def move_robot():
global translate
global tilt
global rotate
global updown
# initialise hexapod object
leg_end_coords = np.tile((0.0, 68.75, 0.0), (6, 1)) # check back
leg_angles = np.tile(0.0, 6) # leg angle init
# print(leg_end_coords, leg_end_coords.shape)
walky = hexapod.hexapod(leg_end_loc=leg_end_coords, leg_angle=leg_angles)
leg_rst_flag = 0
# Write, consume it nonblocking
while True:
print("Translate values:", translate)
print("Tilt values:", tilt)
print("Rotate:", rotate)
tilt_use = np.copy(tilt)
translate_use = np.copy(translate)
updown_use = np.copy(updown)
rotate_use = np.copy(rotate)
# walky.body_pitch(tilt_use[0])
# walky.body_roll(tilt_use[1])
# walky.body_translate_z(updown_use*4)
if abs(translate_use[0]) > 10 or abs(
translate_use[1]) > 10 or abs(rotate) > 10:
walky.tripod_gait(translate_use[0],
translate_use[1],
rotate_use,
tilt_use[0],
tilt_use[1],
step_speed=2.0)
leg_rst_flag = 0
else:
if leg_rst_flag == 0 or leg_rst_flag == 1:
walky.tripod_gait(0, 0, 0, 0, 0, step_speed=2.0)
leg_rst_flag += 1
else:
walky.write_leg_angles()
# import hex_legs
import hexapod
import numpy as np
from adafruit_servokit import ServoKit
import time
# initialise hexapod object
leg_end_coords = np.tile((0.0, 68.75, 0.0), (6,1)) # check back
leg_angles = np.tile(90.0, 6) # leg angle init
# print(leg_end_coords, leg_end_coords.shape)
walky = hexapod.hexapod(leg_end_loc=leg_end_coords, leg_angle=leg_angles)
amplitude = 30
TEST_DUR = 8.0
TIME_DELTA = 0.05
TEST_LEN = 1
print("Walkybot initial status:")
walky.print_state()
for leg in walky.legs:
leg.debug_print()
print("")
def reset(delay):
# Reset
print("Resetting to normal stance")
walky.body_pitch(0.0)
walky.body_roll(0.0)
walky.body_rotate_absolute(0.0)
walky.update_legs_stance()