def Shift3(): # 5
# Move All the Leg Backwards
for i in range(1, PULLFRONT_Y):
leg.goToXYZ(SPACING_X, Y2 - i, LEG_HEIGHT, leg.LEG_A)
leg.goToXYZ(SPACING_X, Y3 - i, LEG_HEIGHT, leg.LEG_B)
leg.goToXYZ(SPACING_X, -Y3 - i, LEG_HEIGHT, leg.LEG_C)
leg.goToXYZ(SPACING_X, Y1 - i, LEG_HEIGHT, leg.LEG_D)
time.sleep(PULLFRONT_DELAY)
def Step2(): # 3
readyStep2()
# Pickup Leg D and Step Forward
# Pickup
leg.goToXYZ(SPACING_X, -Y2, PICKUP_Z, leg.LEG_D)
time.sleep(ROTATION_DELAY)
# Rotate To Location Above the Target Y
leg.goToXYZ(SPACING_X, Y1, PICKUP_Z, leg.LEG_D)
time.sleep(ROTATION_DELAY)
# Drop off the Leg
leg.goToXYZ(SPACING_X, Y1, LEG_HEIGHT, leg.LEG_D)
time.sleep(ROTATION_DELAY)
def Step3(): # 4
# Pickup Leg A and Step Forward
# Pickup
leg.goToXYZ(SPACING_X, -Y1, PICKUP_Z, leg.LEG_A)
time.sleep(ROTATION_DELAY)
# Rotate To Location Above the Target Y
leg.goToXYZ(SPACING_X, Y2, PICKUP_Z, leg.LEG_A)
time.sleep(ROTATION_DELAY)
# Drop off the Leg
leg.goToXYZ(SPACING_X, Y2, LEG_HEIGHT, leg.LEG_A)
time.sleep(ROTATION_DELAY)
Shift3()
def Step1(): # 1
readyStep1()
# Pickup Leg B and Step Forward
# Pickup
leg.goToXYZ(SPACING_X, -Y1, PICKUP_Z, leg.LEG_B)
time.sleep(ROTATION_DELAY)
# Rotate To Location Above the Target Y
leg.goToXYZ(SPACING_X, Y3, PICKUP_Z, leg.LEG_B)
time.sleep(ROTATION_DELAY)
# Drop off the Leg
leg.goToXYZ(SPACING_X, Y3, LEG_HEIGHT, leg.LEG_B)
time.sleep(ROTATION_DELAY)
Shift1()
import pablo as arm
import time as e
if __name__ == "__main__":
arm.init()
t = 0
while (1):
while (t < 4):
arm.goToXYZ(2, t, -8, 0)
t += 0.5
print(t)
input()
while (t > 0):
arm.goToXYZ(2, t, -8, 0)
t -= 0.5
print(t)
input()
def readyStep2():
# Ready For the Next Step
leg.goToXYZ(SPACING_X, -Y1, LEG_HEIGHT, leg.LEG_A)
leg.goToXYZ(SPACING_X, Y3, LEG_HEIGHT, leg.LEG_B)
leg.goToXYZ(SPACING_X, -Y3, LEG_HEIGHT, leg.LEG_C)
leg.goToXYZ(SPACING_X, -Y2, LEG_HEIGHT, leg.LEG_D)
def readyStep1(): # 7 ----->Home Position
leg.goToXYZ(SPACING_X, Y3, LEG_HEIGHT, leg.LEG_A)
leg.goToXYZ(SPACING_X, -Y1, LEG_HEIGHT, leg.LEG_B)
leg.goToXYZ(SPACING_X, Y1, LEG_HEIGHT, leg.LEG_C)
leg.goToXYZ(SPACING_X, -Y3, LEG_HEIGHT, leg.LEG_D)
def goToInitialPosition():
leg.goToXYZ(SPACING_X, Y3, LEG_HEIGHT, leg.LEG_A)
leg.goToXYZ(SPACING_X, -Y1, LEG_HEIGHT, leg.LEG_B)
leg.goToXYZ(SPACING_X, Y1, LEG_HEIGHT, leg.LEG_C)
leg.goToXYZ(SPACING_X, -Y3, LEG_HEIGHT, leg.LEG_D)