shoulder_4 = RightShoulder(right_pwm, 0)
elbow_4 = RightElbow(right_pwm, 1)
wrist_4 = RightWrist(right_pwm, 2)
arm_4 = Arm(shoulder_4, elbow_4, wrist_4)
shoulder_5 = RightShoulder(right_pwm, 4)
elbow_5 = RightElbow(right_pwm, 5)
wrist_5 = RightWrist(right_pwm, 6)
arm_5 = Arm(shoulder_5, elbow_5, wrist_5)
shoulder_6 = RightShoulder(right_pwm, 8)
elbow_6 = RightElbow(right_pwm, 9)
wrist_6 = RightWrist(right_pwm, 10)
arm_6 = Arm(shoulder_6, elbow_6, wrist_6)
hexapod = Hexapod(arm_1, arm_2, arm_3, arm_4, arm_5, arm_6)
def left_shoulder_min():
shoulder_1.move_min()
shoulder_2.move_min()
shoulder_3.move_min()
def left_shoulder_max():
shoulder_1.move_max()
shoulder_2.move_max()
shoulder_3.move_max()
def left_elbow_min():
elbow_1.move_min()
elbow_2.move_min()
elbow_3.move_min()
from robot import Hexapod
from time import sleep
hexy = Hexapod()
print("lie flat, curl up, then get up")
hexy.boot_up()
hexy.rest()
print "rotate left"
hexy.rotate(offset = 40)
hexy.rest()
print "rotate right"
hexy.rotate(offset = -40)
hexy.rest()
print "walk forward"
hexy.walk(offset = 25, swing = 25)
hexy.rest()
print "walk backward"
hexy.walk(offset = 25, swing = -25)
hexy.rest()
print "lie down, lie flat, and die"
hexy.shut_down()
import time
from Adafruit_PWM_Servo_Driver import PWM
from robot import Shoulder, Elbow, Wrist, Arm, Hexapod
sleep_time = 5
left_pwm = PWM(0x40, debug=True)
left_pwm.setPWMFreq(60)
shoulder_1 = Shoulder(left_pwm, 0)
elbow_1 = Elbow(left_pwm, 1)
wrist_1 = Wrist(left_pwm, 2)
arm_1 = Arm(shoulder_1, elbow_1, wrist_1)
hexapod = Hexapod(arm_1, None, None, None, None, None)
while True:
hexapod.forward()
time.sleep(sleep_time)
from robot import Hexapod from time import sleep hexy = Hexapod() hexy.boot_up() hexy.rest() hexy.shake_head() hexy.rest() hexy.point(s = 0.75) hexy.rest() hexy.type_stuff() hexy.rest() hexy.twist_hip_slowly() hexy.rest() hexy.wave() hexy.rest() hexy.tilt_left_and_right() hexy.rest() hexy.tilt_front_and_back() hexy.rest() hexy.dance_tilt_ccw()
import time
from Adafruit_PWM_Servo_Driver import PWM
from robot import Shoulder, Elbow, Wrist, Arm, Hexapod
sleep_time = 5
left_pwm = PWM(0x40, debug=True)
left_pwm.setPWMFreq(60)
shoulder_1 = Shoulder(left_pwm, 0)
elbow_1 = Elbow(left_pwm, 1)
wrist_1 = Wrist(left_pwm, 2)
arm_1 = Arm(shoulder_1, elbow_1, wrist_1)
hexapod = Hexapod(arm_1, None, None, None, None, None)
while True:
hexapod.forward()
time.sleep(sleep_time)
from robot import Hexapod
from time import sleep
def calibrate_joint(joint, s, mn, mx, z):
while True:
for angle in [mn, z, mx, z]:
joint.move(angle)
sleep(s)
hexy = Hexapod()
#calibrate_joint( hexy.right_back.knee, s = 2, mn = -45, mx = 45, z =0)
hexy.off()
