Changes between Version 9 and Version 10 of Tutorials

Timestamp:

Mar 8, 2016, 1:41:15 PM (10 years ago)

Author:

fma

Comment:

--

Tutorials

@@ -248 +248 @@
 Let's discuss about settings used in the previous part.
 
-
-
-
 ''TODO: add graphics with all angles''
 
+{{{
+#!python
+
+LEGS_INDEX = ('RF', 'RM', 'RR', 'LR', 'LM', 'LF')
+}}}
+
+{{{LEGS_INDEX}}} contains the names used to define legs; they can be freely chosen, but these values must be used as keys for other params.
+
+{{{
+#!python
+
+LEGS_GEOMETRY = {
+    'RM': {'coxa': 25, 'femur': 45, 'tibia': 50},
+    'RF': {'coxa': 25, 'femur': 45, 'tibia': 50},
+    'LF': {'coxa': 25, 'femur': 45, 'tibia': 50},
+    'LM': {'coxa': 25, 'femur': 45, 'tibia': 50},
+    'LR': {'coxa': 25, 'femur': 45, 'tibia': 50},
+    'RR': {'coxa': 25, 'femur': 45, 'tibia': 50}
+}
+}}}
+
+{{{LEGS_GEOMETRY}}} dict contains the lengths of the differents parts of the legs, in mm.
+
+{{{
+#!python
+
+LEGS_ORIGIN = {
+    'RM': {'x':  50., 'y':   0., 'gamma0' :   0.},
+    'RF': {'x':  35., 'y':  80., 'gamma0' :  30.},
+    'LF': {'x': -35., 'y':  80., 'gamma0' : 150.},
+    'LM': {'x': -50., 'y':   0., 'gamma0' : 180.},
+    'LR': {'x': -35., 'y': -80., 'gamma0' : 210.},
+    'RR': {'x':  35., 'y': -80., 'gamma0' : 330.},
+}
+config.initOrigin(LEGS_INDEX, LEGS_ORIGIN)
+}}}
+
+{{{LEGS_ORIGIN}}} dict contains the positions and orientation of the origin of the legs: {{{(x, y)}}} defines the center of rotation of '''coxa''' joint, and {{{gamma0}}} is the angle of the legs at neutral position.
+
+Note that we need to call the {{{initOrigin()}}} function of the '''{{{config.py}}}''' module, in order to initialize internal configuration (some matrix are defined, in order to avoid further maths).
+
+{{{
+#!python
+
+LEGS_NEUTRAL = {
+    'RM': {
+        'l': LEGS_GEOMETRY['RM']['coxa'] + LEGS_GEOMETRY['RM']['femur'],
+        'z': LEGS_GEOMETRY['RM']['tibia']
+    },
+    'RF': {
+        'l': LEGS_GEOMETRY['RF']['coxa'] + LEGS_GEOMETRY['RF']['femur'],
+        'z': LEGS_GEOMETRY['RF']['tibia']
+    },
+    'LF': {
+        'l': LEGS_GEOMETRY['LF']['coxa'] + LEGS_GEOMETRY['LF']['femur'],
+        'z': LEGS_GEOMETRY['LF']['tibia']
+    },
+    'LM': {
+        'l': LEGS_GEOMETRY['LM']['coxa'] + LEGS_GEOMETRY['LM']['femur'],
+        'z': LEGS_GEOMETRY['LM']['tibia']
+    },
+    'LR': {
+        'l': LEGS_GEOMETRY['LR']['coxa'] + LEGS_GEOMETRY['LR']['femur'],
+        'z': LEGS_GEOMETRY['LR']['tibia']
+    },
+    'RR': {
+        'l': LEGS_GEOMETRY['RR']['coxa'] + LEGS_GEOMETRY['RR']['femur'],
+        'z': LEGS_GEOMETRY['RR']['tibia']
+    }
+}
+config.initNeutral(LEGS_INDEX, LEGS_NEUTRAL)
+}}}
+
+{{{LEGS_NEUTRAL}}} dict contains the 
+
+Here too, we need to call the {{{initNeutral()}}} function of the '''{{{config.py}}}''' module, in order to initialize internal configuration.
+
+{{{
+#!python
+
+LEGS_SERVOS_MAPPING = {
+    'RF': {'coxa':  0, 'femur':  1, 'tibia':  2},
+    'RM': {'coxa':  4, 'femur':  5, 'tibia':  6},
+    'RR': {'coxa':  8, 'femur':  9, 'tibia': 10},
+    'LR': {'coxa': 15, 'femur': 14, 'tibia': 13},
+    'LM': {'coxa': 19, 'femur': 18, 'tibia': 17},
+    'LF': {'coxa': 23, 'femur': 22, 'tibia': 21}
+}
+}}}
+
+{{{LEGS_SERVOS_MAPPING}}} dict contains a table to map all joints to servos nums.
+
+{{{
+#!python
+
+GAITS = ("tripod", "tetrapod", "riple", "metachronal", "wave")
+}}}
+
+As {{{LEGS_INDEX}}} contains the names used to define legs, {{{GAITS}}} contains names to defined known gaits. Yhey can also be freely chosen, but these values must be used as keys for other params.
+
+{{{
+#!python
+
+
+GAIT_LEGS_GROUPS = {
+    'tripod':      (('RM', 'LF', 'LR'), ('RF', 'LM', 'RR')),
+    'tetrapod':    (('RR', 'LM'), ('RF', 'LR'), ('RM', 'LF')),
+    'riple':       (('RR',), ('LM',), ('RF',), ('LR',), ('RM',), ('LF',)),
+    'metachronal': (('RR',), ('LM',), ('RF',), ('LR',), ('RM',), ('LF',)),
+    'wave':        (('RR',), ('RM',), ('RF',), ('LR',), ('LM',), ('LF',))
+}
+}}}
+
+{{{GAIT_LEGS_GROUPS}}} dict contains the legs grouped together and controlled at the same time during the gait usage.
+
+For example, the '''tripod''' gait is made of 2 groups of 3 legs.
+
+Note that we need to define sequences, so don't forget the comma to define a tuple with a unique element.
+
+{{{
+#!python
+
+
+GAIT_PARAMS = {
+    'tripod': {'length': 40., 'angle': 10., 'height': 40., 'minLength': 4., 'minAngle': 2., 'speedMin':  50., 'speedMax': 200.},
+    'tetrapod': {'length': 40., 'angle': 10., 'height': 30., 'minLength': 4., 'minAngle': 2., 'speedMin':  50., 'speedMax': 200.},
+    'riple': {'length': 40., 'angle': 10., 'height': 30., 'minLength': 4., 'minAngle': 2., 'speedMin':  50., 'speedMax': 300.},
+    'metachronal': {'length': 40., 'angle': 10., 'height': 30., 'minLength': 4., 'minAngle': 2., 'speedMin':  50., 'speedMax': 200.},
+    'wave': {'length': 40., 'angle': 10., 'height': 30., 'minLength': 4., 'minAngle': 2., 'speedMin':  50., 'speedMax': 200.}
+}
+}}}
+
+{{{GAIT_PARAMS}}} dict contain some additional gaits params:
+
+* {{{length}}} is the distance each leg will move for an entire cycle when the robot translate;
+* {{{angle}}} is the angle each leg will turn for an entire cycle when the robot rotate;
+* {{{minLength}}} is the minimum translating length, even when speed is very low;
+* {{{minAngle}}} same as above for angle;
+* {{{speedMin}}}, {{{speedMax}}} are the range for speed.
 === More complexe example ===