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danic85danic85
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Merge pull request #82 from makerforgetech/develop
Updates to V4
2 parents 8efbc37 + dd9a1d1 commit 55f1011

33 files changed

+864
-127
lines changed

‎.gitignore‎

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@@ -13,4 +13,132 @@ app.log*
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battery*.csv
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timelapse/*
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.coverage
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modular-biped-venv
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modular-biped-venv
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data
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# Viam demanded the modules get installed directly in the directory
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Adafruit_Blinka-8.28.0.dist-info/
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Adafruit_PlatformDetect-3.57.0.dist-info/
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Adafruit_PureIO-1.1.11.dist-info/
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Adafruit_PureIO/
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PIL/
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Pillow-10.1.0.dist-info/
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Pillow.libs/
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PyYAML-6.0.1.dist-info/
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Pypubsub-4.0.3.dist-info/
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RPi.GPIO-0.7.1.dist-info/
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RPi/
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_distutils_hack/
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_rpi_ws281x.cpython-311-aarch64-linux-gnu.so
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_yaml/
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adafruit_blinka/
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adafruit_bus_device/
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adafruit_circuitpython_busdevice-5.2.6.dist-info/
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adafruit_circuitpython_pixelbuf-2.0.4.dist-info/
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adafruit_circuitpython_requests-2.0.3.dist-info/
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adafruit_circuitpython_seesaw-1.16.1.dist-info/
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adafruit_circuitpython_typing-1.9.6.dist-info/
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adafruit_pixelbuf.py
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adafruit_platformdetect/
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adafruit_requests.py
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adafruit_seesaw/
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analogio.py
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bin/
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bitbangio.py
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board.py
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busio.py
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certifi-2023.11.17.dist-info/
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certifi/
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chardet-3.0.4.dist-info/
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chardet/
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circuitpython_typing/
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click-8.1.7.dist-info/
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click/
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colorzero-2.0.dist-info/
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colorzero/
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colour-0.1.5.dist-info/
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colour.py
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digitalio.py
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distutils-precedence.pth
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google/
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googleapis_common_protos-1.62.0.dist-info/
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googletrans-3.1.0a0.dist-info/
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googletrans/
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gpiozero-2.0.dist-info/
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gpiozero/
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gpiozerocli/
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grpclib-0.4.6.dist-info/
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grpclib/
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h11-0.9.0.dist-info/
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h11/
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h2-3.2.0.dist-info/
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h2/
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hpack-3.0.0.dist-info/
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hpack/
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hstspreload-2023.1.1.dist-info/
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hstspreload/
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httpcore-0.9.1.dist-info/
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httpcore/
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httpx-0.13.3.dist-info/
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httpx/
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hyperframe-5.2.0.dist-info/
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hyperframe/
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idna-2.10.dist-info/
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idna/
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include/
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joblib-1.3.2.dist-info/
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joblib/
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keypad.py
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microcontroller/
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micropython-stubs/
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micropython.py
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multidict-6.0.4.dist-info/
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multidict/
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neopixel_write.py
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nltk-3.8.1.dist-info/
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nltk/
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numpy-1.26.2.dist-info/
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numpy.libs/
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numpy/
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onewireio.py
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pkg_resources/
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protobuf-4.25.1.dist-info/
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pubsub/
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pulseio.py
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pwmio.py
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pyftdi-0.55.0.dist-info/
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pyftdi/
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pygame-2.5.2.dist-info/
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pygame.libs/
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pygame/
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pyserial-3.5.dist-info/
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pyusb-1.2.1.dist-info/
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rainbowio.py
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regex-2023.10.3.dist-info/
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regex/
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rfc3986-1.5.0.dist-info/
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rfc3986/
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rpi_ws281x-5.0.0.dist-info/
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rpi_ws281x/
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run_viam.sh
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schedule-1.2.1.dist-info/
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schedule/
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serial/
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setenv.py
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setuptools-69.0.2.dist-info/
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setuptools/
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sniffio-1.3.0.dist-info/
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sniffio/
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sysv_ipc-1.1.0.dist-info/
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sysv_ipc.cpython-311-aarch64-linux-gnu.so
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tqdm-4.66.1.dist-info/
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tqdm/
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typing_extensions-4.9.0.dist-info/
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typing_extensions.py
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usb/
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usb_hid.py
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venv/
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viam/
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viam_sdk-0.12.0.dist-info/
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yaml/
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!modules/viam/

‎.vscode/c_cpp_properties.json‎

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@@ -20,11 +20,6 @@
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"/home/dan/.arduino15/packages/arduino/hardware/avr/1.8.6/variants/eightanaloginputs",
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"/home/dan/Arduino/libraries/ServoEasing/src",
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"/home/dan/Arduino/libraries/Servo/src",
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"/home/dan/Arduino/libraries/Adafruit_MPU6050",
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"/home/dan/Arduino/libraries/Adafruit_BusIO",
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"/home/dan/.arduino15/packages/arduino/hardware/avr/1.8.6/libraries/Wire/src",
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"/home/dan/.arduino15/packages/arduino/hardware/avr/1.8.6/libraries/SPI/src",
27-
"/home/dan/Arduino/libraries/Adafruit_Unified_Sensor",
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"/home/dan/.arduino15/packages/arduino/tools/avr-gcc/7.3.0-atmel3.6.1-arduino7/lib/gcc/avr/7.3.0/include",
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"/home/dan/.arduino15/packages/arduino/tools/avr-gcc/7.3.0-atmel3.6.1-arduino7/lib/gcc/avr/7.3.0/include-fixed",
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"/home/dan/.arduino15/packages/arduino/tools/avr-gcc/7.3.0-atmel3.6.1-arduino7/avr/include"

‎animations/raised.json‎

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@@ -1,3 +1,8 @@
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[
2-
{"sleep": 1}
2+
{"servo:leg_l_hip:mvabs": 20},
3+
{"servo:leg_l_knee:mvabs": 40},
4+
{"servo:leg_l_ankle:mvabs": 60},
5+
{"servo:leg_r_hip:mvabs": 80},
6+
{"servo:leg_r_knee:mvabs": 60},
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{"servo:leg_r_ankle:mvabs": 50}
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]

‎animations/scan.json‎

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@@ -0,0 +1,14 @@
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[
2+
{"servo:tilt:mv": 20},
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{"sleep": 0.5},
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{"pin:high": 22},
5+
{"servo:tilt:mv": -40},
6+
{"sleep": 0.5},
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{"servo:tilt:mv": 40},
8+
{"sleep": 0.5},
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{"servo:tilt:mv": -40},
10+
{"sleep": 0.5},
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{"servo:tilt:mv": 20},
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{"pin:low": 22},
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{"sleep": 2}
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]

‎animations/sit.json‎

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@@ -1,3 +1,8 @@
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[
2-
{"sleep": 1}
2+
{"servo:leg_l_hip:mvabs": 40},
3+
{"servo:leg_l_knee:mvabs": 10},
4+
{"servo:leg_l_ankle:mvabs": 100},
5+
{"servo:leg_r_hip:mvabs": 60},
6+
{"servo:leg_r_knee:mvabs": 90},
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{"servo:leg_r_ankle:mvabs": 0}
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]

‎animations/sleep.json‎

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@@ -1,5 +1,6 @@
11
[
2-
{"servo:tilt:mvabs": 0},
3-
{"servo:pan:mvabs": 90},
2+
{"servo:tilt:mvabs": 50},
3+
{"servo:pan:mvabs": 50},
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{"animate": "sit"},
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{"sleep": 1}
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]

‎animations/stand.json‎

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@@ -1,3 +1,8 @@
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[
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{"sleep": 1}
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{"servo:leg_l_hip:mvabs": 20},
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{"servo:leg_l_knee:mvabs": 40},
4+
{"servo:leg_l_ankle:mvabs": 60},
5+
{"servo:leg_r_hip:mvabs": 80},
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{"servo:leg_r_knee:mvabs": 60},
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{"servo:leg_r_ankle:mvabs": 50}
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]

‎animations/tiptoes.json‎

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This file was deleted.

‎arduino_sketch/Config.h‎

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@@ -5,6 +5,8 @@
55
* @brief Configuration file for the Arduino sketch.
66
* @details This file contains the configuration for the Arduino sketch.
77
*/
8+
//#define SERVO_CALIBRATION_ENABLED // Enable servo calibration (see ServoManager::calibrate())
9+
//#define SERVO_CALIBRATION_SYMMETRICAL // Calculate and apply equivelant changes on other leg.
810

911
#define SERVO_PIN_OFFSET 2 // Legacy, used to identify pin from pi communication
1012
// Left Leg
@@ -19,13 +21,17 @@
1921
#define PIN_SNT 2 // Servo neck tilt
2022
#define PIN_SNP 3 // Servo neck pan
2123
// Sway
22-
#define PIN_SLLHP 4 // Servo left leg hip piovot (unused)
24+
#define PIN_SLLHP 4 // Servo left leg hip pivot (unused)
2325
#define PIN_SRLHP 5 // Servo right leg hip pivot (unused)
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2527
#define LEG_LENGTH_SHIN 94.0 // Length of shin
2628
#define LEG_LENGTH_THIGH 94.0 // Length of thigh
2729
#define LEG_LENGTH_FOOT 28.0 // Length of foot
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31+
#define HIP_ADJUSTMENT 120 // Starting angle of hip relative to IK model
32+
#define KNEE_ADJUSTMENT 90
33+
#define ANKLE_ADJUSTMENT 85
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2935
#define EASING_TYPE EASE_QUADRATIC_IN_OUT
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#define ENABLE_EASE_QUADRATIC
3137
#define SERVO_SPEED_MIN 20
@@ -35,38 +41,40 @@
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3642
#define SERVO_COUNT 8 // Number of servos to be controlled by ServoEasing
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38-
#define LEG_IK_MIN 140 // Min solvable height of leg between hip and ankle
44+
#define LEG_IK_MIN 75 // Min solvable height of leg between hip and ankle
3945
#define LEG_IK_MAX 170 // Max solvable height of leg between hip and ankle
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#define NOVAL 1000
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43-
#define MPU6050_ENABLED // Enable MPU6050
49+
//#define MPU6050_ENABLED // Enable MPU6050
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//#define MPU6050_DEBUG // Debug in serial plotter
51+
//#define ANIMATE_ENABLED // Enable random animations
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// Arrays to store servo min / max positions to avoid mechanical issues due
4855
// NOTE: attach() disregards this, set PosRest to be within range of the servo's physical boundaries
49-
int PosMin[SERVO_COUNT] = {20, 5, 40, 20, 5, 15, 60, 20};
50-
int PosMax[SERVO_COUNT] = {160, 175, 180, 160, 175, 180, 120, 160};
51-
int PosSleep[SERVO_COUNT] = {70, PosMin[1], PosMax[2], 110, PosMax[4], PosMin[5], PosMax[7], 90};
56+
int PosMin[SERVO_COUNT] = {0, 0, 5, 0, 0, 10, 60, 30};
57+
int PosMax[SERVO_COUNT] = {180, 180, 165, 180, 180, 180, 120, 150};
58+
int PosSleep[SERVO_COUNT] = {40, 60, 95, 140, 120, 85, PosMax[7], 90};
5259
//int PrepRestFromSleep[SERVO_COUNT] = {80, PosMin[1], PosMax[2], 100, PosMax[4], PosMin[5], S7_REST, 80, S9_REST};
5360
//int PrepSleepFromRest[SERVO_COUNT] = {S1_REST, S2_REST, S3_REST, S4_REST, S5_REST, S6_REST, S7_REST, 80, S9_REST};
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5562
// Starting positions
56-
int PosStart[SERVO_COUNT] = {30, 21, 94, 149, 158, 85, 90, 90};
63+
//0, 3 = HIP
64+
int PosStart[SERVO_COUNT] = {60, 0, 165, 120, 180, 10, 90, 90};
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6068
//int PosRest[SERVO_COUNT] = {S1_REST, S2_REST, S3_REST, S4_REST, S5_REST, S6_REST, S7_REST, S8_REST, S9_REST};
61-
int PosRest[SERVO_COUNT] = {30, 21, 94, 149, 158, 85, 90, 90};
69+
int PosRest[SERVO_COUNT] = {60, 0, 165, 120, 180, 10, 90, 90};
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6371
int PosConfig[SERVO_COUNT] = {90, 90, 90, 90, 90, 90, 90, 90};
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6573
// Poses
66-
int PosStand[SERVO_COUNT] = {110, 110, 110, 70, 70, 70, NOVAL, NOVAL};
74+
int PosStand[SERVO_COUNT] = {40, 60, 95, 140, 120, 85, NOVAL, NOVAL};
6775
int PosLookLeft[SERVO_COUNT] = {NOVAL, NOVAL, NOVAL, NOVAL, NOVAL, NOVAL, NOVAL, 180};
6876
int PosLookRight[SERVO_COUNT] = {NOVAL, NOVAL, NOVAL, NOVAL, NOVAL, NOVAL, NOVAL, 0};
69-
int PosLookRandom[SERVO_COUNT] = {NOVAL, NOVAL, NOVAL, NOVAL, NOVAL, NOVAL, -1, -1}; // Made random by calling the function moveRandom() if the value is -1
77+
int PosLookRandom[SERVO_COUNT] = {NOVAL, NOVAL, NOVAL, NOVAL, NOVAL, NOVAL, -1, NOVAL}; // Made random by calling the function moveRandom() if the value is -1
7078
int PosLookUp[SERVO_COUNT] = {NOVAL, NOVAL, NOVAL, NOVAL, NOVAL, NOVAL, 60, 90};
7179
int PosLookDown[SERVO_COUNT] = {NOVAL, NOVAL, NOVAL, NOVAL, NOVAL, NOVAL, 120, 90};
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‎arduino_sketch/InverseKinematics.h‎

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@@ -13,7 +13,7 @@ class InverseKinematics
1313
{
1414
// constructor
1515
public:
16-
double hipAdjustment = 105; // Angle to adjust hip, will be modified for balance
16+
double hipAdjustment = HIP_ADJUSTMENT; // Angle to adjust hip, will be modified for balance
1717
void doInit(float hipMinAngle, float hipMaxAngle, float kneeMinAngle, float kneeMaxAngle, float ankleMinAngle, float ankleMaxAngle, float thighLength, float shinLength, float footLength)
1818
{
1919
this->hipMinAngle = hipMinAngle;
@@ -81,9 +81,9 @@ class InverseKinematics
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8282
// Convert the angles from radians to degrees
8383
// Adjust to compensate for servo's actual position
84-
hipAngle = r2d(d2r(180) - (hip + d2r(hipAdjustment))); // Inverse and offset by 105 degrees
85-
kneeAngle = r2d(knee - d2r(90)); // Offset 90 to compensate
86-
ankleAngle = r2d(ankle + d2r(70)); // Offset 70 to compensate
84+
hipAngle = r2d(d2r(180) - (hip + d2r(hipAdjustment))); // Inverse and offset by 90 degrees
85+
kneeAngle = r2d(knee - d2r(KNEE_ADJUSTMENT)); // Offset 90 to compensate
86+
ankleAngle = r2d(ankle + d2r(ANKLE_ADJUSTMENT)); // Offset 70 to compensate
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8888
// if IK_DEBUG is defined, print debug info
8989
#ifdef IK_DEBUG

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