def initialize_torso():
pwm_bot = pw.Pwm_Wrapper(PWM_ADDR_BOTTOM, PWM_FREQ)
rf = hwd.Leg(pwm_bot, PWM_CHANNEL_ARRAY[LEG_RF], LEG_RF) #0
rm = hwd.Leg(pwm_bot, PWM_CHANNEL_ARRAY[LEG_RM], LEG_RM) #1
rb = hwd.Leg(pwm_bot, PWM_CHANNEL_ARRAY[LEG_RB], LEG_RB) #2
larm = hwd.Leg(pwm_bot, PWM_CHANNEL_ARRAY[ARM_L], ARM_L) #6
rot = hwd.Rotator(pwm_bot, PWM_CHANNEL_ARRAY[WAIST], WAIST) #8
pwm_top = pw.Pwm_Wrapper(PWM_ADDR_TOP, PWM_FREQ)
lb = hwd.Leg(pwm_top, PWM_CHANNEL_ARRAY[LEG_LB], LEG_LB) #3
lm = hwd.Leg(pwm_top, PWM_CHANNEL_ARRAY[LEG_LM], LEG_LM) #4
lf = hwd.Leg(pwm_top, PWM_CHANNEL_ARRAY[LEG_LF], LEG_LF) #5
rarm = hwd.Leg(pwm_top, PWM_CHANNEL_ARRAY[ARM_R], ARM_R) #7
return [larm, rarm, rot]
import numpy as np import sensor_input import random import quantum_circuit import rotation_corrector import forward_back_corrector import pyttsx3 import balloon_detect import pwm_wrapper as pw import hex_walker_driver_v2 as hwd from hex_walker_constants import * pwm_bot = pw.Pwm_Wrapper(PWM_ADDR_BOTTOM, PWM_FREQ) rf = hwd.Leg(pwm_bot, PWM_CHANNEL_ARRAY[LEG_RF], LEG_RF) #0 rm = hwd.Leg(pwm_bot, PWM_CHANNEL_ARRAY[LEG_RM], LEG_RM) #1 rb = hwd.Leg(pwm_bot, PWM_CHANNEL_ARRAY[LEG_RB], LEG_RB) #2 larm = hwd.Leg(pwm_bot, PWM_CHANNEL_ARRAY[ARM_L], ARM_L) #6 rot = hwd.Rotator(pwm_bot, PWM_CHANNEL_ARRAY[WAIST], WAIST) #8 pwm_top = pw.Pwm_Wrapper(PWM_ADDR_TOP, PWM_FREQ) lb = hwd.Leg(pwm_top, PWM_CHANNEL_ARRAY[LEG_LB], LEG_LB) #3 lm = hwd.Leg(pwm_top, PWM_CHANNEL_ARRAY[LEG_LM], LEG_LM) #4 lf = hwd.Leg(pwm_top, PWM_CHANNEL_ARRAY[LEG_LF], LEG_LF) #5 rarm = hwd.Leg(pwm_top, PWM_CHANNEL_ARRAY[ARM_R], ARM_R) #7 #create the hex walker hex_walker = hwd.Hex_Walker(rf, rm, rb, lb, lm, lf) hex_walker.set_speed(0.1) # create the torso