JackM323
c5ca79a354
Training environment to make a walk model for the hexapod generated code that will be checked
40 lines
1.2 KiB
Python
40 lines
1.2 KiB
Python
import numpy as np
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from ArduinoCommunication import ArduinoCommunication
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from EspCommunication import ESP32Communication
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from simulation import Simulation
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import DataTypes as dt
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import config as cfg
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from robot_init import init_deg, init90_deg, init_pos, center_points
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# Globale Variablen
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robotCommunication = None
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shared_sim = None
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emote = None
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display_text = ""
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if cfg.sim:
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shared_sim = Simulation()
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else:
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if cfg.arduinoConnection:
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robotCommunication = ArduinoCommunication()
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else:
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robotCommunication = ESP32Communication()
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vector_dirmov = [0, 0, 0] # Direction Movement [vx, vy, omega]
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current_rad: dt.RadArray # Current Rad
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current_pos: dt.PosArray # Current Position
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# current_deg: dt.DegArray # Current Degrees
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# legarray: dt.DegArray # Working Leg Array
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# target_pos: dt.PosArray # Target Position
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robot_state = "idle" # Current State
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# Init for 6 Legs
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#leg_state = np.array(["step", "drag", "step", "drag", "step", "drag"])
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# Init for 4 Legs
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leg_state = np.array(["step", "drag", "drag", "drag", "drag", "drag"])
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control_pause: bool = False
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# Initilize mit Start Position
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## Shared init pose definitions are imported from robot_init.py
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