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65 lines
1.7 KiB
Python
65 lines
1.7 KiB
Python
#!python
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#
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# 2021 Zhengyu Peng
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# Website: https://zpeng.me
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#
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# ` `
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# -:. -#:
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# -//:. -###:
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# -////:. -#####:
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# -/:.://:. -###++##:
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# .. `://:- -###+. :##:
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# `:/+####+. :##:
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# .::::::::/+###. :##:
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# .////-----+##: `:###:
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# `-//:. :##: `:###/.
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# `-//:. :##:`:###/.
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# `-//:+######/.
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# `-/+####/.
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# `+##+.
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# :##:
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# :##:
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# :##:
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# :##:
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# :##:
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# .+:
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import numpy as np
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class Leg:
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def __init__(self,
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id,
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junction_servos,
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correction=[0, 0, 0],
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constraint=[[35, 145], [10, 165], [30, 150]]):
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self.id = id
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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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def set_angle(self, junction, angle):
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set_angle = np.min(
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[angle+self.correction[junction], self.constraint[junction][1]+self.correction[junction], 180])
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set_angle = np.max(
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[set_angle, self.constraint[junction][0]+self.correction[junction], 0])
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self.junction_servos[junction].angle = set_angle
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def set_raw_angle(self, junction, angle):
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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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def reset(self, calibrated=False):
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if calibrated:
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self.set_angle(0, 90)
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self.set_angle(1, 90)
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self.set_angle(2, 90)
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else:
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self.set_raw_angle(0, 90)
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self.set_raw_angle(1, 90)
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self.set_raw_angle(2, 90)
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