 = Leg(1, [self.pca_left.servo[7], self.pca_left.servo[8], self.pca_left.servo[6]], correction=[0, 8, -6]) # rear right self.leg_2 = Leg(2, [self.pca_left.servo[0], self.pca_left.servo[14], self.pca_left.servo[13]], correction=[2, 8, -1]) # rear left self.leg_3 = Leg(3, [self.pca_right.servo[15], self.pca_right.servo[1], self.pca_right.servo[2]], correction=[-3, 10, -8]) # center left self.leg_4 = Leg(4, [self.pca_right.servo[7], self.pca_right.servo[6], self.pca_right.servo[8]], correction=[-6, 2, -4]) # front left self.leg_5 = Leg(5, [self.pca_right.servo[0], self.pca_right.servo[13], self.pca_right.servo[14]], correction=[0, 0, -10]) # 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_FORWARD: gen_walk_path( self.standby_posture['coord']), self.CMD_BACKWARD: gen_walk_path( self.standby_posture['coord'], reverse=True), 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_SHIFTLEFT: gen_shift_path( self.standby_posture['coord'], direction='left'), self.CMD_SHIFTRIGHT: gen_shift_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.leg_0.move_junctions(angles[0, :]) self.leg_5.move_junctions(angles[5, :]) self.leg_1.move_junctions(angles[1, :]) self.leg_4.move_junctions(angles[4, :]) self.leg_2.move_junctions(angles[2, :]) self.leg_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.leg_0.move_junctions(angles[0, :]) self.leg_5.move_junctions(angles[5, :]) self.leg_1.move_junctions(angles[1, :]) self.leg_4.move_junctions(angles[4, :]) self.leg_2.move_junctions(angles[2, :]) self.leg_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.leg_0.move_junctions(angles[0, :]) self.leg_5.move_junctions(angles[5, :]) self.leg_1.move_junctions(angles[1, :]) self.leg_4.move_junctions(angles[4, :]) self.leg_2.move_junctions(angles[2, :]) self.leg_3.move_junctions(angles[3, :]) try: cmd_string = self.cmd_queue.get(block=False) print('interrput') print(cmd_string) 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] self.current_motion = self.cmd_dict.get(data, None) self.cmd_queue.task_done() def run(self): while True: if self.current_motion is None: try: cmd_string = self.cmd_queue.get(block=False) print(cmd_string) except Empty: time.sleep(self.interval) pass else: self.cmd_handler(cmd_string) 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()