def main():
bot = InterbotixHexapodXS('pxmark4')
bot.hex.modify_stance(-0.02)
bot.hex.move_in_world(x_stride=0.06, num_cycles=2, gait_type="tripod")
bot.hex.move_in_world(y_stride=0.06, num_cycles=2, gait_type="ripple")
bot.hex.move_in_world(x_stride=-0.06, num_cycles=2, gait_type="wave")
bot.hex.move_in_world(y_stride=-0.06, num_cycles=2, gait_type="wave")
bot.hex.reset_hexapod('sleep')
def main():
bot = InterbotixHexapodXS('pxmark4')
bot.hex.move_in_place(z=0.08)
for step in range(500):
z = 0.08 + 0.05 * math.sin(math.pi * step / 25.0)
bot.hex.move_in_place(z=z, moving_time=0.15, blocking=False)
time.sleep(0.04)
bot.hex.reset_hexapod('sleep')
def main():
bot = InterbotixHexapodXS('pxmark4')
bot.hex.move_in_place(z=0.08, pitch=0.2)
for step in range(500):
roll = 0.2 * math.sin(math.pi * step/25.0)
pitch = 0.2 * math.cos(math.pi * step/25.0)
bot.hex.move_in_place(roll=roll, pitch=pitch, moving_time=0.15, blocking=False)
time.sleep(0.04)
bot.hex.reset_hexapod('sleep')
def main():
bot = InterbotixHexapodXS('wxmark4')
bot.hex.move_in_place(z=0.1)
bot.hex.modify_stance(-0.02)
# translate in X
for step in range(51):
x = 0.05 * math.sin(2 * math.pi * step / 50.0)
bot.hex.move_in_place(x=x, moving_time=0.15, blocking=False)
time.sleep(0.04)
time.sleep(0.2)
# translate in Y
for step in range(51):
y = 0.05 * math.sin(2 * math.pi * step / 50.0)
bot.hex.move_in_place(y=y, moving_time=0.15, blocking=False)
time.sleep(0.04)
time.sleep(0.2)
# translate in Z
for step in range(51):
z = 0.1 + 0.05 * math.sin(2 * math.pi * step / 50.0)
bot.hex.move_in_place(z=z, moving_time=0.15, blocking=False)
time.sleep(0.04)
time.sleep(0.2)
# roll around X
for step in range(51):
roll = 0.3 * math.sin(2 * math.pi * step / 50.0)
bot.hex.move_in_place(roll=roll, moving_time=0.15, blocking=False)
time.sleep(0.04)
time.sleep(0.2)
# pitch around Y
for step in range(51):
pitch = 0.3 * math.sin(2 * math.pi * step / 50.0)
bot.hex.move_in_place(pitch=pitch, moving_time=0.15, blocking=False)
time.sleep(0.04)
time.sleep(0.2)
# yaw around Z
for step in range(51):
yaw = 0.3 * math.sin(2 * math.pi * step / 50.0)
bot.hex.move_in_place(yaw=yaw, moving_time=0.15, blocking=False)
time.sleep(0.04)
time.sleep(0.2)
bot.hex.reset_hexapod('sleep')
def main():
bot = InterbotixHexapodXS('pxmark4')
bot.hex.move_in_place(x=-0.05, z=0.08, pitch=-0.1)
bot.hex.move_leg("right_front", [0, 0.05, 0.08])
bot.hex.move_leg("left_front", [0, -0.05, 0.08])
z_prev = 0
for step in range(500):
z = 0.03 * math.sin(math.pi * step / 25.0)
bot.hex.move_leg("right_front", [0, 0, z - z_prev],
moving_time=0.150,
accel_time=0.075,
blocking=False)
bot.hex.move_leg("left_front", [0, 0, z_prev - z],
moving_time=0.150,
accel_time=0.075,
blocking=False)
z_prev = z
time.sleep(0.04)
bot.hex.reset_hexapod('sleep')
def main():
# Instantiate an instance of the hexapod (goes to the default Home Pose when done)
bot = InterbotixHexapodXS('pxmark4')
# The stance the robot is currently in is the default Home Pose. Whenever you call
# the 'reset_hexapod("home") function or the code gets stuck (perhaps due to a joint limt
# being reached or failing to find an IK solution), this is the pose it will go to.
# However, you can change the default Home Pose to be something else that's more convenient.
# Do it by first setting a new height (physically, this is the distance from the 'base_link'
# frame to the ground)...
bot.hex.move_in_place(z=0.1)
# ...assuming the new height looks good, set it to be the new Home Pose height
bot.hex.set_home_height(0.1)
# ...then modify the stance if you want. By default, the hexapod's stance is a bit wide which can
# cause slipping. So make it two centimeters tighter by typing the following command. This essentially
# takes each foot point and brings it two centimeters closer to its coxa joint
bot.hex.modify_stance(-0.02)
# Now get the new foot points...
foot_points = bot.hex.get_foot_points()
# Set them to be the new 'Home Pose' foot points...
bot.hex.set_home_foot_points(foot_points)
# And confirm that when you execute the following command, the hexapod doesn't move...
bot.hex.reset_hexapod("home")
# Now make the hexapod walk forward using the ripple gait. Every gait cycle, it should
# walk 8 cm for a total of 40 cm.
bot.hex.move_in_world(x_stride=0.08, gait_type="ripple", num_cycles=5)
# Now make the hexapod walk backwards using the wave gait the same distance.
bot.hex.move_in_world(x_stride=-0.08, gait_type="wave", num_cyles=5)
# Set the LEDs to both be gold for no good reason, just cuz...
bot.pixels.set_color(color=GOLD, set_all_leds=True)
# Go to sleep :)
bot.hex.reset_hexapod("sleep")
def main():
bot = InterbotixHexapodXS('wxmark4')
# move hexapod legs up/down to get rid of any stress the motors might be experiencing from picking the hexapod body up
bot.hex.move_in_world()
# move the hexapod body up to allow for more foot clearance
bot.hex.move_in_place(z=0.12)
# begin uneven gait - moving forward
# reset foot points to defaults every two cycles - this prevents drift building up
for cntr in range(10):
bot.hex.move_in_world_rough(x_stride=0.06,
reset_foot_points=True,
reset_height=0.12,
max_foot_height=0.05,
num_cycles=2)
# begin uneven gait - moving backward
# reset foot points to defaults every two cycles - this prevents drift building up
for cntr in range(10):
bot.hex.move_in_world_rough(x_stride=-0.06,
reset_foot_points=True,
reset_height=0.12,
max_foot_height=0.05,
num_cycles=2)
bot.hex.reset_hexapod(pose_type="sleep")