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]
