Difference between revisions of "Raspberry PI Spiderbot"
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| Line 14: | Line 14: | ||
[[File:Leg_IMG_0029.JPG|400px]] | [[File:Leg_IMG_0029.JPG|400px]] | ||
[[File:LegConnection-IMG_0030.JPG]] | [[File:LegConnection-IMG_0030.JPG]] | ||
| + | = Leg Test = | ||
| + | <source lang='python'> | ||
| + | # Test Adafruit | ||
| + | # WF 2019-07-09 | ||
| + | import sys | ||
| + | import time | ||
| + | from adafruit_servokit import ServoKit | ||
| + | kit = ServoKit(channels=16) | ||
| + | # | ||
| + | # set the given angle for the given servos | ||
| + | # | ||
| + | def setAngle(servos,angle): | ||
| + | print (angle) | ||
| + | for id in servos: | ||
| + | kit.servo[id].angle=angle | ||
| + | time.sleep(0.3) | ||
| + | |||
| + | # Test Servo Software | ||
| + | servos=[] | ||
| + | args=len(sys.argv) | ||
| + | fromangle=0 | ||
| + | toangle=180 | ||
| + | step=1 | ||
| + | if args>1: | ||
| + | for port in range(1,args-1,1): | ||
| + | servos.append(int(sys.argv[port])) | ||
| + | anglestr=sys.argv[args-1] | ||
| + | if "-" in anglestr: | ||
| + | parts=anglestr.split("-") | ||
| + | fromangle=int(parts[0]) | ||
| + | toangle=int(parts[1]) | ||
| + | else: | ||
| + | fromangle=int(anglestr) | ||
| + | toangle=fromangle | ||
| + | else: | ||
| + | servos.append(0) | ||
| + | servos.append(1) | ||
| + | servos.append(2) | ||
| + | |||
| + | if fromangle!=toangle: | ||
| + | try: | ||
| + | while True: | ||
| + | for setangle in range(fromangle,toangle+step,step): | ||
| + | setAngle(servos,setangle) | ||
| + | except KeyboardInterrupt: | ||
| + | print("Keyboard interrupt") | ||
| + | else: | ||
| + | setAngle(servos,fromangle) | ||
| + | </source> | ||
[[Category:Raspberry]] | [[Category:Raspberry]] | ||
Revision as of 18:36, 23 July 2019
Inspired by the Arduino Project below we'd like to create a Raspberry PI version as in https://github.com/yasaspeiris/aragog
Video
Links
- Spider robot(quad robot, quadruped)-MG90 regishu 2017
- https://www.hackster.io/yasaspeiris/raspberry-pi-powered-quadruped-bbb68b
Parts
Assembly
- Legs and hinges are connected with 1.4x5mm screws
- Legs and servos are connected with 1.7x6mm screws
Leg Test
# Test Adafruit
# WF 2019-07-09
import sys
import time
from adafruit_servokit import ServoKit
kit = ServoKit(channels=16)
#
# set the given angle for the given servos
#
def setAngle(servos,angle):
print (angle)
for id in servos:
kit.servo[id].angle=angle
time.sleep(0.3)
# Test Servo Software
servos=[]
args=len(sys.argv)
fromangle=0
toangle=180
step=1
if args>1:
for port in range(1,args-1,1):
servos.append(int(sys.argv[port]))
anglestr=sys.argv[args-1]
if "-" in anglestr:
parts=anglestr.split("-")
fromangle=int(parts[0])
toangle=int(parts[1])
else:
fromangle=int(anglestr)
toangle=fromangle
else:
servos.append(0)
servos.append(1)
servos.append(2)
if fromangle!=toangle:
try:
while True:
for setangle in range(fromangle,toangle+step,step):
setAngle(servos,setangle)
except KeyboardInterrupt:
print("Keyboard interrupt")
else:
setAngle(servos,fromangle)