Changes between Version 62 and Version 63 of Tutorials

Timestamp:

Oct 28, 2017, 10:01:32 AM (8 years ago)

Author:

fma

Comment:

--

Tutorials

@@ -269 +269 @@
 
 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.}
+    'tripod': {'length': {'min': 4., 'max': 40.}, 'angle': {'min': 2., 'max': 10.}, 'height': {'min': 10, 'max': 40.}, 'speed': {'min': 50., 'max': 200.}},
+    'tetrapod': {'length': {'min': 4., 'max': 40.}, 'angle': {'min': 2., 'max': 10.}, 'height': {'min': 10, 'max': 30.}, 'speed': {'min': 50., 'max': 200.}},
+    'riple': {'length': {'min': 4., 'max': 40.}, 'angle': {'min': 2., 'max': 10.}, 'height': {'min': 10, 'max': 30.}, 'speed': {'min': 50., 'max': 300.}},
+    'metachronal': {'length': {'min': 4., 'max': 40.}, 'angle': {'min': 2., 'max': 10.}, 'height': {'min': 10, 'max': 30.}, 'speed': {'min': 50., 'max': 200.}},
+    'wave': {'length': {'min': 4., 'max': 40.}, 'angle': {'min': 2., 'max': 10.}, 'height': {'min': 10, 'max': 30.}, 'speed': {'min': 50., 'max': 200.}},
 }
 }}}
@@ -283 +283 @@
 {{{GAIT_PARAMS}}} contains some additional gaits params:
 
-* {{{length}}} is the distance each leg will move for an entire cycle when the robot translate at full speed;
-* {{{angle}}} is the angle each leg will turn for an entire cycle when the robot rotate at full speed;
-* {{{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.
+* {{{length}}} is the distance (range) each leg will move for an entire cycle when the robot translate at full speed;
+* {{{angle}}} is the angle (range) each leg will turn for an entire cycle when the robot rotate at full speed;
+* {{{height}}} is the height (range) the leg will lift up;
+* {{{speed}}} is the speed (range).
 
 These values must be adjusted for each robot, to avoid legs collisions.
@@ -503 +502 @@
 
 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.}
+    'tripod': {'length': {'min': 4., 'max': 40.}, 'angle': {'min': 2., 'max': 10.}, 'height': {'min': 10, 'max': 40.}, 'speed': {'min': 50., 'max': 200.}},
+    'tetrapod': {'length': {'min': 4., 'max': 40.}, 'angle': {'min': 2., 'max': 10.}, 'height': {'min': 10, 'max': 30.}, 'speed': {'min': 50., 'max': 200.}},
+    'riple': {'length': {'min': 4., 'max': 40.}, 'angle': {'min': 2., 'max': 10.}, 'height': {'min': 10, 'max': 30.}, 'speed': {'min': 50., 'max': 300.}},
+    'metachronal': {'length': {'min': 4., 'max': 40.}, 'angle': {'min': 2., 'max': 10.}, 'height': {'min': 10, 'max': 30.}, 'speed': {'min': 50., 'max': 200.}},
+    'wave': {'length': {'min': 4., 'max': 40.}, 'angle': {'min': 2., 'max': 10.}, 'height': {'min': 10, 'max': 30.}, 'speed': {'min': 50., 'max': 200.}},
 }