Machine Learning Trainer

Training environment to make a walk model for the hexapod generated code that will be checked
2026-07-30 17:23:36 +02:00
parent bec157a458
commit c5ca79a354
16 changed files with 980 additions and 88 deletions
@@ -1,81 +1,39 @@
-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
-emote = None
-display_text = ""
-
-if cfg.sim:
-    shared_sim = Simulation()
-else:
-    if cfg.arduinoConnection:
-        robotCommunication = ArduinoCommunication()
-    else:
-        robotCommunication = ESP32Communication()
-
-vector_dirmov = [0, 0, 0]  # Direction Movement [vx, vy, omega]
-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())
+import numpy as np
+from ArduinoCommunication import ArduinoCommunication
+from EspCommunication import ESP32Communication
+from simulation import Simulation
+import DataTypes as dt
+import config as cfg
+from robot_init import init_deg, init90_deg, init_pos, center_points
+
+# Globale Variablen
+robotCommunication = None
+shared_sim = None
+emote = None
+display_text = ""
+
+if cfg.sim:
+    shared_sim = Simulation()
+else:
+    if cfg.arduinoConnection:
+        robotCommunication = ArduinoCommunication()
+    else:
+        robotCommunication = ESP32Communication()
+
+vector_dirmov = [0, 0, 0]  # Direction Movement [vx, vy, omega]
+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
+## Shared init pose definitions are imported from robot_init.py