def wiggle():
'''
Use randint() to generate integers from -wiggleRange to wiggleRange
'''
alterMove.linkageQ(1, 0,
stayHeight + random.randint(-wiggleRange, wiggleRange))
alterMove.linkageQ(2, 0,
stayHeight + random.randint(-wiggleRange, wiggleRange))
alterMove.linkageQ(3, 0,
stayHeight + random.randint(-wiggleRange, wiggleRange))
alterMove.linkageQ(4, 0,
stayHeight + random.randint(-wiggleRange, wiggleRange))
def wiggle():
'''
使用randint()来生成-wiggleRange到wiggleRange之间的整数
'''
alterMove.linkageQ(1, 0,
stayHeight + random.randint(-wiggleRange, wiggleRange))
alterMove.linkageQ(2, 0,
stayHeight + random.randint(-wiggleRange, wiggleRange))
alterMove.linkageQ(3, 0,
stayHeight + random.randint(-wiggleRange, wiggleRange))
alterMove.linkageQ(4, 0,
stayHeight + random.randint(-wiggleRange, wiggleRange))
def pitchRoll(pIn, rIn):
'''
Because the back and forth movement of the legs is not required in the automatic stabilization mode
So the X-axis coordinate point of the end point of each leg is 0
'''
xIn = 0
'''
Calculate the Y value of the end point of each leg through pIn and rIn
'''
y_1 = rangeCtrl(minHeight, maxHeight, middleHeight + pIn - rIn)
y_2 = rangeCtrl(minHeight, maxHeight, middleHeight - pIn - rIn)
y_3 = rangeCtrl(minHeight, maxHeight, middleHeight + pIn + rIn)
y_4 = rangeCtrl(minHeight, maxHeight, middleHeight - pIn + rIn)
'''
Apply new coordinate values to the four legs
'''
alterMove.linkageQ(1, xIn, y_1)
alterMove.linkageQ(2, xIn, y_2)
alterMove.linkageQ(3, xIn, y_3)
alterMove.linkageQ(4, xIn, y_4)
def pitchRoll(pIn, rIn):
'''
由于自动稳定模式时不需要腿部的前后运动
所以每条腿末端点的X轴坐标点都为0
'''
xIn = 0
'''
通过pIn和rIn来计算出每条腿末端点坐标值Y值
'''
y_1 = rangeCtrl(minHeight, maxHeight, middleHeight + pIn - rIn)
y_2 = rangeCtrl(minHeight, maxHeight, middleHeight - pIn - rIn)
y_3 = rangeCtrl(minHeight, maxHeight, middleHeight + pIn + rIn)
y_4 = rangeCtrl(minHeight, maxHeight, middleHeight - pIn + rIn)
'''
将新的坐标值应用于四条腿
'''
alterMove.linkageQ(1, xIn, y_1)
alterMove.linkageQ(2, xIn, y_2)
alterMove.linkageQ(3, xIn, y_3)
alterMove.linkageQ(4, xIn, y_4)
| |
| |
2—————————4
x,y参数为着地点的坐标，x正值越大，着地点越偏向前进方向
y正值越大，着地点越偏向地面方向
当你控制每条腿的着地点位置时，不需要实例化Alter对象
因为实例化Alter对象主要目的是进行多线程控制
你可以通过编写着地点位置和设置恰当的延迟时间，为机器人编舞或者编辑其它动作
以下例程分别控制机器人的1、2、3、4号腿摆动，可以直观了解改函数地调用方法
'''
while 1:
alterMove.linkageQ(1, 15, 50)
time.sleep(1)
alterMove.linkageQ(2, 15, 50)
time.sleep(1)
alterMove.linkageQ(3, 15, 50)
time.sleep(1)
alterMove.linkageQ(4, 15, 50)
time.sleep(1)
alterMove.linkageQ(1, -15, 50)
time.sleep(1)
alterMove.linkageQ(2, -15, 50)
def standStill():
alterMove.linkageQ(1, 0, stayHeight)
alterMove.linkageQ(2, 0, stayHeight)
alterMove.linkageQ(3, 0, stayHeight)
alterMove.linkageQ(4, 0, stayHeight)