Project Initialization

First Upload to Gitea

GlobalVariables.py

@@ -0,0 +1,78 @@
+import numpy as np
+from ArduinoCommunication import ArduinoCommunication
+from EspCommunication import ESP32Communication
+from simulation import Simulation
+import DataTypes as dt
+import kinematics as kin
+import config as cfg
+
+# Globale Variablen
+robotCommunication = None
+shared_sim = None
+if cfg.sim:
+    shared_sim = Simulation()
+else:
+    if cfg.arduinoConnection:
+        robotCommunication = ArduinoCommunication()
+    else:
+        robotCommunication = ESP32Communication()
+
+vector_dirmov = [0, 0]  # Direction Movement
+current_rad: dt.RadArray  # Current Rad
+current_pos: dt.PosArray  # Current Position
+
+# current_deg: dt.DegArray  # Current Degrees
+# legarray: dt.DegArray  # Working Leg Array
+# target_pos: dt.PosArray  # Target Position
+
+robot_state = "idle"  # Current State
+# Init for 6 Legs
+#leg_state = np.array(["step", "drag", "step", "drag", "step", "drag"])
+# Init for 4 Legs
+leg_state = np.array(["step", "drag", "drag", "drag", "drag", "drag"])
+control_pause: bool = False
+
+# Initilize mit Start Position
+#init_deg: dt.DegArray = dt.DegArray(
+#    [
+#        [90, 30, 115],
+#        [90, 30, 115],
+#        [90, 30, 115],
+#        [90, 150, 65],
+#        [90, 150, 65],
+#        [90, 150, 65],
+#    ]
+#)
+init_deg: dt.DegArray = dt.DegArray(
+    [
+        [90, 30, 95],
+        [90, 30, 95],
+        [90, 30, 95],
+        [90, 150, 85],
+        [90, 150, 85],
+        [90, 150, 85],
+    ]
+)
+#init_deg: dt.DegArray = dt.DegArray(
+#    [
+#        [90, 45, 140],
+#        [90, 45, 140],
+#        [90, 45, 140],
+#        [90, 135, 40],
+#        [90, 135, 40],
+#        [90, 135, 40],
+#    ]
+#)
+
+init90_deg: dt.DegArray = dt.DegArray(
+    [
+        [90, 90, 90],
+        [90, 90, 90],
+        [90, 90, 90],
+        [90, 90, 90],
+        [90, 90, 90],
+        [90, 90, 90],
+    ]
+)
+
+center_points: dt.PosArray = kin.ikpyForward(init_deg.to_rad())