You cannot select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
141 lines
4.7 KiB
Python
141 lines
4.7 KiB
Python
#!/usr/bin/env python
|
|
# -*- coding: utf-8 -*-
|
|
|
|
# Libraries
|
|
# https://circuitpython.readthedocs.io/projects/servokit/en/latest/
|
|
from adafruit_servokit import ServoKit
|
|
|
|
from leg import Leg
|
|
|
|
# python3-numpy
|
|
import numpy as np
|
|
import time
|
|
import json
|
|
|
|
SIN30 = 0.5
|
|
COS30 = 0.866
|
|
SIN45 = 0.7071
|
|
COS45 = 0.7071
|
|
SIN15 = 0.2588
|
|
COS15 = 0.9659
|
|
|
|
|
|
class Hexapod:
|
|
|
|
def __init__(self):
|
|
|
|
with open('./config.json', 'r') as read_file:
|
|
self.config = json.load(read_file)
|
|
|
|
# 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=[-6, 4, -6])
|
|
# center right
|
|
self.leg_1 = Leg(1,
|
|
[self.pca_left.servo[7], self.pca_left.servo[8],
|
|
self.pca_left.servo[6]],
|
|
correction=[3, -5, -6])
|
|
# rear right
|
|
self.leg_2 = Leg(2,
|
|
[self.pca_left.servo[0], self.pca_left.servo[14],
|
|
self.pca_left.servo[13]],
|
|
correction=[3, -6, -5])
|
|
# rear left
|
|
self.leg_3 = Leg(3,
|
|
[self.pca_right.servo[15], self.pca_right.servo[1],
|
|
self.pca_right.servo[2]],
|
|
correction=[-3, -4, 6])
|
|
# 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, 0])
|
|
# front left
|
|
self.leg_5 = Leg(5,
|
|
[self.pca_right.servo[0], self.pca_right.servo[13],
|
|
self.pca_right.servo[14]],
|
|
correction=[-6, 4, 0])
|
|
|
|
# self.leg_0.reset()
|
|
# self.leg_1.reset()
|
|
# self.leg_2.reset()
|
|
# self.leg_3.reset()
|
|
# self.leg_4.reset()
|
|
# self.leg_5.reset()
|
|
|
|
self.mount_position = np.zeros((6, 3))
|
|
self.mount_position[:, 0] = np.array(self.config['legMountX'])
|
|
self.mount_position[:, 1] = np.array(self.config['legMountY'])
|
|
|
|
self.standby()
|
|
|
|
def standby(self):
|
|
self.leg_0.set_angle(0, 90)
|
|
self.leg_0.set_angle(1, 60)
|
|
self.leg_0.set_angle(2, 75)
|
|
|
|
self.leg_1.set_angle(0, 90)
|
|
self.leg_1.set_angle(1, 60)
|
|
self.leg_1.set_angle(2, 75)
|
|
|
|
self.leg_2.set_angle(0, 90)
|
|
self.leg_2.set_angle(1, 60)
|
|
self.leg_2.set_angle(2, 75)
|
|
|
|
self.leg_3.set_angle(0, 90)
|
|
self.leg_3.set_angle(1, 60)
|
|
self.leg_3.set_angle(2, 75)
|
|
|
|
self.leg_4.set_angle(0, 90)
|
|
self.leg_4.set_angle(1, 60)
|
|
self.leg_4.set_angle(2, 75)
|
|
|
|
self.leg_5.set_angle(0, 90)
|
|
self.leg_5.set_angle(1, 60)
|
|
self.leg_5.set_angle(2, 75)
|
|
# self.standby_coordinate = np.zeros((6, 3))
|
|
# self.standby_coordinate[:, 2] = self.config['legJoint2ToJoint3'] * \
|
|
# SIN30 - self.config['legJoint3ToTip'] * COS15
|
|
# self.standby_coordinate[:, 0] = np.array(self.config['legMountX'])+(self.config['legRootToJoint1']+self.config['legJoint1ToJoint2']+(
|
|
# self.config['legJoint2ToJoint3']*COS30)+self.config['legJoint3ToTip']*SIN15)*1
|
|
# self.standby_coordinate[:, 1] = np.array(self.config['legMountY']) + (self.config['legRootToJoint1']+self.config['legJoint1ToJoint2']+(
|
|
# self.config['legJoint2ToJoint3']*COS30)+self.config['legJoint3ToTip']*SIN15)*0
|
|
|
|
# self.ik(self.standby_coordinate)
|
|
|
|
def ik(self, to):
|
|
to = to-self.mount_position
|
|
self.angles = np.zeros((6, 3))
|
|
x = to[:, 0] - self.config['legRootToJoint1']
|
|
y = to[:, 1]
|
|
|
|
self.angles[:, 0] = (np.arctan2(y, x) * 180 / np.pi)
|
|
|
|
x = np.sqrt(x*x + y*y) - self.config['legJoint1ToJoint2']
|
|
y = to[:, 2]
|
|
ar = np.arctan2(y, x)
|
|
lr2 = x*x + y*y
|
|
lr = np.sqrt(lr2)
|
|
a1 = np.arccos((lr2 + self.config['legJoint2ToJoint3']*self.config['legJoint2ToJoint3'] -
|
|
self.config['legJoint3ToTip']*self.config['legJoint3ToTip'])/(2*self.config['legJoint2ToJoint3']*lr))
|
|
a2 = np.arccos((lr2 - self.config['legJoint2ToJoint3']*self.config['legJoint2ToJoint3'] +
|
|
self.config['legJoint3ToTip']*self.config['legJoint3ToTip'])/(2*self.config['legJoint3ToTip']*lr))
|
|
|
|
self.angles[:, 1] = ((ar + a1) * 180 / np.pi)
|
|
self.angles[:, 2] = (90 - ((a1 + a2) * 180 / np.pi))
|
|
|
|
|
|
def main():
|
|
|
|
hexapod = Hexapod()
|
|
|
|
|
|
if __name__ == '__main__':
|
|
main()
|