Quadruped

My robot software.

Documentation

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

The documentation can be found here.

Install

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

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.