def single_leg_controller():
import leg_model as lm
import leg_controller as lc
import model_animator as ma
from ik_3dof import IK_3DoF
from multiprocessing import Pipe
# Set up leg
model_leg = lm.get_test_leg()
leg_controller = lc.LegController(lm.get_test_leg(), IK_3DoF)
# Inter-thread/process communication pipes
step_command_output, step_command_input = Pipe()
servo_command_output, servo_command_input = Pipe()
segment_output, segment_input = Pipe()
# Threads and processes
thread.start_new_thread(point_keyboard, (step_command_input, ))
leg_controller_process = Process(target=lc.leg_controller_updater,
args=(leg_controller, step_command_output,
servo_command_input))
model_leg_process = Process(target=lm.leg_model_updater,
args=(model_leg, servo_command_output,
segment_input))
segment_supplier = ma.SegmentSupplier(segment_output)
leg_controller_process.start()
model_leg_process.start()
canvas = ma.Canvas()
canvas.register_drawable(segment_supplier)
canvas.show()
leg_controller_process.join()
model_leg_process.join()
def single_leg_controller(): import leg_model as lm import leg_controller as lc import model_animator as ma from ik_3dof import IK_3DoF from multiprocessing import Pipe # Set up leg model_leg = lm.get_test_leg() leg_controller = lc.LegController(lm.get_test_leg(), IK_3DoF) # Inter-thread/process communication pipes step_command_output, step_command_input = Pipe() servo_command_output, servo_command_input = Pipe() segment_output, segment_input = Pipe() # Threads and processes thread.start_new_thread(point_keyboard, (step_command_input,)) leg_controller_process = Process(target=lc.leg_controller_updater, args=(leg_controller, step_command_output, servo_command_input)) model_leg_process = Process(target=lm.leg_model_updater, args=(model_leg, servo_command_output, segment_input)) segment_supplier = ma.SegmentSupplier(segment_output) leg_controller_process.start() model_leg_process.start() canvas = ma.Canvas() canvas.register_drawable(segment_supplier) canvas.show() leg_controller_process.join() model_leg_process.join()
def leg_test(): import leg_model as lm from math import pi leg = lm.get_test_leg() leg.set_angles([pi/5, pi/5, -pi/2]) canvas = Canvas() canvas.register_drawable(leg) canvas.show()
def leg_test():
import leg_model as lm
from math import pi
leg = lm.get_test_leg()
leg.set_angles([pi / 5, pi / 5, -pi / 2])
canvas = Canvas()
canvas.register_drawable(leg)
canvas.show()
def get_test_chassis():
import math
midwidth = 2.
topwidth = 1.5
height = 2.5
top_r_p = pose.Pose(topwidth, height, 0, math.atan2(height, topwidth), 0,
0)
mid_r_p = pose.Pose(midwidth, 0, math.atan2(0, midwidth), 0, 0, 0)
bot_r_p = pose.Pose(topwidth, -height, 0, math.atan2(-height, topwidth), 0,
0)
bot_l_p = pose.Pose(-topwidth, -height, 0, math.atan2(-height, -topwidth),
0, 0)
mid_l_p = pose.Pose(-midwidth, 0, 0, math.atan2(0, -midwidth), 0, 0)
top_l_p = pose.Pose(-topwidth, height, 0, math.atan2(height, -topwidth), 0,
0)
top_r = lm.get_test_leg()
mid_r = lm.get_test_leg()
bot_r = lm.get_test_leg()
bot_l = lm.get_test_leg()
mid_l = lm.get_test_leg()
top_l = lm.get_test_leg()
legs = [top_r, mid_r, bot_r, bot_l, mid_l, top_l]
leg_poses = [top_r_p, mid_r_p, bot_r_p, bot_l_p, mid_l_p, top_l_p]
return Chassis(legs, leg_poses)
def get_test_chassis(): import math midwidth = 2. topwidth = 1.5 height = 2.5 top_r_p = pose.Pose(topwidth,height,0,math.atan2(height, topwidth),0,0) mid_r_p = pose.Pose(midwidth,0,math.atan2(0,midwidth),0,0,0) bot_r_p = pose.Pose(topwidth,-height,0,math.atan2(-height,topwidth),0,0) bot_l_p = pose.Pose(-topwidth,-height,0,math.atan2(-height,-topwidth),0,0) mid_l_p = pose.Pose(-midwidth,0,0,math.atan2(0,-midwidth),0,0) top_l_p = pose.Pose(-topwidth,height,0,math.atan2(height,-topwidth),0,0) top_r = lm.get_test_leg() mid_r = lm.get_test_leg() bot_r = lm.get_test_leg() bot_l = lm.get_test_leg() mid_l = lm.get_test_leg() top_l = lm.get_test_leg() legs = [top_r, mid_r, bot_r, bot_l, mid_l, top_l] leg_poses = [top_r_p, mid_r_p, bot_r_p, bot_l_p, mid_l_p, top_l_p] return Chassis(legs, leg_poses)
