[[PageOutline(2-5, Table of Contents, floated)]] = Welcome to Py4bot project = == Introduction == '''Py4bot''' ('''Py'''thon framework '''for''' mutli-legs ro'''bot'''s) is a free python framework dedicated to control multi-legs robots, like hexapods. It implements IK for 3 and 4 DoF legs, and new IKs can be added in a very easy way. It should even be possible to mix legs with different DoF on the same robot (untested). With '''Py4bot''' comes a powerfull remote control engine, allowing user to control robots from different kind of controllers, like gamepads, joysticks or home-made smart remotes. An API will soon be available to control robots from http. '''Py4bot''' is entirely written in python, so should run on any plateform running a python interpreter. My first target was a !BeagleBone Black, running Debian. I now plan to switch to a Raspberry Pi 3. There are several other projects for hexapod implementation, but neither are as flexible nor documented as '''Py4bot'''. Even if my implementation is not the best one (it is certainly not the best optimized one), I hope it is clear enough to help people who want to dig in this great domain to understand how things work. '''Py4bot is not a commercial project: I develop it on my free time, because it is fun. So, I don't make support for professional usage. This does not mean that it can't be used by pros, but be aware that things can go wrong, and my responsibility can't be engaged is such case.''' Enjoy! [[BR]] ''The Py4bot team'' Developed with: [[Image(htdocs:wingware-logo-180x58.png, link=http://www.wingware.com)]] == Latest news == * 2020-07: porting code to Python3 * 2019-03: started to work on a '''free gait using restrictedness''', based on [https://www.researchgate.net/publication/220122868_Omnidirectional_Hexapod_Walking_and_Efficient_Gaits_Using_Restrictedness this thesis] * 2017-10: first tests with body auto-leveling * 2017-02: github -> framagit migration * 2016-03: Big push, with a lot of new features, and complete [[Tutorials]]. * 2015-09: Trac project creation == License == All Py4bot files and documents are released under [http://www.gnu.org/licenses/gpl.html GPL]. == Features == * [[Features]] == Documentation == * [[InstallationGuide|Installation guide]] * [[Tutorials]] * [UserGuideGit User guide branch git] -- Developement version * [[FAQ]] * [[Developement]] * [htdocs:api/index.html Complete API] * [http://www.python.org Python] -- Python == Download == See [wiki:Download this page]. == Other links == * [wiki:Videos] == Trac shortcuts == * [[/newticket|Report bug or add request]] -- For developers only. Use [http://forums.trossenrobotics.com/forumdisplay.php?21-Software-and-Programming Trossen Robotics forum] instead. * [[report:1|View tickets]] * [[report:1?sort=created&asc=0&page=1|View tickets]] -- By date * [[report:3|View tickets]] -- By milestone == Authors == === Main developement === * Frédéric === Contributors === * Edgar (gaits start/stop design) ---- [[OriginalTracHomePage]]