def __init__(self):
self.logger = logging.getLogger(Config.LOGGING_NAME+".Hexapod")
self.logger.info("Initializing Hexapod...")
self.configParser = ConfigParser("BaralabaBob")
self.configDir = path.join(path.dirname(Amelior.__file__), "config/model/BaralabaBob")
self.config = self.configParser.loadConfig("hexapod.cfg")
self.logger.debug("Connecting to TCP Serial Bridge...")
self.comms = robotcommunication.RobotCommunication()
self.comms.connect((Config.TCP_SERIAL_BRIDGE_IP, Config.TCP_SERIAL_BRIDGE_PORT))
self.logger.debug("Changing to Servo Comms mode...")
self.comms.send(bytes("S\r", "utf-8"))
sleep(0.3)
self.logger.info("Connected to TCP Serial Bridge")
self._position = Position3D(0, 0, 0)
EventHandler.addListener("serialUpdater", EventTypes.JOINT_SERVO_SIGNAL_CHANGE, self.updateServoSignal)
EventHandler.addListener("updateOffset", EventTypes.JOINT_SERVO_OFFSET_CHANGE, self.updateServoPositionOffset)
#Reads in the home directory of the config files, and joins it to the leg config location
self.legs = legs.Legs(self.config)
mandiblesConfig = path.join(self.configDir, self.config["mandiblesConfig"])
self.mandibles = mandibles.Mandibles(mandiblesConfig)
tailConfig = path.join(self.configDir, self.config["tailConfig"])
self.tail = tail.Tail(tailConfig)
self.on = False
self.logger.info("Initialized Hexapod!")
class Hexapod:
def __init__(self):
self.logger = logging.getLogger(Config.LOGGING_NAME+".Hexapod")
self.logger.info("Initializing Hexapod...")
self.configParser = ConfigParser("BaralabaBob")
self.configDir = path.join(path.dirname(Amelior.__file__), "config/model/BaralabaBob")
self.config = self.configParser.loadConfig("hexapod.cfg")
self.logger.debug("Connecting to TCP Serial Bridge...")
self.comms = robotcommunication.RobotCommunication()
self.comms.connect((Config.TCP_SERIAL_BRIDGE_IP, Config.TCP_SERIAL_BRIDGE_PORT))
self.logger.debug("Changing to Servo Comms mode...")
self.comms.send(bytes("S\r", "utf-8"))
sleep(0.3)
self.logger.info("Connected to TCP Serial Bridge")
self._position = Position3D(0, 0, 0)
EventHandler.addListener("serialUpdater", EventTypes.JOINT_SERVO_SIGNAL_CHANGE, self.updateServoSignal)
EventHandler.addListener("updateOffset", EventTypes.JOINT_SERVO_OFFSET_CHANGE, self.updateServoPositionOffset)
#Reads in the home directory of the config files, and joins it to the leg config location
self.legs = legs.Legs(self.config)
mandiblesConfig = path.join(self.configDir, self.config["mandiblesConfig"])
self.mandibles = mandibles.Mandibles(mandiblesConfig)
tailConfig = path.join(self.configDir, self.config["tailConfig"])
self.tail = tail.Tail(tailConfig)
self.on = False
self.logger.info("Initialized Hexapod!")
def translate(self, x, y, z):
self._position = Position3D(self._position.x+x, self._position.y+y, self._position.z+z)
self.legs.moveBody(Position3D(x, y, z))
def setPosition(self, position):
self._position = position
self.legs.moveBody(position)
@property
def position(self):
return self._position
@position.setter
def position(self, position):
self.setPosition(position)
def start(self):
pass
def turnOn(self):
self.legs.setSpeed(self.config["defaultSpeed"])
#setOffsetPositions()
self.legs.turnOn()
self.mandibles.turnOn()
self.tail.turnOn()
self.on = True
def step(self):
self.legs.setSpeed(120)
self.legs.getLeg(1).translate(0, 20, 40)
self.legs.getLeg(4).translate(0, 20, 40)
self.legs.getLeg(5).translate(0, 20, 40)
time.sleep(0.3)
self.legs.getLeg(1).translate(0, 20, -40)
self.legs.getLeg(4).translate(0, 20, -40)
self.legs.getLeg(5).translate(0, 20, -40)
time.sleep(0.3)
self.legs.getLeg(2).translate(0, 20, 40)
self.legs.getLeg(3).translate(0, 20, 40)
self.legs.getLeg(6).translate(0, 20, 40)
time.sleep(0.3)
self.legs.getLeg(2).translate(0, 20, -40)
self.legs.getLeg(3).translate(0, 20, -40)
self.legs.getLeg(6).translate(0, 20, -40)
time.sleep(0.3)
self.translate(0, 40, 0)
time.sleep(1)
def updateOffsets(self):
self.mandibles.updateOffsets()
self.legs.updateOffsets()
self.tail.updateOffsets()
def turnOff(self):
#self.turnOn()
self.legs.turnOff()
self.mandibles.turnOff()
self.tail.turnOff()
self.on = False
def smoothTest(self):
factor = 1.5
time.sleep(0.5)
self.turnOn()
while True:
self.legs.getLeg(6).tibia.setAngle(84, time=1000)
time.sleep(1.0)
self.legs.getLeg(6).tibia.setAngle(0, time=1000)
time.sleep(1.0)
def updateServoSignal(self, data):
packet = "#%d P%d T%d\r" % (data[1], data[2], data[3])
self.comms.send(bytes(packet, 'utf-8'));
def updateServoPositionOffset(self, data):
packet = "#%d PO %d\r" % (data[0], data[1])
self.comms.send(bytes(packet, 'utf-8'))
