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Cleanup and bug fix

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lars
2019-05-19 10:37:28 +02:00
parent d80bf49905
commit 804c1a90fd
3 changed files with 34 additions and 33 deletions
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databaseCreator.py
+26 -27
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@@ -1,24 +1,23 @@
import math
import csv
geometry = {
"servo0min": 0.5,
"servo0max": 2.5,
"servo0mid": 1.85,
"servo1min": 2.3,
"servo1max": 0.55,
"servo1mid": 1.4,
"servo2min": 0.55,
"servo2max": 2.5,
"servo2mid": 1.55,
"servo3min": 2.25,
"servo3max": 0.7,
"servo3mid": 2.25,
"servo4min": 0.5,
"servo4max": 2.5,
"servo4mid": 1.5
}
"servo0min": 0.5,
"servo0max": 2.5,
"servo0mid": 1.85,
"servo1min": 2.3,
"servo1max": 0.55,
"servo1mid": 1.4,
"servo2min": 0.55,
"servo2max": 2.5,
"servo2mid": 1.55,
"servo3min": 2.25,
"servo3max": 0.7,
"servo3mid": 2.25,
"servo4min": 0.5,
"servo4max": 2.5,
"servo4mid": 1.5
}
arms = {
0: 0.84,
1: 10.26,
@@ -83,7 +82,7 @@ def get_ms(servo, angle):
val_min = geometry[minimum]
val_max = geometry[maximum]
val_mid = geometry[middle]
change = 1/90
change = 1 / 90
if val_min > val_max:
change *= -1
ms = (angle * change + val_mid)
@@ -132,12 +131,12 @@ if eff < replace
"""
db = {}
for steps in range(1, 0, -0.2):
for servo1 in range(pos[1][0], pos[1][1], steps):
for servo2 in range(pos[2][0], pos[2][1], steps):
for servo3 in range(pos[3][0], pos[3][1], steps):
for servo4 in range(pos[4][0], pos[4][1], steps):
coordinate = []
coordinate.append(get_pos([servo1, servo2, servo3, servo4]))
#coordinate.append(get_efficency([servo0, servo1, servo2, servo3, servo4]))
if coordinate in db:
if db[coordinate][]
for servo1 in range(pos[1][0], pos[1][1], steps):
for servo2 in range(pos[2][0], pos[2][1], steps):
for servo3 in range(pos[3][0], pos[3][1], steps):
for servo4 in range(pos[4][0], pos[4][1], steps):
coordinate = []
coordinate.append(get_pos([servo1, servo2, servo3, servo4]))
# coordinate.append(get_efficency([servo0, servo1, servo2, servo3, servo4]))
if coordinate in db:
if db[coordinate][]