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89 lines
2.9 KiB
Python
89 lines
2.9 KiB
Python
#!/usr/bin/env python
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# -*- coding: utf-8 -*-
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# Libraries
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# https://circuitpython.readthedocs.io/projects/servokit/en/latest/
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from adafruit_servokit import ServoKit
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from leg import Leg
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# python3-numpy
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import numpy as np
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import time
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import json
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SIN30 = 0.5
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COS30 = 0.866
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SIN45 = 0.7071
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COS45 = 0.7071
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SIN15 = 0.2588
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COS15 = 0.9659
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class Hexapod:
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def __init__(self):
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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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# Objects
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self.pca_right = ServoKit(channels=16, address=0x40, frequency=120)
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self.pca_left = ServoKit(channels=16, address=0x41, frequency=120)
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# front right
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self.leg_0 = Leg(0,
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[self.pca_left.servo[15], self.pca_left.servo[2],
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self.pca_left.servo[1]],
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correction=[-6, 4, -6])
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# center right
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self.leg_1 = Leg(1,
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[self.pca_left.servo[7], self.pca_left.servo[8],
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self.pca_left.servo[6]],
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correction=[3, -5, -6])
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# rear right
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self.leg_2 = Leg(2,
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[self.pca_left.servo[0], self.pca_left.servo[14],
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self.pca_left.servo[13]],
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correction=[3, -6, -5])
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# rear left
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self.leg_3 = Leg(3,
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[self.pca_right.servo[15], self.pca_right.servo[1],
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self.pca_right.servo[2]],
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correction=[-3, -4, 6])
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# center left
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self.leg_4 = Leg(4,
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[self.pca_right.servo[7], self.pca_right.servo[6],
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self.pca_right.servo[8]],
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correction=[-6, 2, 0])
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# front left
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self.leg_5 = Leg(5,
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[self.pca_right.servo[0], self.pca_right.servo[13],
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self.pca_right.servo[14]],
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correction=[-6, 4, 0])
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self.leg_0.reset()
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self.leg_1.reset()
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self.leg_2.reset()
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self.leg_3.reset()
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self.leg_4.reset()
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self.leg_5.reset()
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def standby(self):
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self.standby_coordinate = np.zeros((6, 3))
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self.standby_coordinate[:, 2] = self.config['legJoint3ToTip'] * \
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COS15 - self.config['legJoint2ToJoint3']*SIN30
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self.standby_coordinate[:, 0] = np.array(self.config['legMountX'])+(self.config['legRootToJoint1']+self.config['legJoint1ToJoint2']+(
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self.config['legJoint2ToJoint3']*COS30)+self.config['legJoint3ToTip']*SIN15)*COS45
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self.standby_coordinate[:, 1] = np.array(self.config['legMountY']) + (self.config['legRootToJoint1']+self.config['legJoint1ToJoint2']+(
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self.config['legJoint2ToJoint3']*COS30)+self.config['legJoint3ToTip']*SIN15)*SIN45
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def main():
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hexapod = Hexapod()
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if __name__ == '__main__':
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main()
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