JackM323
2b2125bfde
old code was uploaded in the initial upload changed everything with working programm and updated the readme
32 lines
674 B
Python
32 lines
674 B
Python
# Connection
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port = "COM4"
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baudrate = 38400
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esp32_ip = "192.168.188.32"
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esp32_port = 3323
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timeout = 2.0
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sim: bool = True
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arduinoConnection: bool = False
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urdf_path = "JackBotUrdf.urdf"
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# row = legnumber (left 0,1,2 right 3,4,5)
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# column = servo position from torso(0) to feet(2)
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# Dimensions in m
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#robot_height = -0.1
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step_height = 0.03
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step_length = 0.04
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translation_gain = 1.0
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rotation_gain = 2.0
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# Leglength in m
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# L1 = 0.068
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# L2 = 0.0602
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# L3 = 0.070
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# standard_tickpersec = # 20 Fluessige Bewegung
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standard_tickpersec:float = 25 # [ticks/s]
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standard_duration:float = 0.8 # [s]
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standard_tickduration:float = 1 / standard_tickpersec
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