├── .gitignore ├── nodequad ├── calibration.json ├── utils.py ├── main.py ├── setting.py ├── pca9685.py ├── Servo.py ├── leg.py ├── calibration.html ├── controller.py ├── geometry.py ├── nodequad.py ├── panel_http.html └── gait.py ├── resource ├── BOM.xlsx ├── top.png ├── schematic.png ├── NodeQuad12.jpg ├── schematic3.png └── Controller_Calibrator.jpg ├── mechanism └── stl │ ├── BodyTop.STL │ ├── LegCoxa.STL │ ├── LegRod.STL │ ├── LegTip.STL │ ├── BodyBase.STL │ ├── FibreRod.STL │ ├── LegFumer.STL │ ├── BodyBase3S.STL │ ├── ShaftSleeve.STL │ ├── TibiaSupport.STL │ ├── LegCoxaMirror.STL │ └── LegFumerMirror.STL ├── README.md └── electronics └── AltiumDesigner └── nodequad_shield_2022-03-13.schdoc /.gitignore: -------------------------------------------------------------------------------- 1 | **/idea/ -------------------------------------------------------------------------------- /nodequad/calibration.json: -------------------------------------------------------------------------------- 1 | {"calibration": [[7, -10, 8], [-4, 5, -4], [8, -10, 5], [5, 3, -2]]} 2 | -------------------------------------------------------------------------------- /resource/BOM.xlsx: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ViolinLee/NodeQuad12-MicroPython/HEAD/resource/BOM.xlsx -------------------------------------------------------------------------------- /resource/top.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ViolinLee/NodeQuad12-MicroPython/HEAD/resource/top.png -------------------------------------------------------------------------------- /resource/schematic.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ViolinLee/NodeQuad12-MicroPython/HEAD/resource/schematic.png 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/mechanism/stl/LegFumerMirror.STL: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ViolinLee/NodeQuad12-MicroPython/HEAD/mechanism/stl/LegFumerMirror.STL -------------------------------------------------------------------------------- /resource/Controller_Calibrator.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ViolinLee/NodeQuad12-MicroPython/HEAD/resource/Controller_Calibrator.jpg -------------------------------------------------------------------------------- /nodequad/utils.py: -------------------------------------------------------------------------------- 1 | def load_panel_html(html_dir): 2 | with open(html_dir, encoding='utf-8') as f: 3 | panel_html = f.read() 4 | return panel_html 5 | 6 | 7 | def battery_monitor_loop(adc_pin, alarm_led, low_voltage=10.2): 8 | """a 3S LiPo battery (fully charged = 12.6V, nominal = 11.4V, discharged = 10.2V)""" 9 | # 4 for shunt resistance & 0.12V for offset compensate 10 | batt_voltage = 4 * (sum([adc_pin.read() / 4095 * 3.3 for i in range(100)]) / 100 - 0.12) 11 | if batt_voltage <= low_voltage: 12 | alarm_led.value(1) 13 | else: 14 | pass 15 | 16 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | ![banner](resource/NodeQuad12.jpg) 2 | 3 | # NodeQuad V1 4 | Quadruped project using NodeMCU-32S and MicroPython. 5 | 6 | ## Brief introduction 7 | 8 | - This project is about a spider quadruped. The robot can perform multiple gait in **MOVE** mode, and can rotate and translate with 6DOF in **POSE** mode. 9 | - Both **Remote control** and **Calibration** are done via `Wi-Fi` on `ESP32`. 10 | - Brian: NodeMCU-32S (ESP32). 11 | - Actuator: 12 × 20Kg servo. 12 | - Power supply: 3S 2200mAh Lipo battery. mini360 DC-DC bulk for powering ESP32, PCA9685 and MPU6050. 8A UBEC for 12 servos. Check the PCB file for details. 13 | - The body is 3D printed PLA. 14 | 15 | ## Assembly 16 | ### Fastener 17 | Name | Spec | Required | Note 18 | ---- | ---- | --------- | -------- | 19 | Screw | M2 * 6mm | 48 | Servo Steer : 4 x 12 20 | Screw | M2 * 45mm | 8 | Body Base & Body Top: 2 x 4 21 | Screw | M2.5 * 8mm | 48 | Servo Mounting: 4 x 12 22 | Screw | M2.5 * 20mm | 8 | Tiabia Rod: 4 x 2 23 | Screw | M3 * 65mm | 8 | Femur: 2 x 4 24 | Screw | M3 * 10mm | 4 | Tip: 1 x 4 25 | Screw | M3 * 12mm | 12 | Joint Axis: 1 x 12 26 | Nuts | M2 | 8 | Body Base & Body Top: 2 x 4 27 | Nuts (self-locking) | M3 | 12 | Joint Axis: 1 x 12 28 | Bearing | 684ZZ | 4 | Coxa: 1 x 4 29 | Bearing | 624ZZ | 8 | Femur & Tiabia: 4 + 4 30 | 31 | 32 | ## Web Controller 33 | 34 | ![banner](resource/Controller_Calibrator.jpg) 35 | 36 | ## Demonstration (Video) 37 | [Bilibili: 【四足机器人】贴心！真香警告：18舵机的树莓派六足机器人太贵，UP主连肝数日设计制作12个舵机的ESP32四足机器人NodeQuad](https://www.bilibili.com/video/BV1RL4y1M7Cu) 38 | [YouTube: Open Source 3D-printed Spider Quadruped robot using ESP32 and MicroPython](https://www.youtube.com/watch?v=OmWLzTs7Svc) 39 | 40 | ## Others 41 | - 项目[BOM表](resource/BOM.xlsx)参考。 42 | 43 | - 业余时间捣鼓开源项目不易，望大家多多Star以支持！ 44 | -------------------------------------------------------------------------------- /nodequad/main.py: -------------------------------------------------------------------------------- 1 | import _thread 2 | from utime import sleep_ms 3 | from machine import I2C, ADC, Pin, Timer 4 | from network import WLAN, STA_IF, AP_IF 5 | from nodequad import NodeQuad 6 | from setting import * 7 | from utils import battery_monitor_loop 8 | 9 | 10 | if __name__ == '__main__': 11 | # Connect to WIFI 12 | if wlan_sta: 13 | wifi = WLAN(STA_IF) 14 | wifi.active(True) 15 | wifi.connect(wifissid, wifipass) 16 | while not wifi.isconnected(): 17 | pass 18 | wlan_ip = wifi.ifconfig()[0] 19 | else: 20 | ap = WLAN(AP_IF) 21 | ap.active(True) 22 | ap.config(essid="nodequad", password="666888999") 23 | ap.config(authmode=3) 24 | while ap.active() == False: 25 | pass 26 | wlan_ip = ap.ifconfig()[0] 27 | 28 | print("Listening, connect your browser to %s" % wlan_ip) 29 | 30 | # Quadruped Initialization 31 | iic = I2C(scl=Pin(pca_i2c_scl), sda=Pin(pca_i2c_sda), freq=pca_i2c_freq) 32 | quadruped = NodeQuad(wlan_ip, iic, pca_i2c_adr, pulse_min, pulse_max, pulse_freq) 33 | quadruped.init() 34 | sleep_ms(500) 35 | 36 | # Battery monitor routine 37 | adc = ADC(Pin(pin_voltage_monitor)) 38 | adc.atten(ADC.ATTN_11DB) # range of 3.3v 39 | adc.width(ADC.WIDTH_12BIT) # 12bit accuracy 40 | led = Pin(pin_red, Pin.OUT) 41 | timer = Timer(1) 42 | timer.init(period=1000, mode=Timer.PERIODIC, callback=lambda t: battery_monitor_loop(adc, led, low_voltage)) 43 | 44 | # Listening and update remote controller status 45 | _thread.start_new_thread(quadruped.web_controller.loop, ()) 46 | 47 | # PyDog mainloop 48 | quadruped.main_loop() 49 | print("************Welcome to NodeQuad!************") 50 | 51 | 52 | 53 | 54 | 55 | -------------------------------------------------------------------------------- /nodequad/setting.py: -------------------------------------------------------------------------------- 1 | # -*- coding: utf-8 -*- 2 | 3 | # from micropython import const 4 | from geometry import SIN10, COS10, SIN15, COS15, SIN30, COS30, SIN45, COS45 5 | from utils import load_panel_html 6 | 7 | # mounting position 8 | leg_mount_x = 50 # position in x direction of the fore and hind legs 9 | leg_mount_y = 50 # position in y direction of the fore and hind legs 10 | 11 | # link length (Notes that the root coincides with the joint-1) 12 | leg_joint1_2joint2 = 40 13 | leg_joint2_2joint3 = 80 14 | leg_joint3_2tip = 135.48 15 | 16 | # PCA9685 Setting 17 | pca_i2c_adr = 0x40 18 | pca_i2c_scl = 22 19 | pca_i2c_sda = 21 20 | pca_i2c_freq = 100000 21 | 22 | # servo specification 23 | pulse_min = 500 24 | pulse_max = 2500 25 | pulse_freq = 50 26 | 27 | # Pin definition 28 | pin_voltage_monitor = 34 29 | pin_red = 26 30 | pin_green = 25 31 | low_voltage = 10.2 # each of 3.4V 32 | 33 | # WIFI config 34 | wlan_sta = False 35 | wifissid = 'LeeSophia' 36 | wifipass = '******' 37 | 38 | # calibration data saved path 39 | calibration_path = "calibration.json" 40 | 41 | # html 42 | panel_html_dir = 'panel_http.html' 43 | panel_html_str = load_panel_html(panel_html_dir) 44 | calib_html_dir = 'calibration.html' 45 | calib_html_str = load_panel_html(calib_html_dir) 46 | 47 | # movement constance 48 | standby_z = leg_joint3_2tip * COS10 - leg_joint2_2joint3 * SIN30 49 | other_x = leg_mount_x + (leg_joint1_2joint2 + leg_joint2_2joint3 * COS30 + leg_joint3_2tip * SIN10) * COS45 50 | other_y = leg_mount_y + (leg_joint1_2joint2 + leg_joint2_2joint3 * COS30 + leg_joint3_2tip * SIN10) * SIN45 51 | 52 | # default (stand mode) local tip position 53 | # frontal right 54 | p1_x = other_x 55 | p1_y = other_y 56 | p1_z = standby_z 57 | # back right 58 | p2_x = -other_x 59 | p2_y = other_y 60 | p2_z = standby_z 61 | # back left 62 | p3_x = -other_x 63 | p3_y = -other_y 64 | p3_z = standby_z 65 | # frontal left 66 | p4_x = other_x 67 | p4_y = -other_y 68 | p4_z = standby_z 69 | 70 | 71 | if __name__ == '__main__': 72 | print(other_x, other_y, standby_z) 73 | 74 | 75 | 76 | -------------------------------------------------------------------------------- /nodequad/pca9685.py: -------------------------------------------------------------------------------- 1 | # -*- coding: utf-8 -*- 2 | 3 | import ustruct 4 | import time 5 | 6 | 7 | class PCA9685: 8 | def __init__(self, i2c, address=0x40): 9 | self.i2c = i2c 10 | self.address = address 11 | self.reset() 12 | 13 | def _write(self, address, value): 14 | self.i2c.writeto_mem(self.address, address, bytearray([value])) 15 | 16 | def _read(self, address): 17 | return self.i2c.readfrom_mem(self.address, address, 1)[0] 18 | 19 | def reset(self): 20 | self._write(0x00, 0x00) # Mode1 21 | 22 | def freq(self, freq=None): 23 | if freq is None: 24 | return int(25000000.0 / 4096 / (self._read(0xfe) - 0.5)) 25 | prescale = int(25000000.0 / 4096.0 / freq + 0.5) 26 | old_mode = self._read(0x00) # Mode 1 27 | self._write(0x00, (old_mode & 0x7F) | 0x10) # Mode 1, sleep 28 | self._write(0xfe, prescale) # Prescale 29 | self._write(0x00, old_mode) # Mode 1 30 | time.sleep_us(5) 31 | self._write(0x00, old_mode | 0xa1) # Mode 1, autoincrement on 32 | 33 | def pwm(self, index, on=None, off=None): 34 | if on is None or off is None: 35 | data = self.i2c.readfrom_mem(self.address, 0x06 + 4 * index, 4) 36 | return ustruct.unpack('周期/T = 20000(us) = 20(ms) 10 | self.min_duty = self._us2duty(pulse_min) 11 | self.max_duty = self._us2duty(pulse_max) 12 | self.pca9685 = PCA9685(i2c, address) # Hardware Interface 13 | self.pulse_min, self.pulse_max = pulse_min, pulse_max 14 | self.degrees = degrees 15 | self.offset = [[0, 0, 0] for i in range(4)] # not shallow copy: [[0, 0, 0]] * 3 16 | self.pca9685.freq(pulse_freq) 17 | 18 | def set_offset(self, offset): 19 | self.offset = offset 20 | 21 | def km_angle2pulse(self, km_angle, reverse): 22 | # return interp(correct * km_angle, [-90, 90], [pulse_min, pulse_max]) # 注意运动学定义的0°对应舵机90°位置 23 | return (self.pulse_min + self.pulse_max) / 2 + reverse * km_angle * ((self.pulse_max - self.pulse_min) / 180) 24 | 25 | def _us2duty(self, value): 26 | # 一周期(20000us)用12位精度来表示。value(us)转换为占用周期数（分数/小数，即不到一个周期，故 value < 20000us = 20ms） 27 | return int(4095 * value / self.period) 28 | 29 | def position(self, index, degrees=None, radians=None, us=None, duty=None): 30 | span = self.max_duty - self.min_duty 31 | if degrees is not None: 32 | duty = self.min_duty + span * degrees / self.degrees 33 | elif radians is not None: 34 | duty = self.min_duty + span * radians / radians(self.degrees) 35 | elif us is not None: 36 | duty = self._us2duty(us) 37 | elif duty is not None: 38 | pass 39 | else: 40 | return self.pca9685.duty(index) 41 | duty = min(self.max_duty, max(self.min_duty, int(duty))) 42 | self.pca9685.duty(index, duty) 43 | 44 | def set_angle(self, leg_index, part_index, km_angle): 45 | # switch left, right pwm 46 | if leg_index == 0: 47 | pwm_index = 0 + part_index 48 | elif leg_index == 1: 49 | pwm_index = 3 + part_index 50 | elif leg_index == 2: 51 | pwm_index = 6 + part_index 52 | elif leg_index == 3: 53 | pwm_index = 9 + part_index 54 | else: 55 | raise ValueError 56 | 57 | km_angle_corrected = km_angle + self.offset[leg_index][part_index] 58 | inverse = -1 if part_index == 1 else 1 # compensate for kinematics model 59 | inverse = inverse * -1 if leg_index in [1, 3] and part_index in [1, 2] else inverse # compensate for model mirror 60 | 61 | pulse = min(max(int(self.km_angle2pulse(km_angle_corrected, inverse)), self.pulse_min), self.pulse_max) 62 | 63 | self.position(pwm_index, us=pulse) 64 | 65 | 66 | 67 | 68 | -------------------------------------------------------------------------------- /nodequad/leg.py: -------------------------------------------------------------------------------- 1 | from math import sin, cos, pi, atan2, sqrt, acos 2 | from setting import * 3 | from geometry import FastTransform 4 | 5 | 6 | class Leg: 7 | """Leg封装腿部数学运算、模型转换""" 8 | def __init__(self, servo, leg_index): 9 | self.leg_index = leg_index 10 | self.servo = servo 11 | if self.leg_index == 0: # -45 or 315 degree 12 | self.mount_position = (leg_mount_x, leg_mount_y, 0) 13 | self._local_conv = FastTransform.rotate45 14 | self._world_conv = FastTransform.rotate315 15 | self._tip_pos_local = (p1_x, p1_y, p1_z) 16 | elif self.leg_index == 1: # 45 or -315 degree 17 | self.mount_position = (-leg_mount_x, leg_mount_y, 0) 18 | self._local_conv = FastTransform.rotate315 19 | self._world_conv = FastTransform.rotate45 20 | self._tip_pos_local = (p2_x, p2_y, p2_z) 21 | elif self.leg_index == 2: # 135 or -225 degree 22 | self.mount_position = (-leg_mount_x, -leg_mount_y, 0) 23 | self._local_conv = FastTransform.rotate225 24 | self._world_conv = FastTransform.rotate135 25 | self._tip_pos_local = (p3_x, p3_y, p3_z) 26 | elif self.leg_index == 3: # 225 or -135 degree 27 | self.mount_position = (leg_mount_x, -leg_mount_y, 0) 28 | self._local_conv = FastTransform.rotate135 29 | self._world_conv = FastTransform.rotate225 30 | self._tip_pos_local = (p4_x, p4_y, p4_z) 31 | self._tip_pos = self.translate2world(self._tip_pos_local) 32 | self.initial_tip_pos_local = self._tip_pos_local 33 | 34 | @staticmethod 35 | def local_ik(local_tip_pose): 36 | angles = [0.0] * 3 37 | 38 | x = local_tip_pose[0] 39 | y = local_tip_pose[1] 40 | angles[0] = atan2(x, y) * 180 / pi 41 | 42 | x = sqrt(x ** 2 + y ** 2) - leg_joint1_2joint2 43 | y = -local_tip_pose[2] # Note: Z-axis Down 44 | ar = atan2(y, x) 45 | lr2 = x ** 2 + y ** 2 46 | lr = sqrt(lr2) 47 | a1 = acos((lr2 + leg_joint2_2joint3 ** 2 - leg_joint3_2tip ** 2) / (2 * leg_joint2_2joint3 * lr)) 48 | a2 = acos((lr2 - leg_joint2_2joint3 ** 2 + leg_joint3_2tip ** 2) / (2 * leg_joint3_2tip * lr)) 49 | angles[1] = (ar + a1) * 180 / pi 50 | angles[2] = 90 - ((a1 + a2) * 180 / pi) 51 | 52 | return angles 53 | 54 | @staticmethod 55 | def local_fk(joint_degree): 56 | """Only for simulation&visualization""" 57 | radians = [angle * pi / 180 for angle in joint_degree] 58 | joint1_pos = [0, 0, 0] 59 | joint2_pos = [joint1_pos[i] + [leg_joint1_2joint2 * sin(radians[0]), leg_joint1_2joint2 * cos(radians[0]), 0][i] 60 | for i in range(3)] 61 | joint3_pos = [joint2_pos[i] + [leg_joint2_2joint3 * cos(radians[1]) * sin(radians[0]), 62 | leg_joint2_2joint3 * cos(radians[1]) * cos(radians[0]), 63 | -leg_joint2_2joint3 * sin(radians[1])][i] for i in range(3)] # Note: Z-axis Down 64 | tip_pos = [joint3_pos[i] + [cos(radians[1] + radians[2] - pi / 2) * leg_joint3_2tip * sin(radians[0]), 65 | cos(radians[1] + radians[2] - pi / 2) * leg_joint3_2tip * cos(radians[0]), 66 | -sin(radians[1] + radians[2] - pi / 2) * leg_joint3_2tip][i] for i in range(3)] 67 | 68 | leg_vectors_local = [[0, 0, 0], joint1_pos, joint2_pos, joint3_pos, tip_pos] 69 | 70 | return leg_vectors_local 71 | 72 | def translate2local(self, world_point): 73 | """coordinate translation: world to local""" 74 | return self._local_conv([world_point[i] - self.mount_position[i] for i in range(3)]) 75 | 76 | def translate2world(self, local_point): 77 | """coordinate translation: local to world""" 78 | return [self._world_conv(local_point)[i] + self.mount_position[i] for i in range(3)] 79 | 80 | def __move(self, target_point_local): 81 | """servo/hardware interface""" 82 | angles = Leg.local_ik(target_point_local) 83 | for joint_index in range(3): 84 | self.servo.set_angle(self.leg_index, joint_index, angles[joint_index]) 85 | 86 | def move_tip(self, target_point_world): 87 | """word coordiante system (default)""" 88 | if target_point_world == self._tip_pos: 89 | return 90 | dest_local = self.translate2local(target_point_world) 91 | # logging info 92 | self.__move(dest_local) 93 | self._tip_pos = target_point_world 94 | self._tip_pos_local = dest_local 95 | 96 | def move_tip_local(self, target_point_local): 97 | """api: leg moving""" 98 | if target_point_local == self._tip_pos_local: 99 | return 100 | dest_world = self.translate2world(target_point_local) 101 | self.__move(target_point_local) 102 | self._tip_pos = dest_world 103 | self._tip_pos_local = target_point_local 104 | 105 | def move_joints_directly(self, target_joint_angles): 106 | """直接驱动腿部关节角，不会改变腿实例的运动学变量/属性，在舵机校正阶段使用""" 107 | for joint_index in range(3): 108 | self.servo.set_angle(self.leg_index, joint_index, target_joint_angles[joint_index]) 109 | 110 | 111 | -------------------------------------------------------------------------------- /nodequad/calibration.html: -------------------------------------------------------------------------------- 1 | 15 | 16 |
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48 | 49 | 97 | -------------------------------------------------------------------------------- /nodequad/controller.py: -------------------------------------------------------------------------------- 1 | import json 2 | from setting import panel_html_str, calib_html_str 3 | from socket import socket, AF_INET, SOCK_STREAM, SOL_SOCKET, SO_REUSEADDR 4 | from gait import MODE_MOVE, MODE_POSE 5 | from gait import GAIT_TROT, GAIT_WALK, GAIT_GALLOP, GAIT_CREEP 6 | from gait import MOVE_STANDBY, MOVE_FORWARD, MOVE_BACKWARD, MOVE_LEFTSHIFT, MOVE_RIGHTSHIFT, MOVE_LEFTROTATE, \ 7 | MOVE_RIGHTROTATE 8 | from utime import sleep_ms 9 | 10 | 11 | class WebController: 12 | """遥控前端逻辑和生成遥控量""" 13 | 14 | def __init__(self, sta_ip): 15 | self.sta_ip = sta_ip 16 | self.calibration_data = [[0.0, 0.0, 0.0] for i in range(4)] # direct angle (rad) 17 | self.rc_calibration = 0 18 | self.rc_mode = MODE_MOVE 19 | self.rc_gait_mode = GAIT_TROT 20 | self.rc_moving_status = MOVE_STANDBY 21 | self.rc_pose = [0, 0, 0, 0, 0, 0] # x, y, z, roll, pitch, yaw 22 | 23 | @staticmethod 24 | def pose_cal(component, joystick_range, rotate_range): 25 | pose = [int(component[i] * rotate_range/joystick_range) for i in range(len(component))] 26 | return pose 27 | 28 | def load_calibration(self, json_path): 29 | with open(json_path, 'r') as f: 30 | json_data = json.load(f) 31 | self.calibration_data = json_data['calibration'] 32 | print("Load calibration data: {0}\n}".format(self.calibration_data)) 33 | 34 | def save_calibration(self, json_path): 35 | with open(json_path, 'w') as f: 36 | json_dict = {'calibration': self.calibration_data} 37 | json.dump(json_dict, f) 38 | print("Save calibration data: {0}\n".format(self.calibration_data)) 39 | 40 | def reset_rc_except_mode(self): 41 | self.rc_gait_mode = GAIT_TROT 42 | self.rc_moving_status = MOVE_STANDBY 43 | self.rc_pose = [0, 0, 0, 0, 0, 0] 44 | 45 | def process_panel(self, panel_req): 46 | try: 47 | header, _, json_string = panel_req.partition('\r\n\r\n') 48 | ctrl_quantity = json.loads(json_string) # {'button': 'POSE', 'joy.x': 100, 'joy.x': 150, 'joy.z': 50} 49 | except: 50 | # print(panel_req) 51 | return 52 | 53 | button = ctrl_quantity['button'] if 'button' in ctrl_quantity.keys() else None 54 | joy_x = ctrl_quantity['joy.x'] if 'joy.x' in ctrl_quantity.keys() else self.rc_pose[3] 55 | joy_y = ctrl_quantity['joy.y'] if 'joy.y' in ctrl_quantity.keys() else self.rc_pose[4] 56 | joy_z = ctrl_quantity['joy.z'] if 'joy.z' in ctrl_quantity.keys() else self.rc_pose[5] 57 | calibration = ctrl_quantity['calibration'] if 'calibration' in ctrl_quantity.keys() else None 58 | 59 | if button == 'CALIBRATESTART': 60 | print(button) 61 | self.rc_calibration = 1 62 | elif button == 'CALIBRATESAVE': 63 | print(button) 64 | self.rc_calibration = 0 65 | else: 66 | pass 67 | 68 | if self.rc_calibration == 1: 69 | if calibration is not None: 70 | calibration_int = [int(str_num) for str_num in calibration] 71 | temp = [calibration_int[3 * i: 3 * i + 3] for i in range(4) if i % 2 == 1] 72 | temp_r = [calibration_int[3 * i: 3 * i + 3] for i in range(4) if i % 2 == 0] 73 | temp_r.reverse() 74 | self.calibration_data = temp + temp_r 75 | else: 76 | pass 77 | else: 78 | if button is not None and button in ['POSE', 'MOVE']: 79 | self.rc_mode = self.get_mode(button) 80 | self.reset_rc_except_mode() 81 | 82 | if self.rc_mode == MODE_MOVE: 83 | if button in ['STANDBY', 'FORWARD', 'BACKWARD', 'LEFTSHIFT', 'RIGHTSHIFT', 'LEFTTURN', 'RIGHTTURN']: 84 | self.rc_moving_status = self.get_moving_status(button) 85 | elif button in ['TROT', 'WALK', 'GALLOP', 'CREEP']: 86 | self.rc_gait_mode = self.get_gait_mode(button) 87 | else: 88 | pass 89 | elif self.rc_mode == MODE_POSE: 90 | if button == 'STANDBY': 91 | self.reset_rc_except_mode() 92 | elif button in ['FORWARD', 'BACKWARD', 'LEFTSHIFT', 'RIGHTSHIFT', 'LEFTTURN', 'RIGHTTURN']: 93 | shift_inc = self.get_shift_increment(button) 94 | for i, shift in enumerate(shift_inc[:3]): 95 | self.rc_pose[i] = min(max(self.rc_pose[i] + shift, -30), 30) 96 | self.rc_pose[3:] = [joy_x, joy_y, joy_z] 97 | else: 98 | pass 99 | 100 | @classmethod 101 | def get_mode(cls, button): 102 | transitions_mode = {'POSE': MODE_POSE, 'MOVE': MODE_MOVE} 103 | return transitions_mode[button] 104 | 105 | @classmethod 106 | def get_gait_mode(cls, button): 107 | transitions_gait_mode = {'TROT': GAIT_TROT, 108 | 'WALK': GAIT_WALK, 109 | 'GALLOP': GAIT_GALLOP, 110 | 'CREEP': GAIT_CREEP} 111 | return transitions_gait_mode[button] 112 | 113 | @classmethod 114 | def get_moving_status(cls, button): 115 | transitions_moving_status = {'STANDBY': MOVE_STANDBY, 116 | 'FORWARD': MOVE_FORWARD, 117 | 'BACKWARD': MOVE_BACKWARD, 118 | 'LEFTSHIFT': MOVE_LEFTSHIFT, 119 | 'RIGHTSHIFT': MOVE_RIGHTSHIFT, 120 | 'LEFTTURN': MOVE_LEFTROTATE, 121 | 'RIGHTTURN': MOVE_RIGHTROTATE} 122 | return transitions_moving_status[button] 123 | 124 | @classmethod 125 | def get_shift_increment(cls, button): 126 | # button in ['FORWARD', 'BACKWARD', 'LEFTSHIFT', 'RIGHTSHIFT', 'LEFTTURN', 'RIGHTTURN'] 127 | if button == 'FORWARD': 128 | inc = [10, 0, 0] 129 | elif button == 'BACKWARD': 130 | inc = [-10, 0, 0] 131 | elif button == 'LEFTSHIFT': 132 | inc = [0, -10, 0] 133 | elif button == 'RIGHTSHIFT': 134 | inc = [0, 10, 0] 135 | elif button == 'LEFTTURN': 136 | inc = [0, 0, -10] 137 | elif button == 'RIGHTTURN': 138 | inc = [0, 0, 10] 139 | else: 140 | raise ValueError 141 | return inc 142 | 143 | def loop(self): 144 | # Setup Socket WebServer 145 | s = socket(AF_INET, SOCK_STREAM) 146 | s.setsockopt(SOL_SOCKET, SO_REUSEADDR, 1) 147 | s.bind((self.sta_ip, 80)) 148 | s.listen(1) 149 | 150 | # Main Loop 151 | while True: 152 | try: 153 | # Accept request from clients 154 | conn, addr = s.accept() 155 | except OSError: 156 | continue 157 | req = conn.recv(1024).decode() # req = str(conn.recv(1024)) 158 | 159 | # Parse Request and Process Remote Control Panel Input from Client 160 | self.process_panel(req) 161 | 162 | # conn.sendall('HTTP/1.1 200 OK\nConnection: close\nServer: FireBeetle\nContent-Type: text/html\n\n'.encode()) 163 | if req.find('favicon.ico') > -1: # Filter 164 | conn.close() 165 | continue 166 | elif req.find('calibration_page') > -1: 167 | try: 168 | conn.sendall(calib_html_str) 169 | conn.close() 170 | except OSError: 171 | continue 172 | else: 173 | try: 174 | # Response and Close Socket 175 | conn.sendall(panel_html_str) 176 | conn.close() 177 | except OSError: 178 | continue 179 | 180 | # print("Mode: ", self.rc_mode, "Gait:", self.rc_gait_mode, "Status: ", self.rc_moving_status, "Pose:", self.rc_pose) 181 | 182 | 183 | 184 | 185 | 186 | 187 | 188 | 189 | 190 | 191 | 192 | 193 | 194 | 195 | -------------------------------------------------------------------------------- /nodequad/geometry.py: -------------------------------------------------------------------------------- 1 | from math import cos, sin, pi 2 | 3 | SIN30 = sin(30 * pi / 180) # 0.5 4 | COS30 = cos(30 * pi / 180) # 0.866 5 | SIN45 = sin(45 * pi / 180) # 0.7071 6 | COS45 = cos(45 * pi / 180) # 0.7071 7 | SIN15 = sin(15 * pi / 180) # 0.2588 8 | COS15 = cos(15 * pi / 180) # 0.9659 9 | SIN10 = sin(10 * pi / 180) # 0.0872 10 | COS10 = cos(10 * pi / 180) # 0.9962 11 | 12 | 13 | class FastTransform: 14 | @staticmethod 15 | def rotate45(src_point3d): 16 | dest = [0.0, 0.0, 0.0] 17 | dest[0] = src_point3d[0] * COS45 - src_point3d[1] * SIN45 18 | dest[1] = src_point3d[0] * SIN45 + src_point3d[1] * COS45 19 | dest[2] = src_point3d[2] 20 | return dest 21 | 22 | @staticmethod 23 | def rotate135(src_point3d): 24 | dest = [0.0, 0.0, 0.0] 25 | dest[0] = src_point3d[0] * -COS45 - src_point3d[1] * SIN45 26 | dest[1] = src_point3d[0] * SIN45 + src_point3d[1] * -COS45 27 | dest[2] = src_point3d[2] 28 | return dest 29 | 30 | @staticmethod 31 | def rotate225(src_point3d): 32 | dest = [0.0, 0.0, 0.0] 33 | dest[0] = src_point3d[0] * -COS45 - src_point3d[1] * -SIN45 34 | dest[1] = src_point3d[0] * -SIN45 + src_point3d[1] * -COS45 35 | dest[2] = src_point3d[2] 36 | return dest 37 | 38 | @staticmethod 39 | def rotate315(src_point3d): 40 | dest = [0.0, 0.0, 0.0] 41 | dest[0] = src_point3d[0] * COS45 - src_point3d[1] * -SIN45 42 | dest[1] = src_point3d[0] * -SIN45 + src_point3d[1] * COS45 43 | dest[2] = src_point3d[2] 44 | return dest 45 | 46 | @staticmethod 47 | def rotate90(src_point3d): 48 | dest = [0.0, 0.0, 0.0] 49 | dest[0] = src_point3d[0] * 0 - src_point3d[1] * 1 50 | dest[1] = src_point3d[0] * 1 + src_point3d[1] * 0 51 | dest[2] = src_point3d[2] 52 | return dest 53 | 54 | @staticmethod 55 | def rotate270(src_point3d): 56 | dest = [0.0, 0.0, 0.0] 57 | dest[0] = src_point3d[0] * 0 - src_point3d[1] * -1 58 | dest[1] = src_point3d[0] * -1 + src_point3d[1] * 0 59 | dest[2] = src_point3d[2] 60 | return dest 61 | 62 | 63 | def tran2pose(Tpt): 64 | pass 65 | 66 | 67 | def pos2vec(pos): 68 | return list(pos) + [1,] 69 | 70 | 71 | def pose2tran(pos, orn, inv_order=False): 72 | """pos to homogeneous transformation matrix""" 73 | Tpt = [0.0] * 16 # 4 * 4 74 | if inv_order is False: # T*Rz*Ry*Rx 75 | # first row 76 | Tpt[0 * 4 + 0] = cos(orn[2]) * cos(orn[1]) 77 | Tpt[0 * 4 + 1] = cos(orn[2]) * sin(orn[1]) * sin(orn[0]) - sin(orn[2]) * cos(orn[0]) 78 | Tpt[0 * 4 + 2] = cos(orn[2]) * sin(orn[1]) * cos(orn[0]) + sin(orn[2]) * sin(orn[0]) 79 | Tpt[0 * 4 + 3] = pos[0] 80 | # second row 81 | Tpt[1 * 4 + 0] = sin(orn[2]) * cos(orn[1]) 82 | Tpt[1 * 4 + 1] = sin(orn[2]) * sin(orn[1]) * sin(orn[0]) + cos(orn[2]) * cos(orn[0]) 83 | Tpt[1 * 4 + 2] = sin(orn[2]) * sin(orn[1]) * cos(orn[0]) - cos(orn[2]) * sin(orn[0]) 84 | Tpt[1 * 4 + 3] = pos[1] 85 | # third row 86 | Tpt[2 * 4 + 0] = -sin(orn[1]) 87 | Tpt[2 * 4 + 1] = cos(orn[1]) * sin(orn[0]) 88 | Tpt[2 * 4 + 2] = cos(orn[1]) * cos(orn[0]) 89 | Tpt[2 * 4 + 3] = pos[2] 90 | # forth row 91 | Tpt[3 * 4 + 0] = 0.0 92 | Tpt[3 * 4 + 1] = 0.0 93 | Tpt[3 * 4 + 2] = 0.0 94 | Tpt[3 * 4 + 3] = 1.0 95 | else: # Rx*Ry*Rz*T = inverse of (T*Rz*Ry*Rx) 96 | # first row 97 | Tpt[0 * 4 + 0] = cos(orn[1]) * cos(orn[2]) 98 | Tpt[0 * 4 + 1] = -cos(orn[1]) * sin(orn[2]) 99 | Tpt[0 * 4 + 2] = sin(orn[1]) 100 | Tpt[0 * 4 + 3] = (cos(orn[1]) * cos(orn[2])) * pos[0] + (-cos(orn[1]) * sin(orn[2])) * pos[1] + sin(orn[1]) * \ 101 | pos[2] 102 | # second row 103 | Tpt[1 * 4 + 0] = cos(orn[0]) * sin(orn[2]) + sin(orn[0]) * sin(orn[1]) * cos(orn[2]) 104 | Tpt[1 * 4 + 1] = cos(orn[0]) * cos(orn[2]) - sin(orn[0]) * sin(orn[1]) * sin(orn[2]) 105 | Tpt[1 * 4 + 2] = -sin(orn[0]) * cos(orn[1]) 106 | Tpt[1 * 4 + 3] = (cos(orn[0]) * sin(orn[2]) + sin(orn[0]) * sin(orn[1]) * cos(orn[2])) * pos[0] + ( 107 | cos(orn[0]) * cos(orn[2]) - sin(orn[0]) * sin(orn[1]) * sin(orn[2])) * pos[1] + ( 108 | -sin(orn[0]) * cos(orn[1])) * pos[2] 109 | # third row 110 | Tpt[2 * 4 + 0] = sin(orn[0]) * sin(orn[2]) - cos(orn[0]) * sin(orn[1]) * cos(orn[2]) 111 | Tpt[2 * 4 + 1] = sin(orn[0]) * cos(orn[2]) + cos(orn[0]) * sin(orn[1]) * sin(orn[2]) 112 | Tpt[2 * 4 + 2] = cos(orn[0]) * cos(orn[1]) 113 | Tpt[2 * 4 + 3] = (sin(orn[0]) * sin(orn[2]) - cos(orn[0]) * sin(orn[1]) * cos(orn[2])) * pos[0] + ( 114 | sin(orn[0]) * cos(orn[2]) + cos(orn[0]) * sin(orn[1]) * sin(orn[2])) * pos[1] + cos(orn[0]) * cos( 115 | orn[1]) * pos[2] 116 | # forth row 117 | Tpt[3 * 4 + 0] = 0.0 118 | Tpt[3 * 4 + 1] = 0.0 119 | Tpt[3 * 4 + 2] = 0.0 120 | Tpt[3 * 4 + 3] = 1.0 121 | return Tpt 122 | 123 | 124 | def inv_tran(Titi): 125 | """finding the inverse of the homogeneous transformation matrix""" 126 | Titf = [0.0] * 16 # 4 * 4 127 | # first row 128 | Titf[0 * 4 + 0] = Titi[0 * 4 + 0] 129 | Titf[0 * 4 + 1] = Titi[1 * 4 + 0] 130 | Titf[0 * 4 + 2] = Titi[2 * 4 + 0] 131 | Titf[0 * 4 + 3] = -Titi[0 * 4 + 0] * Titi[0 * 4 + 3] - Titi[1 * 4 + 0] * Titi[1 * 4 + 3] - Titi[2 * 4 + 0] * Titi[ 132 | 2 * 4 + 3] 133 | # second row 134 | Titf[1 * 4 + 0] = Titi[0 * 4 + 1] 135 | Titf[1 * 4 + 1] = Titi[1 * 4 + 1] 136 | Titf[1 * 4 + 2] = Titi[2 * 4 + 1] 137 | Titf[1 * 4 + 3] = -Titi[0 * 4 + 1] * Titi[0 * 4 + 3] - Titi[1 * 4 + 1] * Titi[1 * 4 + 3] - Titi[2 * 4 + 1] * Titi[ 138 | 2 * 4 + 3] 139 | # third row 140 | Titf[2 * 4 + 0] = Titi[0 * 4 + 2] 141 | Titf[2 * 4 + 1] = Titi[1 * 4 + 2] 142 | Titf[2 * 4 + 2] = Titi[2 * 4 + 2] 143 | Titf[2 * 4 + 3] = -Titi[0 * 4 + 2] * Titi[0 * 4 + 3] - Titi[1 * 4 + 2] * Titi[1 * 4 + 3] - Titi[2 * 4 + 2] * Titi[ 144 | 2 * 4 + 3] 145 | # forth row 146 | Titf[3 * 4 + 0] = 0.0 147 | Titf[3 * 4 + 1] = 0.0 148 | Titf[3 * 4 + 2] = 0.0 149 | Titf[3 * 4 + 3] = 1.0 150 | return Titf 151 | 152 | 153 | def matrix_print(matrix1d, m, n): 154 | for i in range(m): 155 | for j in range(n): 156 | print(matrix1d[i * n + j], end=' ') 157 | print('\n') 158 | 159 | 160 | def matrix_multiply(matrix1d_left, matrix1d_right, m, p, n): 161 | """Matrix Multiplication Routine""" 162 | matrix1d_res = [0] * m * n 163 | for i in range(m): 164 | for j in range(n): 165 | for k in range(p): 166 | matrix1d_res[n * i + j] += matrix1d_left[p * i + k] * matrix1d_right[n * k + j] 167 | return matrix1d_res 168 | 169 | 170 | def matrix_add(matrix1d_left, matrix1d_right, m, n): 171 | matrix1d_res = [0] * m * n 172 | for i in range(m): 173 | for j in range(n): 174 | matrix1d_res[n * i + j] = matrix1d_left[n * i + j] + matrix1d_right[n * i + j] 175 | return matrix1d_res 176 | 177 | 178 | def matrix_subtract(matrix1d_left, matrix1d_right, m, n): 179 | return matrix_add(matrix1d_left, matrix_scale(matrix1d_right, m, n, -1), m, n) 180 | 181 | 182 | def matrix_inverse(matrix1d, m, n): 183 | """预留""" 184 | matrix1d_inv = [0] * m * n 185 | return matrix1d_inv 186 | 187 | 188 | def matrix_transpose(matrix1d, m, n): 189 | matrix1d_res = [0] * m * n 190 | for i in range(m): 191 | for j in range(n): 192 | matrix1d_res[m * j + i] = matrix1d[n * i + j] 193 | 194 | 195 | def matrix_scale(matrix1d, m, n, k): 196 | """不改变传入矩阵""" 197 | matrix1d_res = [0] * m * n 198 | for i in range(m): 199 | for j in range(n): 200 | matrix1d_res[n * i + j] = matrix1d[n * i + j] * k 201 | return matrix1d_res 202 | 203 | 204 | if __name__ == '__main__': 205 | matrix_1d = [4, 4, 4, 4, 5, 5, 5, 5, 6, 6, 6, 6, 7, 7, 7, 7] 206 | matrix_1d_2 = [5, 5, 5, 5, 6, 6, 6, 6, 7, 7, 7, 7, 8, 8, 8, 8] 207 | print(matrix_subtract(matrix_1d, matrix_1d_2, 4, 4)) 208 | 209 | 210 | 211 | -------------------------------------------------------------------------------- /nodequad/nodequad.py: -------------------------------------------------------------------------------- 1 | import json 2 | from leg import Leg 3 | from gait import Gait 4 | from Servo import Servo 5 | from utime import sleep_ms 6 | from geometry import * 7 | from gait import MODE_MOVE, MODE_POSE 8 | from gait import GAIT_TROT 9 | from gait import MOVE_STANDBY 10 | from controller import WebController 11 | from setting import calibration_path 12 | from math import pi 13 | 14 | 15 | class NodeQuad: 16 | """ 17 | 四足机器人类 NodeQuad--Leg(kinematics + transform)--Servo(geometry)--PCA9685(iic) 18 | --Gait(trajectory) 19 | """ 20 | def __init__(self, sta_ip, i2c, address, pulse_min, pulse_max, pulse_freq): 21 | # is calibrating 22 | self.calibration = 0 # 0-normal 1-calibration 23 | 24 | # action mode 25 | self.mode = MODE_MOVE 26 | # status 27 | self.moving_status = MOVE_STANDBY 28 | # hardware 29 | self.servo = Servo(i2c, address, pulse_min, pulse_max, pulse_freq) 30 | # kinematics 31 | self.legs = [Leg(self.servo, i) for i in range(4)] 32 | # gait 33 | self.gait = Gait() 34 | self.gait_mode = GAIT_TROT # 0-Trot 1-Walk 2-Pace 3-Creep 35 | self.gait_path = self.gait.gen_path(self.gait_mode, self.moving_status) 36 | self.path_step_beginid = 0 37 | self.path_step_id = 0 38 | # web controller 39 | self.web_controller = WebController(sta_ip) 40 | 41 | # other setting 42 | self.faster = False # 通过减少采样点来提高移动速度（预留） 43 | 44 | def init(self): 45 | self.load_calibration(calibration_path) 46 | print("NodeQuad init done.") 47 | 48 | def load_calibration(self, json_path): 49 | with open(json_path, 'r') as f: 50 | json_data = json.load(f) 51 | calibration_data = json_data['calibration'] 52 | self.servo.set_offset(calibration_data) 53 | print("Load calibration data: {0}\n".format(calibration_data)) 54 | 55 | def save_calibration(self, json_path): 56 | with open(json_path, 'w') as f: 57 | json_dict = {'calibration': self.servo.offset} 58 | json.dump(json_dict, f) 59 | print("Save calibration data: {0}\n".format(self.servo.offset)) 60 | 61 | def update_iscalibration(self): 62 | if self.calibration != self.web_controller.rc_calibration: 63 | self.calibration = self.web_controller.rc_calibration 64 | 65 | def update_gait_mode(self): 66 | if self.web_controller.rc_gait_mode != self.gait_mode: 67 | self.gait_mode = self.web_controller.rc_gait_mode 68 | self.path_step_id = 0 # in potential! 69 | else: 70 | pass # 避免每次都重新计算轨迹以节约计算资源 71 | 72 | def update_moving_status(self): 73 | if self.web_controller.rc_moving_status != self.moving_status: # and self.path_step_id == self.path_step_beginid: 74 | self.moving_status = self.web_controller.rc_moving_status 75 | self.gait_path = self.gait.gen_path(self.gait_mode, self.moving_status) 76 | self.path_step_id = 0 # in potential! 77 | 78 | def update_mode(self): 79 | if self.mode != self.web_controller.rc_mode: 80 | self.mode = self.web_controller.rc_mode 81 | self.path_step_id = 0 82 | 83 | def map_rc_pose(self): 84 | trans = self.web_controller.rc_pose[:3] 85 | orns = [orn * 15 / 100 * pi/180 for orn in self.web_controller.rc_pose[3:]] 86 | return trans, orns 87 | 88 | def pose_transform(self, pos_tuple, orn_tuple): 89 | """ 90 | :param pos_tuple: (x, y, z) orn_tuple: (roll, pitch, yaw) 91 | :return: 92 | """ 93 | # 1 solve RT 94 | matrix_body_tran = pose2tran(pos_tuple, orn_tuple) 95 | 96 | # 2 body-frame to coxa-frame vector (on world frame) 97 | fr_body2coxa = pos2vec(self.legs[0].mount_position) 98 | br_body2coxa = pos2vec(self.legs[1].mount_position) 99 | bl_body2coxa = pos2vec(self.legs[2].mount_position) 100 | fl_body2coxa = pos2vec(self.legs[3].mount_position) 101 | 102 | # 3 body-frame to tip-frame vector (on world-frame) 103 | fr_body2tip = pos2vec(self.legs[0].initial_tip_pos_local) 104 | br_body2tip = pos2vec(self.legs[1].initial_tip_pos_local) 105 | bl_body2tip = pos2vec(self.legs[2].initial_tip_pos_local) 106 | fl_body2tip = pos2vec(self.legs[3].initial_tip_pos_local) 107 | 108 | # 4 body-frame to coxa-frame vector rotated with the body (on world-frame) 109 | fr_body2coxa_rotated = matrix_multiply(matrix_body_tran, fr_body2coxa, 4, 4, 1) 110 | br_body2coxa_rotated = matrix_multiply(matrix_body_tran, br_body2coxa, 4, 4, 1) 111 | bl_body2coxa_rotated = matrix_multiply(matrix_body_tran, bl_body2coxa, 4, 4, 1) 112 | fl_body2coxa_rotated = matrix_multiply(matrix_body_tran, fl_body2coxa, 4, 4, 1) 113 | 114 | # 5 coxa-frame to tip-frame vector (on world-frame) 115 | fr_coxa2tip = matrix_subtract(fr_body2tip, fr_body2coxa_rotated, 4, 1) 116 | br_coxa2tip = matrix_subtract(br_body2tip, br_body2coxa_rotated, 4, 1) 117 | bl_coxa2tip = matrix_subtract(bl_body2tip, bl_body2coxa_rotated, 4, 1) 118 | fl_coxa2tip = matrix_subtract(fl_body2tip, fl_body2coxa_rotated, 4, 1) 119 | 120 | # 6 convert to a representation on coxa-frame necessary for IK (coxa-frame) 121 | matrix_undo_orn_tran = inv_tran(pose2tran((0, 0, 0), orn_tuple)) 122 | fr_coxa2tip_coxa = matrix_multiply(matrix_undo_orn_tran, fr_coxa2tip, 4, 4, 1) 123 | br_coxa2tip_coxa = matrix_multiply(matrix_undo_orn_tran, br_coxa2tip, 4, 4, 1) 124 | bl_coxa2tip_coxa = matrix_multiply(matrix_undo_orn_tran, bl_coxa2tip, 4, 4, 1) 125 | fl_coxa2tip_coxa = matrix_multiply(matrix_undo_orn_tran, fl_coxa2tip, 4, 4, 1) 126 | 127 | fr_local2coxa_tran = pose2tran((0, 0, 0), (0, 0, 45*pi/180)) 128 | br_local2coxa_tran = pose2tran((0, 0, 0), (0, 0, 315*pi/180)) 129 | bl_local2coxa_tran = pose2tran((0, 0, 0), (0, 0, 225*pi/180)) 130 | fl_local2coxa_tran = pose2tran((0, 0, 0), (0, 0, 135*pi/180)) 131 | 132 | fr_tip_local = matrix_multiply(fr_local2coxa_tran, fr_coxa2tip_coxa, 4, 4, 1) 133 | br_tip_local = matrix_multiply(br_local2coxa_tran, br_coxa2tip_coxa, 4, 4, 1) 134 | bl_tip_local = matrix_multiply(bl_local2coxa_tran, bl_coxa2tip_coxa, 4, 4, 1) 135 | fl_tip_local = matrix_multiply(fl_local2coxa_tran, fl_coxa2tip_coxa, 4, 4, 1) 136 | 137 | target_pos_local = [fr_tip_local[:-1], 138 | br_tip_local[:-1], 139 | bl_tip_local[:-1], 140 | fl_tip_local[:-1]] 141 | return target_pos_local 142 | 143 | def move_legs_tips(self, target_pos, local=True): 144 | # print(target_pos) 145 | for leg_index in range(4): 146 | if local: 147 | self.legs[leg_index].move_tip_local(target_pos[leg_index]) 148 | else: 149 | self.legs[leg_index].move_tip(target_pos[leg_index]) 150 | 151 | def move_legs_joints(self, target_joint_angles): 152 | for leg_index in range(4): 153 | self.legs[leg_index].move_joints_directly(target_joint_angles[leg_index]) 154 | 155 | def main_loop(self): 156 | """主线程：所有对遥控量的再处理都放在这里""" 157 | while True: 158 | # for debug 159 | # print("is calibrating: ", self.calibration) 160 | # print("mode: ", self.mode, "gait mode: ", self.gait_mode, "moving status: ",self.moving_status , "path id: ", self.path_step_id) 161 | self.update_iscalibration() 162 | 163 | if self.calibration == 0: # normal mode 164 | self.update_mode() 165 | if self.mode == MODE_MOVE: # MOVE 166 | self.update_gait_mode() 167 | self.update_moving_status() 168 | 169 | target_pos_world = self.gait_path[self.path_step_id] 170 | #print(target_pos_world) 171 | self.path_step_id = self.path_step_id + 1 if self.path_step_id < len(self.gait_path) - 1 else 0 172 | self.move_legs_tips(target_pos_world, local=False) 173 | sleep_ms(15) # 舵机响应时间 174 | elif self.mode == MODE_POSE: # POSE 175 | # Body姿态 -> 目标足尖坐标 176 | x_y_z, roll_pitch_yaw = self.map_rc_pose() # Joystick Mapping and process 177 | # print(x_y_z, roll_pitch_yaw) 178 | target_pos_local = self.pose_transform(x_y_z, roll_pitch_yaw) # Transform 179 | # print(target_pos_local) 180 | self.move_legs_tips(target_pos_local, local=True) # IK -> joint 181 | else: 182 | raise ValueError("Unexpected Mode") 183 | 184 | elif self.calibration == 1: # calibration mode 185 | while self.calibration: 186 | self.update_iscalibration() 187 | # print("in nodequad main loop calibrating: ", self.calibration) 188 | self.servo.set_offset(self.web_controller.calibration_data) 189 | self.move_legs_joints(self.web_controller.calibration_data) # direct joint 190 | sleep_ms(50) 191 | self.save_calibration(calibration_path) 192 | self.calibration = 0 # 从calibration模式切换至normal模式不是也不应采取RC遥控的方式：校正结束自动切换 193 | else: 194 | pass 195 | 196 | 197 | 198 | 199 | 200 | 201 | 202 | 203 | 204 | 205 | 206 | 207 | 208 | 209 | 210 | -------------------------------------------------------------------------------- /nodequad/panel_http.html: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | NodeQuad 8 | 9 | 10 |

NodeQuad


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205 | 206 | 207 | 208 | 209 | 210 | 225 | 226 | 227 | 228 | 229 | 230 | -------------------------------------------------------------------------------- /nodequad/gait.py: -------------------------------------------------------------------------------- 1 | from math import sin, cos, pi 2 | from setting import p1_x, p1_y, p1_z, p2_x, p2_y, p2_z, p3_x, p3_y, p3_z, p4_x, p4_y, p4_z 3 | from geometry import FastTransform 4 | 5 | 6 | GAIT_TROT = 0 7 | GAIT_WALK = 1 8 | GAIT_GALLOP = 2 9 | GAIT_CREEP = 3 10 | 11 | MODE_STAND = 00 12 | MODE_MOVE = 10 13 | MODE_POSE = 20 14 | 15 | MOVE_STANDBY = 11 16 | MOVE_FORWARD = 12 17 | MOVE_BACKWARD = 13 18 | MOVE_LEFTSHIFT = 14 19 | MOVE_RIGHTSHIFT = 15 20 | MOVE_LEFTROTATE = 16 21 | MOVE_RIGHTROTATE = 17 22 | 23 | home_x = [p1_x, p2_x, p3_x, p4_x] 24 | home_y = [p1_y, p2_y, p3_y, p4_y] 25 | home_z = [p1_z, p2_z, p3_z, p4_z] 26 | 27 | 28 | def left_rotate_path(path: list, rotation_num): 29 | # method 1 30 | rotated_path = path[rotation_num:] + path[:rotation_num] 31 | 32 | # method 2 33 | # rotated_path = [path[(i + rotation_len) % len(path)] for i, x in enumerate(path)] 34 | 35 | # method 3 36 | # from collections import deque 37 | # path = deque(path) 38 | # path.rotate(-rotation_len) 39 | # rotated_path = list(path) 40 | return rotated_path 41 | 42 | 43 | def right_rotate_path(path: list, rotation_num): 44 | # method 1 45 | rotated_path = path[(len(path) - rotation_num):] + path[:(len([path]) - rotation_num - 1)] 46 | return rotated_path 47 | 48 | 49 | class Gait: 50 | """步态生成""" 51 | def __init__(self): 52 | # gait constants 53 | self.amplitudeX, self.amplitudeY, self.amplitudeZ = 25, 15, 35 54 | # movement configuration 55 | self.frame_time_ms = 20 56 | 57 | def gen_path(self, gait_mode, move_status, gait_speed=0): 58 | """Generate gait trajectory under world frame.""" 59 | if gait_mode == GAIT_TROT: 60 | path = self.trot_gait(move_status, gait_speed) 61 | elif gait_mode == GAIT_WALK: 62 | path = self.walk_gait(move_status, gait_speed) 63 | elif gait_mode == GAIT_GALLOP: 64 | path = self.gallop_gait(move_status, gait_speed) 65 | elif gait_mode == GAIT_CREEP: 66 | path = self.creep_gait(move_status, gait_speed) 67 | else: 68 | raise ValueError() 69 | return path 70 | 71 | def formated_path_status(self, fr_path_quad, br_path_quad, bl_path_quad, fl_path_quad, move_status): 72 | path_quad = [[fr_path_quad[path_id], br_path_quad[path_id], bl_path_quad[path_id], fl_path_quad[path_id]] 73 | for path_id in range(len(fr_path_quad))] 74 | if move_status == MOVE_STANDBY: 75 | corrected_path = [[[0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0]]] 76 | elif move_status == MOVE_FORWARD: 77 | corrected_path = path_quad 78 | elif move_status == MOVE_BACKWARD: 79 | corrected_path = [[[-point[0], point[1], point[2]] for point in leg_points] for leg_points in path_quad] 80 | elif move_status == MOVE_LEFTSHIFT: 81 | corrected_path = [[FastTransform.rotate270(point) for point in leg_points] for leg_points in path_quad] 82 | elif move_status == MOVE_RIGHTSHIFT: 83 | corrected_path = [[FastTransform.rotate90(point) for point in leg_points] for leg_points in path_quad] 84 | elif move_status == MOVE_LEFTROTATE: 85 | corrected_path = [[FastTransform.rotate315(leg_points[0]), 86 | FastTransform.rotate45(leg_points[1]), 87 | FastTransform.rotate135(leg_points[2]), 88 | FastTransform.rotate225(leg_points[3])] for leg_points in path_quad] 89 | elif move_status == MOVE_RIGHTROTATE: 90 | corrected_path = [[FastTransform.rotate135(leg_points[0]), 91 | FastTransform.rotate225(leg_points[1]), 92 | FastTransform.rotate315(leg_points[2]), 93 | FastTransform.rotate45(leg_points[3])] for leg_points in path_quad] 94 | else: 95 | raise ValueError 96 | 97 | path_quad_world = [[[points_set[0][0] + home_x[0], points_set[0][1] + home_y[0], points_set[0][2] + home_z[0]], 98 | [points_set[1][0] + home_x[1], points_set[1][1] + home_y[1], points_set[1][2] + home_z[1]], 99 | [points_set[2][0] + home_x[2], points_set[2][1] + home_y[2], points_set[2][2] + home_z[2]], 100 | [points_set[3][0] + home_x[3], points_set[3][1] + home_y[3], points_set[3][2] + home_z[3]]] 101 | for points_set in corrected_path] 102 | return path_quad_world 103 | 104 | def trot_gait(self, move_status, gait_speed=0): 105 | """global""" 106 | duration = 200 if gait_speed == 0 else 400 107 | # total ticks divided into 2 stages, 'num_ticks' = ticks per stages 108 | num_ticks = int(duration / self.frame_time_ms / 2) 109 | # fr_path_quad = [[0.0, 0.0, 0.0]] * num_ticks * 2 # shallow copy 110 | fr_path_quad = [[0.0, 0.0, 0.0] for i in range(num_ticks*2)] 111 | 112 | for stage_id in range(2): # A cycle is divided into 2 stages 113 | for tick_cnt in range(num_ticks): 114 | interp_id = stage_id * num_ticks + tick_cnt 115 | if stage_id == 0: 116 | fr_path_quad[interp_id][0] = -self.amplitudeX * cos(pi * tick_cnt / num_ticks) 117 | fr_path_quad[interp_id][1] = 0.0 118 | fr_path_quad[interp_id][2] = abs(self.amplitudeZ) * sin(pi * tick_cnt / num_ticks) * -1 119 | elif stage_id == 1: 120 | fr_path_quad[interp_id][0] = self.amplitudeX * cos(pi * tick_cnt / num_ticks) 121 | fr_path_quad[interp_id][1] = 0.0 122 | fr_path_quad[interp_id][2] = 0.0 123 | else: 124 | pass 125 | 126 | # Deep copy 127 | br_path_quad = [[point[0], point[1], point[2]] for point in right_rotate_path(fr_path_quad, num_ticks)] 128 | bl_path_quad = [[point[0], point[1], point[2]] for point in fr_path_quad] 129 | fl_path_quad = [[point[0], point[1], point[2]] for point in br_path_quad] 130 | 131 | path_quad_world = self.formated_path_status(fr_path_quad, br_path_quad, bl_path_quad, fl_path_quad, move_status) 132 | 133 | return path_quad_world 134 | 135 | def walk_gait(self, move_status, gait_speed=0): 136 | duration = 4 * 4 * self.frame_time_ms if gait_speed == 0 else 1280 137 | # total ticks divided into 4 stages, 'num_ticks' = ticks per stages 138 | num_ticks = int(duration / self.frame_time_ms / 4) 139 | fl_path_quad = [[0.0, 0.0, 0.0] for i in range(num_ticks*4)] 140 | 141 | for stage_id in range(4): # A cycle is divided into 4 stages 142 | for tick_cnt in range(num_ticks): 143 | interp_id = stage_id * num_ticks + tick_cnt 144 | if stage_id == 0: 145 | fl_path_quad[interp_id][0] = -self.amplitudeX * cos(pi * tick_cnt / num_ticks) * 1.5 146 | fl_path_quad[interp_id][1] = 0.0 147 | fl_path_quad[interp_id][2] = abs(self.amplitudeZ) * sin(pi * tick_cnt / num_ticks) * -1 148 | elif stage_id == 1: 149 | fl_path_quad[interp_id][0] = (self.amplitudeX - self.amplitudeX * 2 * (tick_cnt / num_ticks) / 3) * 1.5 150 | fl_path_quad[interp_id][1] = 0.0 151 | fl_path_quad[interp_id][2] = 0.0 152 | elif stage_id == 2: 153 | fl_path_quad[interp_id][0] = (self.amplitudeX - self.amplitudeX * 2 * ((num_ticks + tick_cnt) / num_ticks) / 3) * 1.5 154 | fl_path_quad[interp_id][1] = 0.0 155 | fl_path_quad[interp_id][2] = 0.0 156 | elif stage_id == 3: 157 | fl_path_quad[interp_id][0] = (self.amplitudeX - self.amplitudeX * 2 * ((2 * num_ticks + tick_cnt) / num_ticks) / 3) * 1.5 158 | fl_path_quad[interp_id][1] = 0.0 159 | fl_path_quad[interp_id][2] = 0.0 160 | else: 161 | pass 162 | 163 | fr_path_quad = [[point[0], point[1], point[2]] for point in right_rotate_path(fl_path_quad, num_ticks * 2)] 164 | br_path_quad = [[point[0], point[1], point[2]] for point in right_rotate_path(fl_path_quad, num_ticks * 1)] 165 | bl_path_quad = [[point[0], point[1], point[2]] for point in right_rotate_path(fl_path_quad, num_ticks * 3)] 166 | 167 | path_quad_world = self.formated_path_status(fr_path_quad, br_path_quad, bl_path_quad, fl_path_quad, move_status) 168 | 169 | return path_quad_world 170 | 171 | def gallop_gait(self, move_status, gait_speed=0): 172 | duration = 4 * 4 * self.frame_time_ms if gait_speed == 0 else 1280 173 | # total ticks divided into 4 stages, 'num_ticks' = ticks per stages 174 | num_ticks = int(duration / self.frame_time_ms / 4) 175 | fl_path_quad = [[0.0, 0.0, 0.0] for i in range(num_ticks*4)] 176 | 177 | for stage_id in range(4): # A cycle is divided into 4 stages 178 | for tick_cnt in range(num_ticks): 179 | interp_id = stage_id * num_ticks + tick_cnt 180 | if stage_id == 0: 181 | fl_path_quad[interp_id][0] = -self.amplitudeX * cos(pi * tick_cnt / num_ticks) * 1.5 182 | fl_path_quad[interp_id][1] = 0.0 183 | fl_path_quad[interp_id][2] = abs(self.amplitudeZ) * sin(pi * tick_cnt / num_ticks) * -1 184 | elif stage_id == 1: 185 | fl_path_quad[interp_id][0] = (self.amplitudeX - self.amplitudeX * 2 * (tick_cnt / num_ticks) / 3) * 1.5 186 | fl_path_quad[interp_id][1] = 0.0 187 | fl_path_quad[interp_id][2] = 0.0 188 | elif stage_id == 2: 189 | fl_path_quad[interp_id][0] = (self.amplitudeX - self.amplitudeX * 2 * ((num_ticks + tick_cnt) / num_ticks) / 3) * 1.5 190 | fl_path_quad[interp_id][1] = 0.0 191 | fl_path_quad[interp_id][2] = 0.0 192 | elif stage_id == 3: 193 | fl_path_quad[interp_id][0] = (self.amplitudeX - self.amplitudeX * 2 * ((2 * num_ticks + tick_cnt) / num_ticks) / 3) * 1.5 194 | fl_path_quad[interp_id][1] = 0.0 195 | fl_path_quad[interp_id][2] = 0.0 196 | else: 197 | pass 198 | 199 | # Rotary Gallop (Not Transverse Gallop) 200 | fr_path_quad = [[point[0], point[1], point[2]] for point in right_rotate_path(fl_path_quad, num_ticks * 1)] 201 | br_path_quad = [[point[0], point[1], point[2]] for point in right_rotate_path(fl_path_quad, num_ticks * 2)] 202 | bl_path_quad = [[point[0], point[1], point[2]] for point in right_rotate_path(fl_path_quad, num_ticks * 3)] 203 | 204 | path_quad_world = self.formated_path_status(fr_path_quad, br_path_quad, bl_path_quad, fl_path_quad, move_status) 205 | 206 | return path_quad_world 207 | 208 | def creep_gait(self, move_status, gait_speed=0): 209 | """global""" 210 | duration = 720 if gait_speed == 0 else 1440 211 | # total ticks divided into 6 stages, 'num_ticks' = ticks per stages 212 | num_ticks = int(duration / self.frame_time_ms / 6) 213 | fr_path_quad, bl_path_quad = [[0.0, 0.0, 0.0] for i in range(num_ticks*6)], [[0.0, 0.0, 0.0] for i in range(num_ticks*6)] 214 | 215 | for stage_id in range(6): # A cycle is divided into 2 stages 216 | for tick_cnt in range(num_ticks): 217 | interp_id = stage_id * num_ticks + tick_cnt 218 | if stage_id == 0: 219 | # home-amplitude到home+amplitude 220 | fr_path_quad[interp_id][0] = -self.amplitudeX * cos(pi * tick_cnt / num_ticks) * 2.0 221 | fr_path_quad[interp_id][1] = 0.0 222 | fr_path_quad[interp_id][2] = abs(self.amplitudeZ) * sin(pi * tick_cnt / num_ticks) * -1.5 223 | # 保持home 224 | bl_path_quad[interp_id][0] = 0.0 225 | bl_path_quad[interp_id][1] = 0.0 226 | bl_path_quad[interp_id][2] = 0.0 227 | elif stage_id == 1: 228 | # home+amplitude到home 229 | fr_path_quad[interp_id][0] = self.amplitudeX * cos(pi / 2 * tick_cnt / num_ticks) * 2.0 230 | fr_path_quad[interp_id][1] = 0.0 231 | fr_path_quad[interp_id][2] = 0.0 232 | # home往后到home-amplitude 233 | bl_path_quad[interp_id][0] = -self.amplitudeX * sin(pi / 2 * tick_cnt / num_ticks) * 2.0 234 | bl_path_quad[interp_id][1] = 0.0 235 | bl_path_quad[interp_id][2] = 0.0 236 | elif stage_id == 2: 237 | # 维持home 238 | fr_path_quad[interp_id][0] = 0.0 239 | fr_path_quad[interp_id][1] = 0.0 240 | fr_path_quad[interp_id][2] = 0.0 241 | # home-amplitude到home+amplitude 242 | bl_path_quad[interp_id][0] = -self.amplitudeX * cos(pi * tick_cnt / num_ticks) * 2.0 243 | bl_path_quad[interp_id][1] = 0.0 244 | bl_path_quad[interp_id][2] = abs(self.amplitudeZ) * sin(pi * tick_cnt / num_ticks) * -1.5 245 | elif stage_id == 3: 246 | # 维持home 247 | fr_path_quad[interp_id][0] = 0.0 248 | fr_path_quad[interp_id][1] = 0.0 249 | fr_path_quad[interp_id][2] = 0.0 250 | # 维持home+amplitude 251 | bl_path_quad[interp_id][0] = self.amplitudeX * 2.0 252 | bl_path_quad[interp_id][1] = 0.0 253 | bl_path_quad[interp_id][2] = 0.0 254 | elif stage_id == 4: 255 | # home到home-amplitude 256 | fr_path_quad[interp_id][0] = -self.amplitudeX * sin(pi / 2 * tick_cnt / num_ticks) * 2.0 257 | fr_path_quad[interp_id][1] = 0.0 258 | fr_path_quad[interp_id][2] = 0.0 259 | # home+amplitude到home 260 | bl_path_quad[interp_id][0] = self.amplitudeX * cos(pi / 2 * tick_cnt / num_ticks) * 2.0 261 | bl_path_quad[interp_id][1] = 0.0 262 | bl_path_quad[interp_id][2] = 0.0 263 | elif stage_id == 5: 264 | # 维持home-amplitude 265 | fr_path_quad[interp_id][0] = -self.amplitudeX * 2.0 266 | fr_path_quad[interp_id][1] = 0.0 267 | fr_path_quad[interp_id][2] = 0.0 268 | # 维持home 269 | bl_path_quad[interp_id][0] = 0.0 270 | bl_path_quad[interp_id][1] = 0.0 271 | bl_path_quad[interp_id][2] = 0.0 272 | else: 273 | pass 274 | 275 | fl_path_quad = [[point[0], point[1], point[2]] for point in left_rotate_path(fr_path_quad, int(len(fr_path_quad) / 2))] 276 | br_path_quad = [[point[0], point[1], point[2]] for point in left_rotate_path(bl_path_quad, int(len(bl_path_quad) / 2))] 277 | 278 | path_quad_world = self.formated_path_status(fr_path_quad, br_path_quad, bl_path_quad, fl_path_quad, move_status) 279 | 280 | return path_quad_world 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