Mercurial > tote-had
changeset 8:7993a8f67e4c
Fixing the gait
| author | Radomir Dopieralski <sheep-devel@sheep.art.pl> |
|---|---|
| date | Sun, 27 Mar 2016 16:21:25 +0200 |
| parents | 6417d860a1ca |
| children | f33a3b3f3445 |
| files | python/gait.py python/robot.py |
| diffstat | 2 files changed, 7 insertions(+), 8 deletions(-) [+] |
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--- a/python/gait.py Sat Mar 26 22:53:03 2016 +0100 +++ b/python/gait.py Sun Mar 27 16:21:25 2016 +0200 @@ -1,4 +1,4 @@ -from machine import delay +from pyb import delay class Creep: @@ -26,8 +26,7 @@ self.dy = 1 self.rotation = 0 self.spread = 0 - leg = robot.legs[0] - self.height = leg.tibia + self.height = 0 self.last_leg = 0 def move(self): @@ -51,10 +50,8 @@ leg.move_by(0, 0, self.raise_leg) 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, + (self.shift_x + self.dx * self.stride) * leg.x_dir + self.spread, + (self.shift_y + self.dy * self.stride) * leg.y_dir + self.spread, self.raise_leg * self.raise_steps - self.height ) self.move()
--- a/python/robot.py Sat Mar 26 22:53:03 2016 +0100 +++ b/python/robot.py Sun Mar 27 16:21:25 2016 +0200 @@ -15,9 +15,11 @@ self.x = 0 self.y = 0 self.z = 0 + self.x_dir = x_dir + self.y_dir = y_dir def move_to(self, x, y, z): - data = ustruct.pack("Bbbbb", 4 * self.index, 1, x, y, z) + data = ustruct.pack("Bbbbb", 4 * self.index, 1, int(x), int(y), int(z)) while True: try: self.i2c.writeto(I2C_ADDRESS, data)