quadruped 0.4.1

Description:

quadruped 0.4.1

Quadruped



My robot software.

YouTube
Vimeo


Documentation
Note: This re-write is still very early and not fully running yet, just
parts.


Install

linux
You will also need:
pip install ds4drv


pip
The recommended way to install this library is:
pip install quadruped


Development
If you wish to develop and submit git-pulls, you can do:
git clone https://github.com/MomsFriendlyRobotCompany/quadruped
cd quadruped
pip install -e .


Testing
Since I have both python2 and python3 installed, I need to test with both:
python2 -m nose *.py
python3 -m nose *.py



Layout
Here is sort of the layout of the code:


Quadruped (see examples folders):

Engine(serial)
AHRS() - tilt compensated compass
IMU() - NXP IMU from Adafruit
MCP3208() - ADC for IR and whatever else

Gait:

command() - plans all feet through 1 gait cycle (12 steps)
eachLeg(x,y,z)









Engine({serial}): - handles movement hardware


legs[4]


servos[3]

angle
setServoLimits()
bulkWrite() - change to sync




coxa, femur, tibia
fk()
ik()
moveFoot(x,y,z)
moveFootAngle(a,b,c)









The example quadruped (in the examples folder), takes a dictionary. Currently
it takes:
data = {
'serialPort': '/dev/tty.usbserial-AL034G2K',
'write': 'bulk'
}
If you don’t pass it a serial port, then it falls back to a simulated serial
port (which does nothing) which is useful for testing.


Tools
This directory contains several tools for the robot:


Change Log


2017-Jul-07
0.4.1
broke out into package and published to PyPi

2016-Aug-10
0.0.1
init





MIT License
Copyright (c) 2016 Kevin J. Walchko
Permission is hereby granted, free of charge, to any person obtaining a copy of
this software and associated documentation files (the “Software”), to deal in
the Software without restriction, including without limitation the rights to
use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies
of the Software, and to permit persons to whom the Software is furnished to do
so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED “AS IS”, WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.