def __init__(self): MotorDriver.__init__(self) #___link lengths, used in various places including for kinematics, if________# # design of the links have changed then changing these will adjust the IK # self.L1 = 0.17996 # link between base and L2 # self.L2 = 0.21085 # link between L1 and end-effector # #----------------------------------------------------------------------------# self.WORKSPACE = 0.39081 # defines the radius of the robot's workspace self.JOINT_RANGE_MAX = 170 # upper limit revolte joint self.JOINT_RANGE_MIN = 10 # lower limit revolte joint #___home position joint angles for the base and elbow joints___# self.Q_BASE_ZERO_POS_ADJ = 45 * CONST_D2R # self.Q_ELBOW_ZERO_POS_ADJ = self.JOINT_RANGE_MAX * CONST_D2R # #--------------------------------------------------------------# #___defines the 7 slot position___# # coordinates (x,y) of the # # connect 4 game board # self.POS1 = [-0.218, 0.202] # self.POS2 = [-0.195, 0.210] # self.POS3 = [-0.150, 0.225] # self.POS4 = [-0.115, 0.235] # self.POS5 = [-0.085, 0.250] # self.POS6 = [-0.053, 0.265] # self.POS7 = [-0.025, 0.275] # #---------------------------------# #___define home position and set current position to home position___# self.curPos = [0.006312345009324774, 0.04546727240325704] # self.HOME_POS = [0.006312345009324774, 0.04546727240325704] #
def __init__(self): MotorDriver.__init__(self) self.L1 = 0.17996 self.L2 = 0.21085 self.WORKSPACE = 0.39081 self.JOINT_RANGE_MAX = 170 self.JOINT_RANGE_MIN = 10 self.Q_BASE_ZERO_POS_ADJ = 45 * CONST_D2R self.Q_ELBOW_ZERO_POS_ADJ = self.JOINT_RANGE_MAX * CONST_D2R self.POS1 = [-0.160, 0.224] self.POS2 = [-0.110, 0.236] self.POS3 = [-0.060, 0.245] self.POS4 = [-0.025, 0.253] self.POS5 = [-0.0005, 0.258] self.POS6 = [0.030, 0.263] self.POS7 = [0.060, 0.266] self.curPos = [0.006312345009324774, 0.04546727240325704] self.HOME_POS = [0.006312345009324774, 0.04546727240325704]