home_degree = [75, 72, 75, 100, 70, 85] #angulos para home
servos = []
for i in range(6):
servos.append(
servo.Servo(pca.channels[pca_channels[i]], min_pulse=a, max_pulse=b))
servos[i].angle = home_degree[i]
t.sleep(0.5)
import borra_functions as bf
import numpy as np
import math
from time import sleep
base_points = bf.base_points(base_length)
angles = [0.0, 0.0, 0.0]
translation = [0, 0, 110]
print("Done ...")
sleep(0.5)
#Ticker
class ticker(object):
def __init__(self, initial=0, update_interval=0.001):
self.ticker = initial
self.update_interval = update_interval
def init(self):
import borra_functions as bf
import numpy as np
import matplotlib.pyplot as plt
from mpl_toolkits.mplot3d import Axes3D
from time import sleep
import importlib
###Create a new figure to graph 3D
#Draw base
base_points = bf.base_points(92)
#Draw plate
plate_points = bf.plate_points(72.91,6,[0,-6,0],[0,0,117])
#Draw servo
servo_links = [16.46,117.22]
theta1,theta2= bf.get_servo_angle(plate_points,servo_links,base_points)
#print("\n{}Finalizo correctamente{}".format("-"*35,"-"*35))
#for i in range(6):
# print("Punto {}:\n theta1 = {}\n theta2 = {}".format(i,theta1[i],theta2[i]))
#####Graficar
plt.ion()
fig = plt.figure()
ax = fig.add_subplot(111,projection='3d')
bf.draw_axis(110,110,220,ax,fig)
bf.draw_by_points(base_points,ax,fig,'orangered')
bf.draw_by_points(plate_points,ax,fig,'dodgerblue')
