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changeset 4:010d229c6d6d default tip

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It walks
author Radomir Dopieralski <sheep-devel@sheep.art.pl>
date Tue, 01 Dec 2015 11:47:18 +0100
parents 755951b7ec90
children
files tote.hex tote.py
diffstat 2 files changed, 166 insertions(+), 179 deletions(-) [+]
line wrap: on
line diff
--- a/tote.hex	Tue Dec 01 00:28:57 2015 +0100
+++ b/tote.hex	Tue Dec 01 11:47:18 2015 +0100
@@ -11935,7 +11935,7 @@
 :10E9B000910D0000C91F0100C52F01003D34010069
 :04E9C000650D0000E1
 :020000040003F7
-:10E000004D507B12696D706F7274206D6174680A77
+:10E000004D500112696D706F7274206D6174680AF1
 :10E01000696D706F7274207374727563740A0A6626
 :10E02000726F6D206D6963726F62697420696D70C3
 :10E030006F7274206932630A696D706F7274206D3B
@@ -12068,7 +12068,7 @@
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@@ -12078,7 +12078,7 @@
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@@ -12086,150 +12086,143 @@
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 :00000001FF
--- a/tote.py	Tue Dec 01 00:28:57 2015 +0100
+++ b/tote.py	Tue Dec 01 11:47:18 2015 +0100
@@ -66,29 +66,25 @@
 
 class Robot:
     def __init__(self):
-        self.legs = [
+        self.legs = (
             Leg( 2,  1, 0, -1,  1),
             Leg( 5,  4, 3, -1, -1),
             Leg( 8,  7, 6,  1, -1),
             Leg(11, 10, 9,  1,  1),
-        ]
+        )
 
     def move_by(self, dx=0, dy=0, dz=0):
         for leg in self.legs:
             leg.move_by(dx * leg.x_dir, dy * leg.y_dir, dz)
 
-    def rotate_by(self, degrees):
-        for leg in self.legs:
-            leg.rotate_by(degrees)
-
 
 class Creep:
-    speed = 1
+    speed = 0.75
     stride = 14
     shift = 8
     shift_steps = 2
     raise_leg = 10
-    raise_steps = 3
+    raise_steps = 2
     next_leg = (
         (2, 0, 3, 1),   # forward
         (1, 3, 0, 2),   # backward
@@ -109,13 +105,15 @@
         self.spread = 0
         leg = robot.legs[0]
         self.height = leg.tibia
+        self.last_leg = 0
 
     def move(self):
         for leg in self.on_ground:
-            leg.move_to(leg.x - self.dx * leg.x_dir * self.speed,
-                        leg.y - self.dy * leg.y_dir * self.speed,
-                        -self.height)
-            leg.rotate_by(-self.rotation * leg.x_dir * leg.y_dir / 2)
+            dx = self.dx * leg.x_dir * self.speed
+            dy = self.dy * leg.y_dir * self.speed
+            leg.move_to(leg.x - dx, leg.y - dy, -self.height)
+            #leg.rotate_by(-self.rotation * leg.x_dir * leg.y_dir / 2)
+        microbit.sleep(25)
 
     def step(self, leg):
         dx = (leg.x_dir * self.shift - self.shift_x) / self.shift_steps
@@ -124,34 +122,30 @@
             robot.move_by(dx, dy, 0)
             self.shift_x += dx
             self.shift_y += dy
-            yield
+            self.move()
         self.on_ground.remove(leg)
         for step in range(self.raise_steps):
             leg.move_by(0, 0, self.raise_leg)
-            yield
+            self.move()
         leg.move_to(
-            (leg.home + self.shift_x + self.dx *
-             self.stride) * leg.x_dir + self.spread,
-            (leg.home + self.shift_y + self.dy *
-             self.stride) * leg.y_dir + self.spread,
+            leg.home + (self.shift_x + self.dx *
+                        self.stride) * leg.x_dir + self.spread,
+            leg.home + (self.shift_y + self.dy *
+                        self.stride) * leg.y_dir + self.spread,
             self.raise_leg * self.raise_steps - self.height
         )
-        yield
-        yield
+        self.move()
+        self.move()
         for step in range(self.raise_steps - 1):
             leg.move_by(0, 0, -self.raise_leg)
-            yield
+            self.move()
         self.on_ground.append(leg)
-        yield
-
-    def run(self, steps):
-        leg_index = 0
-        for step in range(steps):
-            leg = robot.legs[leg_index]
-            for frame in self.step(leg):
-                self.move()
-                microbit.sleep(20)
-            leg_index = self.next_leg[0][leg_index]
+        self.move()
 
 
 robot = Robot()
+gait = Creep(robot)
+for step in range(16):
+    leg = robot.legs[gait.last_leg]
+    gait.step(leg)
+    gait.last_leg = gait.next_leg[0][gait.last_leg]