def __init__(self):
self.targetAngle = [0]*6
self.currentAngle = [0]*6
self.currentSpeed = [0]*6
self.maxSpeed = [0]*6
self.currentScanDirection = [1]*3
self.currentSpeedLimit = StewartPlatform.SERVO_SPEED_LIMIT
self.servos = Ax12()
self.angles = StewartPlatformMath()
self.currentPosition = PlatformPosition()
self.lastPosition = PlatformPosition()
self.updateFunction = self.updateLinear
## add angle limits to servo motors
for i in range(6):
if (i%2==0):
self.servos.setAngleLimit((i+1),
StewartPlatform.SERVO_MIN_ANGLE_VALUE,
StewartPlatform.SERVO_MAX_ANGLE_VALUE)
else:
self.servos.setAngleLimit((i+1),
1024-StewartPlatform.SERVO_MAX_ANGLE_VALUE,
1024-StewartPlatform.SERVO_MIN_ANGLE_VALUE)
sleep(0.1)
## initially set platform to (0,0,0), (0,0,0)
self.setTargetAnglesSuccessfully()
## move motors to initial position
for (i,targetAngle) in enumerate(self.targetAngle):
self.currentAngle[i] = targetAngle
servoValue = StewartPlatform.getServoAngleValue(i, self.currentAngle[i])
self.servos.moveSpeedRW((i+1), servoValue, 450)
self.servos.action()
sleep(1)
def __init__(self):
self.ts = TouchSensorArduino()
self.arm = Ax12()
self.setHome()
self.runMapping()
def goHome():
s = Ax12()
home = [
502, 607, 512, 531, 514, 511, 820, 530, 552, 518, 512, 532, 537, 563,
559, 513, 529, 561, 558, 502, 568, 552, 546, 504
]
for i in range(len(home)):
s.move(i + 1, home[i])
time.sleep(1)
def goHome():
s = Ax12()
home = [
539, 0, 646, 147, 472, 552, 866, 182, 386, 610, 627, 232, 555, 491,
348, 347, 497, 534, 468, 267, 464, 562, 573, 253
]
for i in range(len(home)):
s.move(i + 1, home[i])
time.sleep(1)
def __init__(self):
self.targetAngle = [0] * 6
self.currentAngle = [0] * 6
self.currentSpeed = [0] * 6
self.maxSpeed = [0] * 6
self.currentScanDirection = [1] * 3
self.currentSpeedLimit = StewartPlatform.SERVO_SPEED_LIMIT
self.servos = Ax12()
self.angles = StewartPlatformMath()
self.currentPosition = PlatformPosition()
self.lastPosition = PlatformPosition()
self.updateFunction = self.updateLinear
self.setTargetAnglesSuccessfully()
for (i, targetAngle) in enumerate(self.targetAngle):
self.currentAngle[i] = targetAngle
servoValue = StewartPlatform.getServoAngleValue(
i, self.currentAngle[i])
self.servos.moveSpeedRW((i + 1), servoValue, 450)
self.servos.action()
sleep(1)
from ax12 import Ax12
from time import sleep
self = Ax12()
servonummer = 3
x = 0
while (x < 254):
self.factoryReset(x, True)
x = x + 1
print(x)
sleep(0.05)
self.setID(1, servonummer)
#self.move(servonummer,1000)
from ax12 import Ax12
from time import sleep
servo = Ax12()
speed = 500
startStand = 450
endStand = 550
startID = 1
endID = 18
stand = startStand
id = startID
while (1):
while (id <= endID):
servo.move(id, stand)
print('moved ' + str(id))
sleep(0.04)
id = id + 1
id = startID
if (stand == endStand):
stand = startStand
else:
stand = endStand
#! /usr/bin/env python
# -*- coding: utf-8 -*-
from sys import argv, path
from time import sleep
path.append("../ax12")
from ax12 import Ax12
if __name__ == "__main__":
mServos = Ax12()
if len(argv) > 1:
motorId = argv[1]
for i in range(254):
sleep(100)
try:
mServos.setID(i, motorId)
except:
print("error resetting id from "+str(i)+" to "+str(motorId))
else:
print("set id to "+str(motorId))
exit(1)
else:
print("ERROR")
print("usage: python setMotorId motorNumber")
## -*- coding: utf-8 -*- ## Rodar os seguintes códigos ## sudo systemctl stop [email protected] ## sudo systemctl disable [email protected] from ax12 import Ax12 #from Bioloid import BIOLOID #import sys import time #robot = BIOLOID() m = Ax12() m.move(2,512) time.sleep(2) m.readPosition(2) time.sleep(2) m.readPosition(4) time.sleep(2) m.readPosition(6) #robot.clear(); #time.sleep(2); #robot.initialPos(); ## ##while True: ## ## i = 1; ## ## while i<14.7: ##
# coding: utf-8
#Thassilo Bücker, Alexander Orzol
#Campus Velbert/Heiligenhaus, Hochschule Bochum, 2016/2017
#Das Programm stellt Funktionen zum Tasten zur Verfügung
cWalkingSpeed = 150
cSyncSpeed = False
##### Imports #########################
from IKfunction import *
from ax12 import Ax12
import time
from fernbed import *
servos = Ax12()
#Init()
def Inittasten():
#Initialposition zum Tasten / mittleren Beine vorne, vordere Beine oben
start= [412,612,412,612,767,255,575,449,400,624,767,255,350,674,400,624,767,255]
for i in xrange(0,18):
if not(i==0 or i==1):
try:
servos.move(i+1,start[i])
except:
print ("Servo move failed")
i -= 1
def Vorderbeinefuehlen():
# Mit den Vorderbeinen wird geprüft ob sich ein Hindernis vor ihm befindet
from ax12 import Ax12
import sys
import time
motors = Ax12()
class BIOLOID:
def initialPos(self):
motors.move(1, 336)
motors.move(2, 687)
motors.move(3, 298)
motors.move(4, 724)
motors.move(5, 412)
motors.move(6, 611)
motors.move(7, 355)
motors.move(8, 664)
motors.move(9, 491)
motors.move(10, 530)
motors.move(11, 394)
motors.move(12, 625)
motors.move(13, 278)
motors.move(14, 743)
motors.move(15, 616)
motors.move(16, 405)
motors.move(17, 490)
motors.move(18, 530)
def clear(self):
motors.move(1, 512)
motors.move(2, 512)
def goHome():
s = Ax12()
for i in range(24):
print(s.readPosition(i + 1))
