├── LICENSE
├── Py Apple Dynamics V6.8
├── Py Apple Dynamics V6.8 固件及程序
│ ├── V6.8 MicroPython 固件
│ │ └── micropython.bin
│ ├── V6.8 源代码
│ │ ├── PA_ATTITUDE.py
│ │ ├── PA_AVGFILT.py
│ │ ├── PA_IK.py
│ │ ├── PA_IMU.py
│ │ ├── PA_SERVO.py
│ │ ├── PA_STABLIZE.py
│ │ ├── PA_TROT.py
│ │ ├── PA_WALK.py
│ │ ├── cal.html
│ │ ├── config.py
│ │ ├── config_s.py
│ │ ├── control.html
│ │ ├── main.py
│ │ ├── padog.py
│ │ └── web_c.py
│ ├── uPyCraft.exe
│ └── 用前读我.md
└── 软件和驱动
│ ├── 1驱动
│ └── CH34x_Install_Windows_v3_4.zip
│ └── 2软件
│ ├── uPyCraft_V1.1.exe
│ ├── 官方烧录软件 使用方法（flash_download_tool_v3.8.5）.pdf
│ ├── 官方烧录软件（flash_download_tool_v3.8.5）.zip
│ └── 软件使用说明.txt
├── Py-Apple Controller V4.0 直插版（最新）
├── 万能控直插版V4.0 原理图 PCB
│ └── 菠萝万能控 V4
│ │ ├── PADog.PcbLib
│ │ ├── PADog.SchLib
│ │ ├── 菠萝万能控 V4.PrjPcb
│ │ ├── 菠萝万能控 V4.PrjPcbStructure
│ │ ├── 菠萝万能控V4.0.SchDoc
│ │ └── 菠萝万能控V4.0.pcbdoc
├── 教程资料
│ ├── Py-Apple Controller 使用说明书 V4.0.pdf
│ ├── Py-Apple Dynamics V4.0 二次开发教程.pdf
│ └── 开源菠萝四足机器人项目--上手指南（先看我）.pdf
└── 菠萝万能控直插版V4.0配件清单.xlsx
├── README.md
├── pic
└── pic1.jpg
└── 二代菠萝（Py-Apple Structure V10.0 串联）
├── Py-apple Struture V10.0.zip
└── 菠萝狗V10.0配件清单 串联腿.xlsx
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523 | conditioned on the non-exercise of one or more of the rights that are
524 | specifically granted under this License. You may not convey a covered
525 | work if you are a party to an arrangement with a third party that is
526 | in the business of distributing software, under which you make payment
527 | to the third party based on the extent of your activity of conveying
528 | the work, and under which the third party grants, to any of the
529 | parties who would receive the covered work from you, a discriminatory
530 | patent license (a) in connection with copies of the covered work
531 | conveyed by you (or copies made from those copies), or (b) primarily
532 | for and in connection with specific products or compilations that
533 | contain the covered work, unless you entered into that arrangement,
534 | or that patent license was granted, prior to 28 March 2007.
535 |
536 | Nothing in this License shall be construed as excluding or limiting
537 | any implied license or other defenses to infringement that may
538 | otherwise be available to you under applicable patent law.
539 |
540 | 12. No Surrender of Others' Freedom.
541 |
542 | If conditions are imposed on you (whether by court order, agreement or
543 | otherwise) that contradict the conditions of this License, they do not
544 | excuse you from the conditions of this License. If you cannot convey a
545 | covered work so as to satisfy simultaneously your obligations under this
546 | License and any other pertinent obligations, then as a consequence you may
547 | not convey it at all. For example, if you agree to terms that obligate you
548 | to collect a royalty for further conveying from those to whom you convey
549 | the Program, the only way you could satisfy both those terms and this
550 | License would be to refrain entirely from conveying the Program.
551 |
552 | 13. Use with the GNU Affero General Public License.
553 |
554 | Notwithstanding any other provision of this License, you have
555 | permission to link or combine any covered work with a work licensed
556 | under version 3 of the GNU Affero General Public License into a single
557 | combined work, and to convey the resulting work. The terms of this
558 | License will continue to apply to the part which is the covered work,
559 | but the special requirements of the GNU Affero General Public License,
560 | section 13, concerning interaction through a network will apply to the
561 | combination as such.
562 |
563 | 14. Revised Versions of this License.
564 |
565 | The Free Software Foundation may publish revised and/or new versions of
566 | the GNU General Public License from time to time. Such new versions will
567 | be similar in spirit to the present version, but may differ in detail to
568 | address new problems or concerns.
569 |
570 | Each version is given a distinguishing version number. If the
571 | Program specifies that a certain numbered version of the GNU General
572 | Public License "or any later version" applies to it, you have the
573 | option of following the terms and conditions either of that numbered
574 | version or of any later version published by the Free Software
575 | Foundation. If the Program does not specify a version number of the
576 | GNU General Public License, you may choose any version ever published
577 | by the Free Software Foundation.
578 |
579 | If the Program specifies that a proxy can decide which future
580 | versions of the GNU General Public License can be used, that proxy's
581 | public statement of acceptance of a version permanently authorizes you
582 | to choose that version for the Program.
583 |
584 | Later license versions may give you additional or different
585 | permissions. However, no additional obligations are imposed on any
586 | author or copyright holder as a result of your choosing to follow a
587 | later version.
588 |
589 | 15. Disclaimer of Warranty.
590 |
591 | THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY
592 | APPLICABLE LAW. EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT
593 | HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY
594 | OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO,
595 | THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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597 | IS WITH YOU. SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF
598 | ALL NECESSARY SERVICING, REPAIR OR CORRECTION.
599 |
600 | 16. Limitation of Liability.
601 |
602 | IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING
603 | WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS
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605 | GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE
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608 | PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS),
609 | EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF
610 | SUCH DAMAGES.
611 |
612 | 17. Interpretation of Sections 15 and 16.
613 |
614 | If the disclaimer of warranty and limitation of liability provided
615 | above cannot be given local legal effect according to their terms,
616 | reviewing courts shall apply local law that most closely approximates
617 | an absolute waiver of all civil liability in connection with the
618 | Program, unless a warranty or assumption of liability accompanies a
619 | copy of the Program in return for a fee.
620 |
621 | END OF TERMS AND CONDITIONS
622 |
623 | How to Apply These Terms to Your New Programs
624 |
625 | If you develop a new program, and you want it to be of the greatest
626 | possible use to the public, the best way to achieve this is to make it
627 | free software which everyone can redistribute and change under these terms.
628 |
629 | To do so, attach the following notices to the program. It is safest
630 | to attach them to the start of each source file to most effectively
631 | state the exclusion of warranty; and each file should have at least
632 | the "copyright" line and a pointer to where the full notice is found.
633 |
634 |
635 | Copyright (C)
636 |
637 | This program is free software: you can redistribute it and/or modify
638 | it under the terms of the GNU General Public License as published by
639 | the Free Software Foundation, either version 3 of the License, or
640 | (at your option) any later version.
641 |
642 | This program is distributed in the hope that it will be useful,
643 | but WITHOUT ANY WARRANTY; without even the implied warranty of
644 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
645 | GNU General Public License for more details.
646 |
647 | You should have received a copy of the GNU General Public License
648 | along with this program. If not, see .
649 |
650 | Also add information on how to contact you by electronic and paper mail.
651 |
652 | If the program does terminal interaction, make it output a short
653 | notice like this when it starts in an interactive mode:
654 |
655 | Copyright (C)
656 | This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
657 | This is free software, and you are welcome to redistribute it
658 | under certain conditions; type `show c' for details.
659 |
660 | The hypothetical commands `show w' and `show c' should show the appropriate
661 | parts of the General Public License. Of course, your program's commands
662 | might be different; for a GUI interface, you would use an "about box".
663 |
664 | You should also get your employer (if you work as a programmer) or school,
665 | if any, to sign a "copyright disclaimer" for the program, if necessary.
666 | For more information on this, and how to apply and follow the GNU GPL, see
667 | .
668 |
669 | The GNU General Public License does not permit incorporating your program
670 | into proprietary programs. If your program is a subroutine library, you
671 | may consider it more useful to permit linking proprietary applications with
672 | the library. If this is what you want to do, use the GNU Lesser General
673 | Public License instead of this License. But first, please read
674 | .
675 |
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/Py Apple Dynamics V6.8/Py Apple Dynamics V6.8 固件及程序/V6.8 MicroPython 固件/micropython.bin:
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https://raw.githubusercontent.com/ToanTech/py-apple-quadruped-robot/d2bb34f82ff1d1c69c657c50e3af1608ebb6d1fb/Py Apple Dynamics V6.8/Py Apple Dynamics V6.8 固件及程序/V6.8 MicroPython 固件/micropython.bin
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/Py Apple Dynamics V6.8/Py Apple Dynamics V6.8 固件及程序/V6.8 源代码/PA_ATTITUDE.py:
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1 | #Copyright Deng（灯哥） (ream_d@yeah.net) Py-apple dog project
2 | #Github:https://github.com/ToanTech/py-apple-quadruped-robot
3 | #Licensed under the Apache License, Version 2.0 (the "License");
4 | #you may not use this file except in compliance with the License.
5 | #You may obtain a copy of the License at:http://www.apache.org/licenses/LICENSE-2.0
6 |
7 | from math import sin,cos,pi
8 |
9 | def cal_ges(PIT,ROL,l,b,w,x,Hc):
10 | YA=0
11 | P=PIT*pi/180
12 | R=ROL*pi/180
13 | Y=YA*pi/180
14 | #腿1
15 | ABl_x=l/2 - x -(l*cos(P)*cos(Y))/2 + (b*cos(P)*sin(Y))/2
16 | ABl_y=w/2 - (b*(cos(R)*cos(Y) + sin(P)*sin(R)*sin(Y)))/2 - (l*(cos(R)*sin(Y) - cos(Y)*sin(P)*sin(R)))/2
17 | ABl_z= - Hc - (b*(cos(Y)*sin(R) - cos(R)*sin(P)*sin(Y)))/2 - (l*(sin(R)*sin(Y) + cos(R)*cos(Y)*sin(P)))/2
18 | #腿2
19 | AB2_x=l/2 - x - (l*cos(P)*cos(Y))/2 - (b*cos(P)*sin(Y))/2
20 | AB2_y=(b*(cos(R)*cos(Y) + sin(P)*sin(R)*sin(Y)))/2 - w/2 - (l*(cos(R)*sin(Y) - cos(Y)*sin(P)*sin(R)))/2
21 | AB2_z=(b*(cos(Y)*sin(R) - cos(R)*sin(P)*sin(Y)))/2 - Hc - (l*(sin(R)*sin(Y) + cos(R)*cos(Y)*sin(P)))/2
22 | #腿3
23 | AB3_x=(l*cos(P)*cos(Y))/2 - x - l/2 + (b*cos(P)*sin(Y))/2
24 | AB3_y=w/2 - (b*(cos(R)*cos(Y) + sin(P)*sin(R)*sin(Y)))/2 + (l*(cos(R)*sin(Y) - cos(Y)*sin(P)*sin(R)))/2
25 | AB3_z=(l*(sin(R)*sin(Y) + cos(R)*cos(Y)*sin(P)))/2 - (b*(cos(Y)*sin(R) - cos(R)*sin(P)*sin(Y)))/2 - Hc
26 | #腿4
27 | AB4_x=(l*cos(P)*cos(Y))/2 - x - l/2 - (b*cos(P)*sin(Y))/2
28 | AB4_y=(b*(cos(R)*cos(Y) + sin(P)*sin(R)*sin(Y)))/2 - w/2 + (l*(cos(R)*sin(Y) - cos(Y)*sin(P)*sin(R)))/2
29 | AB4_z=(b*(cos(Y)*sin(R) - cos(R)*sin(P)*sin(Y)))/2 - Hc + (l*(sin(R)*sin(Y) + cos(R)*cos(Y)*sin(P)))/2
30 |
31 | x1=ABl_x
32 | y1=ABl_z
33 |
34 | x2=AB2_x
35 | y2=AB2_z
36 |
37 | x3=AB4_x
38 | y3=AB4_z
39 |
40 | x4=AB3_x
41 | y4=AB3_z
42 |
43 | return x1,x2,x3,x4,y1,y2,y3,y4
44 |
45 |
46 |
47 |
48 |
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/Py Apple Dynamics V6.8/Py Apple Dynamics V6.8 固件及程序/V6.8 源代码/PA_AVGFILT.py:
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1 | class avg_filiter():
2 | def __init__(self,cache_data):
3 | self.cache = cache_data
4 | self.len = len(cache_data)
5 | self.cache[0] = self.len
6 | self.sum = 0
7 | for item in cache_data[3:]:
8 | self.sum += item
9 | self.cache[1] = self.sum
10 |
11 | def avg(self,new_data):
12 | self.cache[1] = self.cache[1] - self.cache[3]
13 | self.cache[1] = self.cache[1] + new_data
14 | self.cache[3:-1] = self.cache[4:]
15 | self.cache[-1] = new_data
16 | return self.cache[1]//(self.len - 3)
17 |
18 |
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/Py Apple Dynamics V6.8/Py Apple Dynamics V6.8 固件及程序/V6.8 源代码/PA_IK.py:
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1 | #Copyright Deng（灯哥） (ream_d@yeah.net) Py-apple dog project
2 | #Github:https://github.com/ToanTech/py-apple-quadruped-robot
3 | #Licensed under the Apache License, Version 2.0 (the "License");
4 | #you may not use this file except in compliance with the License.
5 | #You may obtain a copy of the License at:http://www.apache.org/licenses/LICENSE-2.0
6 |
7 | from math import asin,acos,atan,pi,sqrt
8 |
9 | def ik(case,l1,l2,x1,x2,x3,x4,y1,y2,y3,y4):
10 | if case==0:
11 | #=============串联腿=============
12 | #腿1
13 | x1=-x1
14 | shank1=pi-acos((x1*x1+y1*y1-l1*l1-l2*l2)/(-2*l1*l2))
15 | fai1=acos((l1*l1+x1*x1+y1*y1-l2*l2)/(2*l1*sqrt(x1*x1+y1*y1)))
16 | if x1>0:
17 | ham1=abs(atan(y1/x1))-fai1
18 | elif x1<0:
19 | ham1=pi-abs(atan(y1/x1))-fai1
20 | else:
21 | ham1=pi-1.5707-fai1
22 | shank1=180*shank1/pi
23 | ham1=180*ham1/pi
24 |
25 | #腿2
26 | x2=-x2
27 | shank2=pi-acos((x2*x2+y2*y2-l1*l1-l2*l2)/(-2*l1*l2))
28 |
29 | fai2=acos((l1*l1+x2*x2+y2*y2-l2*l2)/(2*l1*sqrt(x2*x2+y2*y2)))
30 | if x2>0:
31 | ham2=abs(atan(y2/x2))-fai2
32 | elif x2<0:
33 | ham2=pi-abs(atan(y2/x2))-fai2
34 | else:
35 | ham2=pi-1.5707-fai2
36 | shank2=180*shank2/pi
37 | ham2=180*ham2/pi
38 |
39 | #腿3
40 | x3=-x3
41 | shank3=pi-acos((x3*x3+y3*y3-l1*l1-l2*l2)/(-2*l1*l2))
42 | fail3=acos((l1*l1+x3*x3+y3*y3-l2*l2)/(2*l1*sqrt(x3*x3+y3*y3)))
43 | if x3>0:
44 | ham3=abs(atan(y3/x3))-fail3
45 | elif x3<0:
46 | ham3=pi-abs(atan(y3/x3))-fail3
47 | else:
48 | ham3=pi-1.5707-fail3
49 | shank3=180*shank3/pi
50 | ham3=180*ham3/pi
51 |
52 | #腿4
53 | x4=-x4
54 | shank4=pi-acos((x4*x4+y4*y4-l1*l1-l2*l2)/(-2*l1*l2))
55 | fai4=acos((l1*l1+x4*x4+y4*y4-l2*l2)/(2*l1*sqrt(x4*x4+y4*y4)))
56 | if x4>0:
57 | ham4=abs(atan(y4/x4))-fai4
58 | elif x4<0:
59 | ham4=pi-abs(atan(y4/x4))-fai4
60 | else:
61 | ham4=pi-1.5707-fai4
62 |
63 | shank4=180*shank4/pi
64 | ham4=180*ham4/pi
65 |
66 | return ham1,ham2,ham3,ham4,shank1,shank2,shank3,shank4
67 | #=============并连腿=============
68 | elif case==1:
69 | #腿1
70 | y1=-y1
71 | L1=sqrt(x1*x1+y1*y1)
72 | psai1=asin(x1/L1)
73 | fai1=acos((L1*L1+l1*l1-l2*l2)/(2*l1*L1))
74 | sita1_1=180*(fai1-psai1)/pi
75 | sita2_1=180*(fai1+psai1)/pi
76 | #腿2
77 | #x2=0
78 | #y2=71
79 | y2=-y2
80 | L2=sqrt(x2*x2+y2*y2)
81 | psai2=asin(x2/L2)
82 | fai2=acos((L2*L2+l1*l1-l2*l2)/(2*l1*L2))
83 | sita1_2=180*(fai2-psai2)/pi
84 | sita2_2=180*(fai2+psai2)/pi
85 | #腿3
86 | #x3=0
87 | #y3=71
88 | y3=-y3
89 | L3=sqrt(x3*x3+y3*y3)
90 | psai3=asin(x3/L3)
91 | fai3=acos((L3*L3+l1*l1-l2*l2)/(2*l1*L3))
92 | sita1_3=180*(fai3-psai3)/pi
93 | sita2_3=180*(fai3+psai3)/pi
94 | #腿4
95 | y4=-y4
96 | L4=sqrt(x4*x4+y4*y4)
97 | psai4=asin(x4/L4)
98 | fai4=acos((L4*L4+l1*l1-l2*l2)/(2*l1*L4))
99 | sita1_4=180*(fai4-psai4)/pi
100 | sita2_4=180*(fai4+psai4)/pi
101 |
102 | return sita1_1,sita1_2,sita1_3,sita1_4,sita2_1,sita2_2,sita2_3,sita2_4
103 |
104 |
105 |
106 |
107 |
108 |
109 |
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/Py Apple Dynamics V6.8/Py Apple Dynamics V6.8 固件及程序/V6.8 源代码/PA_IMU.py:
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1 | import math
2 | import machine
3 | from time import sleep,sleep_ms
4 | Kp=0.8 #比例增益支配率收敛到加速度计/磁强计
5 | Ki=0.001 #积分增益支配率的陀螺仪偏见的衔接
6 | halfT=0.004 #采样周期的一半
7 | q0=1
8 | q1=0
9 | q2=0
10 | q3=0; #四元数的元素 ,代表估计方向
11 | exInt=0
12 | eyInt=0
13 | ezInt=0 #按比例缩小积分误差
14 |
15 | def IMUupdate(gx,gy,gz,ax,ay,az):
16 | K=0.7
17 | a=[0,0,0,0,0,0,0,0]
18 | global Kp,Ki,halfT,q0,q1,q2,q3,exInt,eyInt,ezInt
19 | if ax!=0 or ay!=0 or az!=0:
20 | norm=math.sqrt(ax*ax+ay*ay+az*az);
21 | ax=ax/norm; #单位化
22 | ay=ay/norm;
23 | az=az/norm;
24 | #估计方向的重力
25 | vx=2* (q1*q3-q0*q2 );
26 | vy=2* (q0*q1+q2*q3 );
27 | vz=q0*q0-q1*q1-q2*q2+q3*q3;
28 | #错误的领域和方向传感器测量参考方向之间的交叉乘积的总和
29 | ex= (ay*vz-az*vy );
30 | ey= (az*vx-ax*vz );
31 | ez= (ax*vy-ay*vx );
32 | #积分误差比例积分增益
33 | exInt=exInt+ex*Ki;
34 | eyInt=eyInt+ey*Ki;
35 | ezInt=ezInt+ez*Ki;
36 | #调整后的陀螺仪测量
37 | gx=gx+Kp*ex+exInt;
38 | gy=gy+Kp*ey+eyInt;
39 | gz=gz+Kp*ez+ezInt;
40 | #整合四元数率和正常化
41 | q0=q0+ (-q1*gx-q2*gy-q3*gz )*halfT;
42 | q1=q1+ (q0*gx+q2*gz-q3*gy )*halfT;
43 | q2=q2+ (q0*gy-q1*gz+q3*gx )*halfT;
44 | q3=q3+ (q0*gz+q1*gy-q2*gx )*halfT;
45 | #正常化四元
46 | norm=math.sqrt(q0*q0+q1*q1+q2*q2+q3*q3 );
47 | q0=q0/norm;
48 | q1=q1/norm;
49 | q2=q2/norm;
50 | q3=q3/norm;
51 | Pitch=math.asin (-2*q1*q3+2*q0*q2 )*57.3; #pitch ,转换为度数
52 | if -2*q1*q1-2*q2*q2+1!=0:
53 | Roll=math.atan ((2*q2*q3+2*q0*q1)/(-2*q1*q1-2*q2*q2+1) )*57.3; #rollv
54 | a[0]=Pitch
55 | a[1]=Roll
56 | if ay*ay+az*az!=0:
57 | a[2]=-math.atan(ax/math.sqrt(ay*ay+az*az))*57.2957795
58 | if ax*ax+az*az!=0:
59 | a[3]=math.atan(ay/math.sqrt(ax*ax+az*az))*57.2957795
60 | a[4]=gx
61 | a[5]=gy
62 | a[6]=gz
63 | a[0]=-K*Pitch-(1-K)*a[2]
64 | a[1]=K*Roll+(1-K)*a[3]
65 | return a
66 |
67 | class accel():
68 | error=[0,0,0]
69 | def __init__(self, i2c, addr=0x68):
70 | self.iic = i2c
71 | self.addr = addr
72 | self.iic.start()
73 | sleep_ms(1)
74 | self.iic.writeto(self.addr, bytearray([107, 0]))
75 | sleep_ms(1)
76 | self.iic.writeto_mem(self.addr,0x19,b'\x07') #gyro 125hz
77 | sleep_ms(1)
78 | self.iic.writeto_mem(self.addr,0x1a,b'\x04') #low filter 21hz
79 | sleep_ms(1)
80 | self.iic.writeto_mem(self.addr,0x1b,b'\x08') #gryo 500/s 65.5lsb/g
81 | sleep_ms(1)
82 | self.iic.writeto_mem(self.addr,0x1c,b'\x08') #acceler 4g ,8192lsb.g
83 | sleep_ms(1)
84 | self.iic.stop()
85 |
86 | def get_raw_values(self):
87 | self.iic.start()
88 | a = self.iic.readfrom_mem(self.addr, 0x3B, 14)
89 | self.iic.stop()
90 | return a
91 |
92 | def get_ints(self):
93 | b = self.get_raw_values()
94 | c = []
95 | for i in b:
96 | c.append(i)
97 | return c
98 |
99 | def bytes_toint(self, firstbyte, secondbyte):
100 | if not firstbyte & 0x80:
101 | return firstbyte << 8 | secondbyte
102 | return - (((firstbyte ^ 255) << 8) | (secondbyte ^ 255) + 1)
103 |
104 | def error_gy(self):
105 | sleep(3)
106 | global error
107 | error=[0,0,0]
108 | vals = {}
109 | for i in range(0,10):
110 | raw_ints = self.get_raw_values()
111 | vals["GyX"] = self.bytes_toint(raw_ints[8], raw_ints[9])
112 | vals["GyY"] = self.bytes_toint(raw_ints[10], raw_ints[11])
113 | vals["GyZ"] = self.bytes_toint(raw_ints[12], raw_ints[13])
114 | error[0]= error[0]+vals["GyX"]
115 | error[1]= error[1]+vals["GyY"]
116 | error[2]= error[2]+vals["GyZ"]
117 | sleep_ms(8)
118 | error[1]=error[1]/10.0
119 | error[2]=error[2]/10.0
120 | error[0]=error[0]/10.0
121 |
122 | def get_values(self):
123 | global error
124 | vals = {}
125 | raw_ints = self.get_raw_values()
126 | vals["AcX"] = self.bytes_toint(raw_ints[0], raw_ints[1])
127 | vals["AcY"] = self.bytes_toint(raw_ints[2], raw_ints[3])
128 | vals["AcZ"] = self.bytes_toint(raw_ints[4], raw_ints[5])
129 | vals["Tmp"] = self.bytes_toint(raw_ints[6], raw_ints[7]) / 340.00 + 36.53
130 | vals["GyX"] = self.bytes_toint(raw_ints[8], raw_ints[9])-error[0]
131 | vals["GyY"] = self.bytes_toint(raw_ints[10], raw_ints[11])-error[1]
132 | vals["GyZ"] = self.bytes_toint(raw_ints[12], raw_ints[13])-error[2]
133 | #vals["GyZ1"] = self.bytes_toint(raw_ints[12], raw_ints[13])
134 | return vals # returned in range of Int16
135 | # -32768 to 32767
136 |
137 |
138 |
139 |
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/Py Apple Dynamics V6.8/Py Apple Dynamics V6.8 固件及程序/V6.8 源代码/PA_SERVO.py:
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1 | #Copyright Deng（灯哥） (ream_d@yeah.net) Py-apple dog project
2 | #Github:https://github.com/ToanTech/py-apple-quadruped-robot
3 | #Licensed under the Apache License, Version 2.0 (the "License");
4 | #you may not use this file except in compliance with the License.
5 | #You may obtain a copy of the License at:http://www.apache.org/licenses/LICENSE-2.0
6 | #函数说明：
7 | #PA_SERVO.angle(舵机通道号,舵机角度值)
8 | #PA_SERVO.release() #释放所有舵机到软状态
9 | #移植说明：
10 | #针对不同主控，重新按照 PA_SERVO.angle,PA_SERVO.release 函数形式封装舵机库，就可以通用运动控制/步态控制代码
11 |
12 |
13 | from machine import I2C
14 | from machine import Pin
15 | import ustruct
16 | import time
17 |
18 | class PCA9685:
19 | def __init__(self, i2c, address=0x40):
20 | self.i2c = i2c
21 | self.address = address
22 | self.reset()
23 |
24 | def _write(self, address, value):
25 | self.i2c.writeto_mem(self.address, address, bytearray([value]))
26 |
27 | def _read(self, address):
28 | return self.i2c.readfrom_mem(self.address, address, 1)[0]
29 |
30 | def reset(self):
31 | self._write(0x00, 0x00) # Mode1
32 |
33 | def freq(self, freq=None):
34 |
35 | if freq is None:
36 | return int(25000000.0 / 4096 / (self._read(0xfe) - 0.5))
37 | prescale = int(25000000.0 / 4096.0 / freq + 0.5)
38 | old_mode = self._read(0x00) # Mode 1
39 | self._write(0x00, (old_mode & 0x7F) | 0x10) # Mode 1, sleep
40 | self._write(0xfe, prescale) # Prescale
41 | self._write(0x00, old_mode) # Mode 1
42 | time.sleep_us(5)
43 | self._write(0x00, old_mode | 0xa1) # Mode 1, autoincrement on
44 |
45 | def pwm(self, index, on=None, off=None):
46 | if on is None or off is None:
47 | data = self.i2c.readfrom_mem(self.address, 0x06 + 4 * index, 4)
48 | return ustruct.unpack('=padog.pit_max_ang:
55 | Sta_Pitch=padog.pit_max_ang
56 | elif Sta_Pitch<=-padog.pit_max_ang:
57 | Sta_Pitch=-padog.pit_max_ang
58 | except:
59 | pass
60 |
61 | try:
62 | #print('R:',q[2])
63 | filter_data_r = f_gyro_data_r.avg(round(q[2]))
64 | Sta_Roll=Sta_Roll-(filter_data_r-r_origin)*kp_sta
65 |
66 | if Sta_Roll>=padog.rol_max_ang:
67 | Sta_Roll=padog.rol_max_ang
68 | elif Sta_Roll<=-padog.rol_max_ang:
69 | Sta_Roll=-padog.rol_max_ang
70 | except:
71 | pass
72 |
73 | padog.PIT_goal=Sta_Pitch
74 | padog.ROL_goal=Sta_Roll
75 |
76 |
77 | q=PA_IMU.IMUupdate(ay["GyX"]/65.5*0.0174533,ay["GyY"]/65.5*0.0174533,ay["GyZ"]/65.5*0.0174533,ay["AcX"]/8192,ay["AcY"]/8192,ay["AcZ"]/8192)
78 |
79 |
80 |
81 |
82 |
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/Py Apple Dynamics V6.8/Py Apple Dynamics V6.8 固件及程序/V6.8 源代码/PA_TROT.py:
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1 | #Copyright Deng（灯哥） (ream_d@yeah.net) Py-apple dog project
2 | #Github:https://github.com/ToanTech/py-apple-quadruped-robot
3 | #Licensed under the Apache License, Version 2.0 (the "License");
4 | #you may not use this file exchept in compliance with the License.
5 | #You may obtain a copy of the License at:http://www.apache.org/licenses/LICENSE-2.0
6 | from math import sin,cos,pi,atan,tan
7 | from machine import I2C, Pin
8 | import padog
9 |
10 | #初始变量设置
11 | faai=0.5
12 | Ts=1
13 |
14 | def cal_t(t,xs,xf,h,r1,r4,r2,r3): #小跑步态执行函数
15 | global q,sita,cg_adjust
16 |
17 | if t<=Ts*faai:
18 | sigma=2*pi*t/(faai*Ts)
19 | zep=h*(1-cos(sigma))/2
20 | xep_z=(xf-xs)*((sigma-sin(sigma))/(2*pi))+xs
21 | xep_b=(xs-xf)*((sigma-sin(sigma))/(2*pi))+xf
22 | #输出y
23 | y1=zep
24 | y2=0
25 | y3=zep
26 | y4=0
27 | #输出x
28 | x1=-xep_b*r1
29 | x2=-xep_z*r2
30 | x3=-xep_b*r3
31 | x4=-xep_z*r4
32 |
33 | elif t>Ts*faai and t<=Ts:
34 | sigma=2*pi*(t-Ts*faai)/(faai*Ts)
35 | zep=h*(1-cos(sigma))/2;
36 | xep_z=(xf-xs)*((sigma-sin(sigma))/(2*pi))+xs
37 | xep_b=(xs-xf)*((sigma-sin(sigma))/(2*pi))+xf
38 | #输出y
39 | y1=0
40 | y2=zep
41 | y3=0
42 | y4=zep
43 | #输出x
44 | x1=-xep_z*r1
45 | x2=-xep_b*r2
46 | x3=-xep_z*r3
47 | x4=-xep_b*r4
48 |
49 | return x1,x2,x3,x4,y1,y2,y3,y4
50 |
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/Py Apple Dynamics V6.8/Py Apple Dynamics V6.8 固件及程序/V6.8 源代码/PA_WALK.py:
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1 | #Copyright Deng（灯哥） (ream_d@yeah.net) Py-apple dog project
2 | #Github:https://github.com/ToanTech/py-apple-quadruped-robot
3 | #Licensed under the Apache License, Version 2.0 (the "License");
4 | #you may not use this file except in compliance with the License.
5 | #You may obtain a copy of the License at:http://www.apache.org/licenses/LICENSE-2.0
6 | from math import sin,cos,pi,atan,tan
7 | from machine import I2C, Pin
8 | import padog
9 | import PA_IMU
10 | import PA_AVGFILT
11 | import array
12 |
13 | #中间变量设定
14 | x1_s=0;x2_s=0;x3_s=0;x4_s=0;y1_s=0;y2_s=0;y3_s=0;y4_s=0
15 | cg_adjust=0
16 | xs=0
17 | faai=0.5
18 | Ts=1
19 | q=[]
20 | #设置陀螺仪 IIC 接口
21 | try:
22 | i2cc = I2C(scl=Pin(22), sda=Pin(21)) #集成板
23 | acc = PA_IMU.accel(i2cc)
24 | acc.error_gy()
25 | except:
26 | i2cc = I2C(scl=Pin(32), sda=Pin(33)) #直插板
27 | acc = PA_IMU.accel(i2cc)
28 | acc.error_gy()
29 |
30 | #滑动平均滤波(PITCH 轴)
31 | gyro_data_p = array.array('i', [0]*10)
32 | f_gyro_data_p = PA_AVGFILT.avg_filiter(gyro_data_p)
33 |
34 | def cal_adjust(CG_Y,l,xk,sita,period): #计算重心偏移量函数,使得机器人重心投影始终落在三角形面
35 | result=(CG_Y+period*(l+xk)/4+110*tan(sita*1.5)) #计算高度暂时固定在典型的110,1.5是角度P环值
36 | #print(result) #打印出调整量，用于调试
37 | return result
38 |
39 |
40 | def cal_w(CG_X,CG_Y,l,xf,h,speed,t,r1,r4,r2,r3): #WALK步态主计算函数，相序 1-2-3-4
41 | global d,z
42 | global x1_s,x2_s,x3_s,x4_s,y1_s,y2_s,y3_s,y4_s
43 | global q,sita,cg_adjust
44 |
45 | #获得陀螺仪数据
46 | ay=acc.get_values()
47 | q=PA_IMU.IMUupdate(ay["GyX"]/65.5*0.0174533,ay["GyY"]/65.5*0.0174533,ay["GyZ"]/65.5*0.0174533,ay["AcX"]/8192,ay["AcY"]/8192,ay["AcZ"]/8192)
48 | try:
49 | gyro_p=f_gyro_data_p.avg(round(q[1]))
50 | except:
51 | pass
52 |
53 | #开始步态计算
54 | if t=Ts*faai and t<2*Ts*faai: #迈出腿2
77 | #print("腿2")
78 | padog.gesture(0,CG_X,cal_adjust(CG_Y,l,0,gyro_p*pi/180,-1))
79 | if abs(padog.X_S-padog.X_goal)<3:
80 | padog.gesture(0,CG_X,cal_adjust(CG_Y,l,0,gyro_p*pi/180,-1))
81 | padog.t=padog.t+speed
82 | t=t-faai*Ts
83 | sigma=2*pi*t/(faai*Ts)
84 | zep=h*(1-cos(sigma))/2
85 | xep_b=(xf-xs)*((sigma-sin(sigma))/(2*pi))+xs
86 | #输出y
87 | y1=0
88 | y2=zep
89 | y3=0
90 | y4=0
91 | #输出x
92 | x1=xf
93 | x2=xep_b*r2
94 | x3=0
95 | x4=0
96 | x1_s=x1;x2_s=x2;x3_s=x3;x4_s=x4;y1_s=y1;y2_s=y2;y3_s=y3;y4_s=y4
97 | return x1_s,x2_s,x3_s,x4_s,y1_s,y2_s,y3_s,y4_s
98 | if t>=2*Ts*faai and t<3*Ts*faai: #迈出腿3
99 | #print("腿3")
100 | padog.gesture(0,CG_X,cal_adjust(CG_Y,l,xf,gyro_p*pi/180,1))
101 | if abs(padog.X_S-padog.X_goal)<3:
102 | padog.gesture(0,CG_X,cal_adjust(CG_Y,l,xf,gyro_p*pi/180,1))
103 | padog.t=padog.t+speed
104 | t=t-faai*Ts*2
105 | sigma=2*pi*t/(faai*Ts)
106 | zep=h*(1-cos(sigma))/2
107 | xep_b=(xf-xs)*((sigma-sin(sigma))/(2*pi))+xs
108 | #输出y
109 | y1=0
110 | y2=0
111 | y3=zep
112 | y4=0
113 | #输出x
114 | x1=xf
115 | x2=xf
116 | x3=xep_b*r3
117 | x4=0
118 | x1_s=x1;x2_s=x2;x3_s=x3;x4_s=x4;y1_s=y1;y2_s=y2;y3_s=y3;y4_s=y4
119 | return x1_s,x2_s,x3_s,x4_s,y1_s,y2_s,y3_s,y4_s
120 |
121 | if t>=3*Ts*faai and t<4*Ts*faai: #迈出腿4
122 | #print("腿4")
123 | padog.gesture(0,CG_X,cal_adjust(CG_Y,l,xf,gyro_p*pi/180,1))
124 | if abs(padog.X_S-padog.X_goal)<3:
125 | padog.gesture(0,CG_X,cal_adjust(CG_Y,l,xf,gyro_p*pi/180,1))
126 | padog.t=padog.t+speed
127 | t=t-faai*Ts*3
128 | sigma=2*pi*t/(faai*Ts)
129 | zep=h*(1-cos(sigma))/2
130 | xep_b=(xf-xs)*((sigma-sin(sigma))/(2*pi))+xs
131 | #输出y
132 | y1=0
133 | y2=0
134 | y3=0
135 | y4=zep
136 | #输出x
137 | x1=xf
138 | x2=xf
139 | x3=xf
140 | x4=xep_b*r4
141 | x1_s=x1;x2_s=x2;x3_s=x3;x4_s=x4;y1_s=y1;y2_s=y2;y3_s=y3;y4_s=y4
142 | return x1_s,x2_s,x3_s,x4_s,y1_s,y2_s,y3_s,y4_s
143 | if t>=4*Ts*faai: #足端坐标归零
144 | padog.gesture(0,CG_X,CG_Y)
145 | if x1_s>0:
146 | x1_s=x1_s-x1_s*0.1
147 | elif x1_s<0:
148 | x1_s=x1_s+x1_s*0.1
149 | x2_s=x1_s;x3_s=x1_s;x4_s=x1_s
150 | if abs(padog.X_S-padog.X_goal)<1 and abs(x1_s)<1:
151 | padog.t=padog.t+0.1
152 | return x1_s,x2_s,x3_s,x4_s,y1_s,y2_s,y3_s,y4_s
153 |
154 |
155 |
156 |
157 |
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/Py Apple Dynamics V6.8/Py Apple Dynamics V6.8 固件及程序/V6.8 源代码/cal.html:
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6 | Py-apple 舵机标定
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