100 lines
3.2 KiB
Python
100 lines
3.2 KiB
Python
import math
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class Robot:
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class Servo:
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def __init__(self, angle, geometry, previous_servos=None):
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self.deg = angle
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self.rad = self._get_rad(self.deg)
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self.geometry = geometry
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self.max, self.min = self._get_max_min()
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self.previous_servos = None
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self.total_angle_deg = None
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self.total_angle_rad = None
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def add_previous_servos(self, previous_servos=None):
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self.previous_servos = previous_servos
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self.total_angle_deg = self.deg
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if previous_servos:
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for servo in self.previous_servos:
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self.total_angle_deg += servo.deg
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self.total_angle_rad = self._get_rad(self.total_angle_deg)
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def _get_rad(self, deg):
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rad = deg * math.pi / 180
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return rad
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def set_angle(self, angle):
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self.deg = angle
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self.rad = self._get_rad()
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def _get_angle(self, ms):
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val_min = self.geometry.min
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val_max = self.geometry.max
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val_mid = self.geometry.mid
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change = 1 / 90
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if val_min > val_max:
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change *= -1
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angle = (ms - val_mid) / change
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return angle
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def _get_max_min(self):
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return self._get_angle(self.geometry.max), self._get_angle(self.geometry.min)
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class Geometry:
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def __init__(self, _max, _min, mid):
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self.max = _max
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self.min = _min
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self.mid = mid
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class Arm:
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def __init__(self, attatched_to, length, height=0.0):
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self.attachted_to = attatched_to
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self.length = length
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self.height = height
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class CoordinateSystem:
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def __init__(self, x, y):
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self.xmin = x[0]
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self.xmax = x[1]
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self.ymin = y[0]
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self.ymax = y[1]
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def is_inside(self, x, y):
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return self.xmin <= x <= self.xmax and self.ymin <= y <= self.ymax
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def __init__(self, s1, s2, s3, coordinatessystem):
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self.servo1 = s1
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self.servo2 = s2
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self.servo3 = s3
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self.coordinatesystem = coordinatessystem
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self.arm1 = None
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self.arm2 = None
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self.arm3 = None
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# get position based on servos
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# get efficency based on servos
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def init_depending(self, a1, a2, a3, s1_prev=None, s2_prev=None, s3_prev=None):
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self.arm1 = a1
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self.arm2 = a2
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self.arm3 = a3
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self.servo1.add_previous_servos(s1_prev)
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self.servo2.add_previous_servos(s2_prev)
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self.servo3.add_previous_servos(s3_prev)
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def _get_position(self):
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return x, y
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def _get_efficency(self):
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return effi
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test = Robot(Robot.Servo(1, Robot.Servo.Geometry(0.55, 2.3, 1.4)),
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Robot.Servo(2, Robot.Servo.Geometry(2.5, 0.55, 1.55)),
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Robot.Servo(3, Robot.Servo.Geometry(0.7, 2.25, 2.25)),
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Robot.CoordinateSystem([-100, 100], [-100, 100]))
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test.init_depending(Robot.Arm(test.servo1, 10.26, 0.84), Robot.Arm(test.servo2, 9.85), Robot.Arm(test.servo3, 12, 9),
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None, [test.servo1], [test.servo1, test.servo2])
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print("finished")
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