Changes between Version 56 and Version 57 of Tutorials

Timestamp:

Apr 11, 2016, 10:36:06 AM (10 years ago)

Author:

fma

Comment:

--

Tutorials

@@ -452 +452 @@
 === Settings ===
 
-
-{{{
-#!python
-
-}}}
-
+{{{
+#!python
+
+# -*- coding: utf-8 -*-
+
+from py4bot.common import config
+
+
+# Legs index
+LEGS_INDEX = ('RF', 'RM', 'RR', 'LR', 'LM', 'LF')
+
+# Legs geometry
+LEGS_GEOMETRY = {
+    'RM': {'coxa': 25, 'femur': 45, 'tibia': 65},
+    'RF': {'coxa': 25, 'femur': 45, 'tibia': 65},
+    'LF': {'coxa': 25, 'femur': 45, 'tibia': 65},
+    'LM': {'coxa': 25, 'femur': 45, 'tibia': 65},
+    'LR': {'coxa': 25, 'femur': 45, 'tibia': 65},
+    'RR': {'coxa': 25, 'femur': 45, 'tibia': 65}
+}
+
+# Legs origin
+LEGS_ORIGIN = {
+    'RM': {'x':  35., 'y':   0., 'gamma0' :   0.},
+    'RF': {'x':  35., 'y':  65., 'gamma0' :  30.},
+    'LF': {'x': -35., 'y':  65., 'gamma0' : 150.},
+    'LM': {'x': -35., 'y':   0., 'gamma0' : 180.},
+    'LR': {'x': -35., 'y': -65., 'gamma0' : 210.},
+    'RR': {'x':  35., 'y': -65., 'gamma0' : 330.},
+}
+
+# Legs feet neutral position
+FEET_NEUTRAL = {
+    'RM': LEGS_GEOMETRY['RM']['coxa'] + LEGS_GEOMETRY['RM']['femur'],
+    'RF': LEGS_GEOMETRY['RF']['coxa'] + LEGS_GEOMETRY['RF']['femur'],
+    'LF': LEGS_GEOMETRY['LF']['coxa'] + LEGS_GEOMETRY['LF']['femur'],
+    'LM': LEGS_GEOMETRY['LM']['coxa'] + LEGS_GEOMETRY['LM']['femur'],
+    'LR': LEGS_GEOMETRY['LR']['coxa'] + LEGS_GEOMETRY['LR']['femur'],
+    'RR': LEGS_GEOMETRY['RR']['coxa'] + LEGS_GEOMETRY['RR']['femur'],
+}
+
+# Gaits
+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_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.}
+}
+
+# Gamepad path
+THRUSTMASTER_PATH = "/dev/input/by-id/usb-Mega_World_Thrustmaster_dual_analog_3.2-event-joystick"
+
+# VPython scene default size
+SCENE_WIDTH = 640
+SCENE_HEIGHT = 480
+
+}}}
+
+We removed the servos mapping/calibration, as we don't need them anymore, and we just added the scen default size.
 == Conclusion ==