Mercurial > Kubik
changeset 151:25def98f32a5
correct servo positions
| author | Radomir Dopieralski <sheep-devel@sheep.art.pl> |
|---|---|
| date | Wed, 06 Aug 2014 20:44:24 +0200 |
| parents | af2b8a1fa8f3 |
| children | 6d63e4e4542d |
| files | kubik.py stomp.py |
| diffstat | 2 files changed, 22 insertions(+), 21 deletions(-) [+] |
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--- a/kubik.py Wed Aug 06 18:51:39 2014 +0200 +++ b/kubik.py Wed Aug 06 20:44:24 2014 +0200 @@ -33,9 +33,8 @@ # Lengths of leg segments, in mm coxa = 16.0 # between the hip and the knee femur = 50.0 # between the knee and the ankle - tibia = 45.0 # between the ankle and the foot + tibia = 70.0 # between the ankle and the foot base = 45.0, 45.0 # from the center of body - home = 45.0, 45.0, -35.0 class Robot(robot.Robot): @@ -46,22 +45,22 @@ m.init() self.legs = ( - Leg(HipServo(m, 1, reverse=True, trim=250), - KneeServo(m, 2, reverse=True, trim=-200), + Leg(HipServo(m, 1, reverse=False, trim=0), + KneeServo(m, 2, reverse=True, trim=0), AnkleServo1(m, 0, reverse=True, trim=0, center=1500 * 4), + (-1, -1)), + Leg(HipServo(m, 4, reverse=False, trim=0), + KneeServo(m, 5, reverse=False, trim=0), + AnkleServo2(m, 3, reverse=False, trim=0, center=1500 * 4), (-1, 1)), - Leg(HipServo(m, 4, reverse=True, trim=-100), - KneeServo(m, 5, reverse=False, trim=-200), - AnkleServo2(m, 3, reverse=False, trim=-240, center=1500 * 4), + Leg(HipServo(m, 7, reverse=True, trim=0), + KneeServo(m, 8, reverse=True, trim=0), + AnkleServo1(m, 6, reverse=True, trim=0, center=1500 * 4), (1, 1)), - Leg(HipServo(m, 7, reverse=False, trim=-150), - KneeServo(m, 8, reverse=True, trim=100), - AnkleServo1(m, 6, reverse=True, trim=0, center=1500 * 4), + Leg(HipServo(m, 10, reverse=True, trim=0), + KneeServo(m, 11, reverse=False, trim=0), + AnkleServo2(m, 9, reverse=False, trim=0, center=1500 * 4), (1, -1)), - Leg(HipServo(m, 10, reverse=False, trim=-250), - KneeServo(m, 11, reverse=False, trim=-100), - AnkleServo2(m, 9, reverse=False, trim=100, center=1500 * 4), - (-1, -1)), ) if __name__ == "__main__":
--- a/stomp.py Wed Aug 06 18:51:39 2014 +0200 +++ b/stomp.py Wed Aug 06 20:44:24 2014 +0200 @@ -8,20 +8,22 @@ def stomp(leg): - for z in range(-30, 10, 1): - leg.move_to((None, None, z)) + hx, hy, hz = (int(a) for a in leg.home) + for x, y in zip(range(hx, hx + 40), range(hy, hy + 40)): + leg.move_to((None, y, hz + 10)) yield - for z in range(10, -50, -1): - leg.move_to((None, None, z)) + for x, y in zip(range(hx + 40, hx - 40, -1), range(hy + 40, hy - 40, -1)): + leg.move_to((None, y, hz + 10)) yield - for z in range(-50, -30, 1): - leg.move_to((None, None, z)) + for x, y in zip(range(hx - 40, hx), range(hy - 40, hy)): + leg.move_to((None, y, hz + 10)) yield + if __name__ == '__main__': robot = kubik.Robot() robot.home() robot.run_animations([ - stomp(robot.legs[0]), + stomp(robot.legs[3]), ], FPS)