Ejemplo n.º 1
0
def target_euclidean(leg, position, a3=False):
    angles = Finesse.inverse_pack((7.5, 7.5), position, a3=a3)

    if angles is not None:
        leg[0].set_target(angles[0])
        leg[1].set_target(angles[1])
        leg[2].set_target(angles[2])
    else:
        print('Unable to reach position (%s, %s, %s)!' % position)
        go_home(leg)
Ejemplo n.º 2
0
def moveToEuclidean(position, a3=False):
    angles = Finesse.inverse_pack((7.5, 7.5), position, a3=a3)

    if angles is not None:
        servo4.set_target(angles[0])
        servo5.set_target(angles[1])
        servo6.set_target(angles[2])
        maestro.end_together(servos, update=True, t=200)
    else:
        print('Unable to reach position (%s, %s, %s)!' % position)
        goHome()
Ejemplo n.º 3
0
def jump():
    agility.zero()
    time.sleep(3)

    a0 = Finesse.inverse_pack(robot.legs[0].lengths, (0, 0, -12))
    a1 = Finesse.inverse_pack(robot.legs[1].lengths, (0, 0, -12))

    instructions = []
    instructions.append((IR.MOVE, 0, a0, 500))
    instructions.append((IR.MOVE, 1, a1, 500))

    instructions.append((IR.WAIT_ALL,))

    a0 = Finesse.inverse_pack(robot.legs[0].lengths, (0, 0, -15))
    a1 = Finesse.inverse_pack(robot.legs[1].lengths, (0, 0, -15))
    a2 = Finesse.inverse_pack(robot.legs[2].lengths, (14, 0, 0))
    a3 = Finesse.inverse_pack(robot.legs[3].lengths, (14, 0, 0))

    instructions.append((IR.MOVE, 0, a0, 1))
    instructions.append((IR.MOVE, 1, a1, 1))
    instructions.append((IR.MOVE, 2, a2, 130))
    instructions.append((IR.MOVE, 3, a3, 130))

    instructions.append((IR.WAIT_ALL,))

    agility.execute_ir(instructions)
Ejemplo n.º 4
0
def lift(leg):
    instructions = []
    target = (15, 0, 0)

    agility.zero()
    time.sleep(3)

    angles = Finesse.inverse_pack(robot.legs[leg].lengths, target)
    instructions.append((IR.MOVE, leg, angles, 0))

    instructions.append((IR.WAIT_ALL,))

    agility.execute_ir(instructions)
Ejemplo n.º 5
0
def transform():
    instructions = []
    target = (-15, 0, 0)

    agility.zero()
    time.sleep(3)

    for leg in range(2, 4):
        angles = Finesse.inverse_pack(robot.legs[leg].lengths, target)
        instructions.append((IR.MOVE, leg, angles, 0))

    instructions.append((IR.WAIT_ALL,))

    agility.execute_ir(instructions)