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336 lines
11 KiB
Python
336 lines
11 KiB
Python
#!python
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#
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# 2021 - PRESENT 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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# Libraries
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# https://circuitpython.readthedocs.io/projects/servokit/en/latest/
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from audioop import reverse
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from adafruit_servokit import ServoKit
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from leg import Leg
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from queue import Queue, Empty
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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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from path_generator import gen_walk_path
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from path_generator import gen_fastwalk_path
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from path_generator import gen_turn_path
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# from path_generator import gen_shift_path
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from path_generator import gen_climb_path
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from path_generator import gen_rotatex_path, gen_rotatey_path, gen_rotatez_path
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from path_generator import gen_twist_path
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from threading import Thread
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from tcpserver import TCPServer
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from btserver import BluetoothServer
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class Hexapod(Thread):
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CMD_STANDBY = 'standby'
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CMD_LAYDOWN = 'laydown'
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CMD_WALK_0 = 'walk0'
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CMD_WALK_180 = 'walk180'
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CMD_WALK_R45 = 'walkr45'
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CMD_WALK_R90 = 'walkr90'
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CMD_WALK_R135 = 'walkr135'
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CMD_WALK_L45 = 'walkl45'
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CMD_WALK_L90 = 'walkl90'
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CMD_WALK_L135 = 'walkl135'
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CMD_FASTFORWARD = 'fastforward'
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CMD_FASTBACKWARD = 'fastbackward'
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CMD_TURNLEFT = 'turnleft'
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CMD_TURNRIGHT = 'turnright'
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CMD_CLIMBFORWARD = 'climbforward'
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CMD_CLIMBBACKWARD = 'climbbackward'
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CMD_ROTATEX = 'rotatex'
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CMD_ROTATEY = 'rotatey'
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CMD_ROTATEZ = 'rotatez'
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CMD_TWIST = 'twist'
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def __init__(self, in_cmd_queue):
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Thread.__init__(self)
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self.cmd_queue = in_cmd_queue
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self.interval = 0.005
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with open('/home/pi/hexapod/software/raspberry pi/config.json', 'r') as read_file:
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self.config = json.load(read_file)
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# legs' coordinates
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# x -> right
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# y -> front
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# z -> up
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# origin is the center of the body
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# roots are the positions of the bottom screws
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# length units are in mm
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# time units are in ms
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self.mount_x = np.array(self.config['legMountX'])
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self.mount_y = np.array(self.config['legMountY'])
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self.root_j1 = self.config['legRootToJoint1']
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self.j1_j2 = self.config['legJoint1ToJoint2']
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self.j2_j3 = self.config['legJoint2ToJoint3']
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self.j3_tip = self.config['legJoint3ToTip']
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self.mount_angle = np.array(self.config['legMountAngle'])/180*np.pi
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self.mount_position = np.zeros((6, 3))
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self.mount_position[:, 0] = self.mount_x
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self.mount_position[:, 1] = self.mount_y
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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=[4, 6, 2])
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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=[0, 8, -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=[2, 8, -1])
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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, 10, -8])
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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, -4])
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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=[0, 0, -10])
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# self.leg_0.reset(True)
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# self.leg_1.reset(True)
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# self.leg_2.reset(True)
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# self.leg_3.reset(True)
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# self.leg_4.reset(True)
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# self.leg_5.reset(True)
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self.standby_posture = self.gen_posture(60, 75)
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self.current_motion = self.standby_posture
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self.cmd_dict = {
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self.CMD_STANDBY: self.standby_posture,
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self.CMD_LAYDOWN: self.gen_posture(0, 15),
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self.CMD_WALK_0: gen_walk_path(
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self.standby_posture['coord'], direction=0),
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self.CMD_WALK_180: gen_walk_path(
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self.standby_posture['coord'], direction=180),
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self.CMD_WALK_R45: gen_walk_path(
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self.standby_posture['coord'], direction=315),
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self.CMD_WALK_R90: gen_walk_path(
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self.standby_posture['coord'], direction=270),
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self.CMD_WALK_R135: gen_walk_path(
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self.standby_posture['coord'], direction=225),
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self.CMD_WALK_L45: gen_walk_path(
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self.standby_posture['coord'], direction=45),
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self.CMD_WALK_L90: gen_walk_path(
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self.standby_posture['coord'], direction=90),
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self.CMD_WALK_L135: gen_walk_path(
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self.standby_posture['coord'], direction=135),
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self.CMD_FASTFORWARD: gen_fastwalk_path(
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self.standby_posture['coord']),
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self.CMD_FASTBACKWARD: gen_fastwalk_path(
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self.standby_posture['coord'], reverse=True),
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self.CMD_TURNLEFT: gen_turn_path(
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self.standby_posture['coord'], direction='left'),
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self.CMD_TURNRIGHT: gen_turn_path(
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self.standby_posture['coord'], direction='right'),
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self.CMD_CLIMBFORWARD: gen_climb_path(
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self.standby_posture['coord'], reverse=False),
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self.CMD_CLIMBBACKWARD: gen_climb_path(
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self.standby_posture['coord'], reverse=True),
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self.CMD_ROTATEX: gen_rotatex_path(self.standby_posture['coord']),
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self.CMD_ROTATEY: gen_rotatey_path(self.standby_posture['coord']),
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self.CMD_ROTATEZ: gen_rotatez_path(self.standby_posture['coord']),
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self.CMD_TWIST: gen_twist_path(self.standby_posture['coord'])
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}
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self.posture(self.standby_posture['coord'])
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time.sleep(1)
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def gen_posture(self, j2_angle, j3_angle):
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j2_rad = j2_angle/180*np.pi
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j3_rad = j3_angle/180*np.pi
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posture = np.zeros((6, 3))
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posture[:, 0] = self.mount_x+(self.root_j1+self.j1_j2+(
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self.j2_j3*np.sin(j2_rad))+self.j3_tip*np.cos(j3_rad)) *\
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np.cos(self.mount_angle)
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posture[:, 1] = self.mount_y + (self.root_j1+self.j1_j2+(
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self.j2_j3*np.sin(j2_rad))+self.j3_tip*np.cos(j3_rad)) *\
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np.sin(self.mount_angle)
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posture[:, 2] = self.j2_j3 * \
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np.cos(j2_rad) - self.j3_tip * \
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np.sin(j3_rad)
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return {'coord': posture,
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'type': 'posture'}
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def posture(self, coordinate):
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angles = self.inverse_kinematics(coordinate)
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self.leg_0.move_junctions(angles[0, :])
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self.leg_5.move_junctions(angles[5, :])
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self.leg_1.move_junctions(angles[1, :])
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self.leg_4.move_junctions(angles[4, :])
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self.leg_2.move_junctions(angles[2, :])
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self.leg_3.move_junctions(angles[3, :])
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def move(self, path):
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for p_idx in range(0, np.shape(path)[0]):
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dest = path[p_idx, :, :]
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angles = self.inverse_kinematics(dest)
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self.leg_0.move_junctions(angles[0, :])
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self.leg_5.move_junctions(angles[5, :])
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self.leg_1.move_junctions(angles[1, :])
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self.leg_4.move_junctions(angles[4, :])
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self.leg_2.move_junctions(angles[2, :])
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self.leg_3.move_junctions(angles[3, :])
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time.sleep(self.interval)
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def motion(self, path):
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for p_idx in range(0, np.shape(path)[0]):
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dest = path[p_idx, :, :]
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angles = self.inverse_kinematics(dest)
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self.leg_0.move_junctions(angles[0, :])
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self.leg_5.move_junctions(angles[5, :])
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self.leg_1.move_junctions(angles[1, :])
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self.leg_4.move_junctions(angles[4, :])
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self.leg_2.move_junctions(angles[2, :])
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self.leg_3.move_junctions(angles[3, :])
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try:
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cmd_string = self.cmd_queue.get(block=False)
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print('interrput')
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except Empty:
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time.sleep(self.interval)
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pass
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else:
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self.cmd_handler(cmd_string)
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break
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def inverse_kinematics(self, dest):
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temp_dest = dest-self.mount_position
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local_dest = np.zeros_like(dest)
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local_dest[:, 0] = temp_dest[:, 0] * \
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np.cos(self.mount_angle) + \
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temp_dest[:, 1] * np.sin(self.mount_angle)
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local_dest[:, 1] = temp_dest[:, 0] * \
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np.sin(self.mount_angle) - \
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temp_dest[:, 1] * np.cos(self.mount_angle)
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local_dest[:, 2] = temp_dest[:, 2]
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angles = np.zeros((6, 3))
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x = local_dest[:, 0] - self.root_j1
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y = local_dest[:, 1]
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angles[:, 0] = -(np.arctan2(y, x) * 180 / np.pi)+90
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x = np.sqrt(x*x + y*y) - self.j1_j2
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y = local_dest[:, 2]
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ar = np.arctan2(y, x)
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lr2 = x*x + y*y
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lr = np.sqrt(lr2)
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a1 = np.arccos((lr2 + self.j2_j3*self.j2_j3 -
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self.j3_tip*self.j3_tip)/(2*self.j2_j3*lr))
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a2 = np.arccos((lr2 - self.j2_j3*self.j2_j3 +
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self.j3_tip*self.j3_tip)/(2*self.j3_tip*lr))
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angles[:, 1] = 90-((ar + a1) * 180 / np.pi)
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angles[:, 2] = (90 - ((a1 + a2) * 180 / np.pi))+90
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return angles
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def cmd_handler(self, cmd_string):
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data = cmd_string.split(':')[-2]
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self.current_motion = self.cmd_dict.get(data, self.standby_posture)
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self.cmd_queue.task_done()
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def run(self):
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while True:
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# if self.current_motion is None:
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try:
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cmd_string = self.cmd_queue.get(block=False)
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except Empty:
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time.sleep(self.interval)
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pass
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else:
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self.cmd_handler(cmd_string)
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if self.current_motion['type'] == 'motion':
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self.motion(self.current_motion['coord'])
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elif self.current_motion['type'] == 'posture':
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self.posture(self.current_motion['coord'])
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def main():
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q = Queue()
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tcp_server = TCPServer(q)
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tcp_server.start()
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bt_server = BluetoothServer(q)
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bt_server.start()
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hexapod = Hexapod(q)
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hexapod.start()
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if __name__ == '__main__':
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main()
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