Skip to content

Latest commit

 

History

History
199 lines (156 loc) · 6.23 KB

readme.rst

File metadata and controls

199 lines (156 loc) · 6.23 KB
Raw
https://raw.githubusercontent.com/walchko/quadruped/master/pics/spiderbot_dev.JPG

XL-320 Quadruped

My robot software.

Documentation

Install

pip

The recommended way to install this library is:

pip install quadruped

Development

If you wish to develop and submit git-pulls, you can do:

git clone https://github.com/MomsFriendlyRobotCompany/quadruped
cd quadruped
pip install -e .

Testing

Since I have both python2 and python3 installed, I need to test with both:

python2 -m nose *.py
python3 -m nose *.py

Layout

Here is sort of the layout of the code:

  • Robot(data) - Takes a dict of setup values: {'serialPort': /dev/something, 'write': 'bulk'}

    • Engine
    • Gait
  • Gait:
    • Gait calculates the foot positions for 1 cycle of a movement
    • command() - plans all feet through 1 gait cycle (12 steps)
    • eachLeg(x,y,z)
  • Engine:
    • Engine takes the output from Gait and calculates the servo joint positions for each time stop and each leg in the cycle. It then sends the command to move the servos at the end of the time step.
    • legs[4]
      • servos[3]
        • angle
        • setServoLimits()
        • bulkWrite()
        • syncWrite()
      • coxa, femur, tibia
      • fk() - forward kinematics
      • ik() - inverse kinematics
      • moveFoot(x,y,z) - for inverse kinematics
      • moveFootAngle(a,b,c) - for forward kinematics

The example quadruped (in the examples folder), takes a dictionary. Currently it takes:

data = {
        'serialPort': '/dev/tty.usbserial-AL034G2K',
        'write': 'bulk'
}

If you don't pass it a serial port, then it falls back to a simulated serial port which does nothing but is useful for testing.

Tools

This directory contains several tools for the robot:

  • get_leg_angles.py: prints out the joint angles for all 4 legs
$ ./get_leg_angles.py /dev/tty.usbserial-AL034G2K
Opened /dev/tty.usbserial-AL034G2K @ 1000000

Servos: 1 - 12
All angles are in degrees
         Leg 1 |         Leg 2 |         Leg 3 |         Leg 4 |
   ID | Angle  |   ID | Angle  |   ID | Angle  |   ID | Angle  |
-----------------------------------------------------------------
    1 | 149.56 |    4 | 149.56 |    7 | 149.56 |   10 | 149.56
    2 | 239.88 |    5 | 271.55 |    8 | 269.79 |   11 | 270.38
    3 |  99.41 |    6 | 100.29 |    9 | 100.00 |   12 |  99.41
-----------------------------------------------------------------
  • get_leg_info.py: prints out servo information for all 12 servos on the robot
$ ./get_leg_info.py /dev/tty.usbserial-AL034G2K
Opened /dev/tty.usbserial-AL034G2K @ 1000000

Servos: 1 - 12
--------------------------------------------------
Servo: 1                HW Error: 0
Position [deg]: 149.6  Load:   0.0% CCW
Voltage [V]  7.0     Temperature [F]:  80.6
--------------------------------------------------
Servo: 2                HW Error: 0
Position [deg]: 239.6  Load:   0.0% CCW
Voltage [V]  7.2     Temperature [F]:  80.6
--------------------------------------------------
Servo: 3                HW Error: 0
Position [deg]:  99.4  Load:   0.0% CCW
Voltage [V]  7.2     Temperature [F]:  82.4
--------------------------------------------------
Servo: 4                HW Error: 0
Position [deg]: 149.6  Load:   0.0% CCW
Voltage [V]  7.3     Temperature [F]:  80.6
--------------------------------------------------
Servo: 5                HW Error: 0
Position [deg]: 271.6  Load:   0.0% CCW
Voltage [V]  7.2     Temperature [F]:  80.6
--------------------------------------------------
Servo: 6                HW Error: 0
Position [deg]: 100.3  Load:   0.0% CCW
Voltage [V]  7.4     Temperature [F]:  82.4
--------------------------------------------------
Servo: 7                HW Error: 0
Position [deg]: 149.6  Load:   0.0% CCW
Voltage [V]  7.2     Temperature [F]:  80.6
--------------------------------------------------
Servo: 8                HW Error: 0
Position [deg]: 269.8  Load:   0.0% CCW
Voltage [V]  7.1     Temperature [F]:  78.8
--------------------------------------------------
Servo: 9                HW Error: 0
Position [deg]:  99.4  Load:   0.8% CCW
Voltage [V]  7.2     Temperature [F]:  82.4
--------------------------------------------------
Servo: 10               HW Error: 0
Position [deg]: 149.9  Load:   0.0% CCW
Voltage [V]  7.1     Temperature [F]:  80.6
--------------------------------------------------
Servo: 11               HW Error: 0
Position [deg]: 270.1  Load:   0.0% CCW
Voltage [V]  7.2     Temperature [F]:  80.6
--------------------------------------------------
Servo: 12               HW Error: 0
Position [deg]:  99.4  Load:   0.0% CCW
Voltage [V]  7.1     Temperature [F]:  84.2
--------------------------------------------------

Change Log

2018-02-05 0.8.0 Code now supports both XL-320 and AX-12A servos
2017-12-25 0.5.0 Clean up and reorg, removed unnecessary libraries
2017-06-07 0.4.1 broke out into package and published to PyPi
2016-08-10 0.0.1 init

MIT License

Copyright (c) 2016 Kevin J. Walchko

Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:

The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.