feat: finised project

control.py

@@ -1,14 +1,15 @@
 import logging
-import math
+
 import numpy as np
 from math import *
 from logs import *
+from dynamixel_sdk import *
 from xbox import *
 import time
 
 # DEBUG
-LEGS_LOG_LEVEL = logging.INFO
+LEGS_LOG_LEVEL = logging.DEBUG
-CONTROLLER_LOG_LEVEL = logging.INFO
+CONTROLLER_LOG_LEVEL = logging.CRITICAL
 # Variables configurations
 
 l1h = 0.049
@@ -40,17 +41,39 @@ controllerLogger = setup_logger("Controller", CONTROLLER_LOG_LEVEL)
 # Initialize controller
 xbox = Xbox(controllerLogger)
 CONTROLLER_MODE = xbox.initialized
-xbox.mode_count = 4
+xbox.mode_count = 5
 
 neutral_position = np.array([
-    [0.1, 0.15, -0.15],
+    [0.1, 0.16, -0.15],
-    [-0.1, 0.15, -0.15],
+    [-0.1, 0.16, -0.15],
     [-0.2, -0.00, -0.15],
-    [-0.1, -0.15, -0.15],
+    [-0.1, -0.16, -0.15],
-    [0.1, -0.15, -0.15],
+    [0.1, -0.16, -0.15],
     [0.2, 0, -0.15]
 ])
 
+REAL = 0
+
+# Robot setup
+if REAL == 1:
+    portHandler = PortHandler("/dev/ttyUSB0")
+    packetHandler = PacketHandler(1.0)
+
+    portHandler.openPort()
+    portHandler.setBaudRate(1000000)
+
+    ADDR_GOAL_POSITION = 30
+
+    ids = []
+    for id in range(0, 100):
+        model_number, result, error = packetHandler.ping(portHandler, id)
+        if model_number == 12:
+            print(f"Found AX-12 with id: {id}")
+            ids.append(id)
+        time.sleep(0.01)
+
+
+# Done
 
 def interpol2(point2, point1, t):
     x1, y1, z1 = point1
@@ -88,14 +111,14 @@ def inverse(x, y, z):
     param2 = -1 * (-(l ** 2) + l2 ** 2 + l3 ** 2) / (2 * l2 * l3)
 
     if param2 > 1 or param2 < -1:
-        print("\033[94m" + f"Tentative d'acces a une position impossible (param2) ({x}, {y}, {z})" + "\033[0m")
+        legsLogger.warning("fTentative d'acces a une position impossible (param2) ({x}, {y}, {z})")
         param2 = 1 if param2 > 1 else -1
 
     theta2 = acos(param2)
 
     param1 = (-l3 ** 2 + l2 ** 2 + l ** 2) / (2 * l2 * l)
     if param1 > 1 or param1 < -1:
-        print("\033[94m" + f"Tentative d'acces a une position impossible (param1) ({x}, {y}, {z})" + "\033[0m")
+        legsLogger.warning(f"Tentative d'acces a une position impossible (param1) ({x}, {y}, {z})")
         param1 = 1 if param1 > 1 else -1
 
     theta1 = acos(param1) + asin(z / l)
@@ -203,46 +226,10 @@ def naive_walk(t, speed_x, speed_y):
     return legs(real_position)
 
 
-def translate(tx, ty, tz):
-    return np.array([
-        [1.0, 0.0, 0.0, tx],
-        [0.0, 1.0, 0.0, ty],
-        [0.0, 0.0, 1.0, tz],
-        [0.0, 0.0, 0.0, 1.0],
-    ])
-
-
 def normalize(matrix, slider_max, speed):
     return (matrix / slider_max) * speed
 
 
-def Rx(alpha):
-    return np.array([
-        [1.0, 0.0, 0.0, 0.0],
-        [0.0, np.cos(alpha), -np.sin(alpha), 0.0],
-        [0.0, np.sin(alpha), np.cos(alpha), 0.0],
-        [0.0, 0.0, 0.0, 1.0],
-    ])
-
-
-def Ry(alpha):
-    return np.array([
-        [np.cos(alpha), 0.0, -np.sin(alpha), 0.0],
-        [0.0, 1.0, 0.0, 0.0],
-        [np.sin(alpha), 0.0, np.cos(alpha), 0.0],
-        [0.0, 0.0, 0.0, 1.0],
-    ])
-
-
-def Rz(alpha):
-    return np.array([
-        [np.cos(alpha), -np.sin(alpha), 0.0, 0.0],
-        [np.sin(alpha), np.cos(alpha), 0.0, 0.0],
-        [0.0, 0.0, 1.0, 0.0],
-        [0.0, 0.0, 0.0, 1.0],
-    ])
-
-
 def walk(t, sx, sy, sr):
     xboxdata = xbox.get_data()
     max_slider = 0.200
@@ -255,10 +242,10 @@ def walk(t, sx, sy, sr):
         return dino_naive(t, max_slider * xboxdata["y1"], max_slider * xboxdata["x1"], max_slider * xboxdata["y2"],
                           max_slider * xboxdata["x2"], max_slider * (xboxdata["r2"] + 1))
     elif xbox.mode == 3:
-        return dev(t, max_slider * xboxdata["y1"], max_slider * xboxdata["x1"], max_slider * xboxdata["y2"],
-                   max_slider * xboxdata["x2"])
-    else:
         return naive_walk(t, max_slider * xboxdata["x1"], max_slider * xboxdata["y1"])
+    elif xbox.mode == 4:
+        return dev(t, max_slider * xboxdata["y1"], max_slider * xboxdata["x1"], xboxdata["x2"] * max_slider,
+                   max_slider * xboxdata["y2"])
 
 
 def static():
@@ -266,16 +253,21 @@ def static():
 
 
 # Walk V2
-def dev(t, x1, y1, x2, y2):
+def dev(t, speed_x, speed_y, speed_r, y2):
+    """
+    x1: speed along the x-axis
+    y1: speed along the y-axis
+    x2: rotational speed along the z-axis
+    """
+    max_dist = 0.3
+
     def get_rotation_center(speed_x, speed_y, theta_point):
         direction = np.array([-speed_y, speed_x])
-        return direction / max(0.001, theta_point)
+        return direction / max(0.00001, theta_point)
 
-    x0, y0 = get_rotation_center(x1, y1, x2)
+    center_x, center_y = get_rotation_center(speed_x, speed_y, speed_r)
 
-    print(x0, y0)
+    legsLogger.debug(f"rotation center: center_x: {center_x}, center_y: {center_y}")
-
-    num_patte = 6
 
     real_position = np.copy(neutral_position)
 
@@ -285,7 +277,7 @@ def dev(t, x1, y1, x2, y2):
         [0, 0, -0.01]
     ])
 
-    step_duration = np.array([0.05, 0.3, 0.05])
+    step_duration = np.array([0.15, 0.3, 0.15])
 
     step_count = len(movement_z)
     movement_duration = np.sum(step_duration)
@@ -296,15 +288,21 @@ def dev(t, x1, y1, x2, y2):
     def get_next_step(t):
         return floor((get_current_step(t, step_duration, movement_duration) + 1) % step_count)
 
-    offsets = np.array([0, 1 / 2, 2 / 3, 0, 1 / 2, 2 / 3]) * movement_duration  # offset between each leg
+    offsets = np.array([0, 1 / 3, 2 / 3, 0, 1 / 3, 2 / 3]) * movement_duration  # offset between each leg
     assert len(offsets) == num_patte, f"all offsets must be set, currently, {len(offsets)}/{num_patte} have them"
 
+    max_radius = 0
+    for patte in range(num_patte):
+        x1, y1 = real_position[patte][0], real_position[patte][1]
+        circle_radius = sqrt((center_x - x1) ** 2 + (center_y - y1) ** 2)
+        max_radius = max(max_radius, circle_radius)
+
     for patte in range(num_patte):
         time = t + offsets[patte]
         mov_index_start = get_current_step(time, step_duration, movement_duration)
         mov_index_end = get_next_step(time)
 
-        step_adv = get_current_step_advancement(t, movement_duration, step_duration, mov_index_start)
+        step_adv = get_current_step_advancement(time, movement_duration, step_duration, mov_index_start)
 
         mov_start_z = movement_z[mov_index_start]
         mov_end_z = movement_z[mov_index_end]
@@ -316,25 +314,37 @@ def dev(t, x1, y1, x2, y2):
          real_position[patte][1],
          real_position[patte][2]) = interpol2(mov_start, mov_end, step_adv)
 
-        dthteta = x2 * 2
-
-        theta = dthteta * (step_adv - 0.5)
-        # theta = 0
-        print(theta)
-        # rotating the vector
         x1, y1 = real_position[patte][0], real_position[patte][1]
-        print(f"x1: {x1}, y1: {y1}")
-        x1t, y1t = x1 - x0, y1 - y0
-        x2t, y2t = x1t * cos(theta) + y1t * sin(theta), x1t * sin(theta) + y1t * cos(theta)
-        x2, y2 = x2t + x0, y2t + y0
-        print(f"x2: {x2}, y2: {y2}")
-        if mov_index_start == 1:
-            # theta += time
-            # xp = d * cos(theta) + real_position[patte][0]
-            real_position[patte][0] = x2
-            real_position[patte][1] = y2
 
-    return legs(real_position)
+        circle_radius = sqrt((center_x - x1) ** 2 + (center_y - y1) ** 2)
+        cur_theta = acos((x1 - center_x) / circle_radius)
+
+        if y1 < center_y:
+            cur_theta *= -1
+
+        speed = abs(speed_x) + abs(speed_y)
+        if speed == 0:
+            speed = speed_r
+        dthteta = speed * (1 / max_radius * max_dist)
+        legsLogger.info(f"speed: {speed}, dthteta: {dthteta}")
+        if mov_index_start == 0:
+            # midair part 1
+            theta_offset = dthteta * (- step_adv)
+        elif mov_index_start == 1:
+            # moving part
+            theta_offset = dthteta * (step_adv - 0.5) * 2
+        else:
+            # midair part 1
+            theta_offset = dthteta * (1 - step_adv)
+        wanted_theta = cur_theta + theta_offset
+
+        wanted_x = center_x + circle_radius * cos(wanted_theta)
+        wanted_y = center_y + circle_radius * sin(wanted_theta)
+
+        real_position[patte][0] = wanted_x
+        real_position[patte][1] = wanted_y
+
+    return legs(real_position), [center_x, center_y]
 
 
 def jump(sy):
@@ -424,5 +434,35 @@ def dino_naive(t, speed_x, speed_y, hz, hy, hx):
     return legs(real_position)
 
 
+def robot_input():
+    print("Send motors wave (press enter)")
+    input()
+    for id in ids:
+        packetHandler.write2ByteTxRx(portHandler, id, ADDR_GOAL_POSITION, 512)
+    input()
+    angle = [512, 624, 400, 512, 624, 400]
+    for id in range(1, 7):
+        packetHandler.write2ByteTxRx(portHandler, id * 10 + 1, ADDR_GOAL_POSITION, angle[id - 1])
+    input()
+
+    # Dino mode
+    packetHandler.write2ByteTxRx(portHandler, 12, ADDR_GOAL_POSITION, 650)
+    packetHandler.write2ByteTxRx(portHandler, 13, ADDR_GOAL_POSITION, 400)
+    packetHandler.write2ByteTxRx(portHandler, 42, ADDR_GOAL_POSITION, 650)
+    packetHandler.write2ByteTxRx(portHandler, 43, ADDR_GOAL_POSITION, 400)
+
+    input()
+    for id in ids:
+        packetHandler.write2ByteTxRx(portHandler, id, ADDR_GOAL_POSITION, 512)
+    # t = 0.0
+    # while True:
+    #     print("Send motors wave (press enter)")
+    #     angle = 512 + int(50 * np.sin(t))
+    #     print(angle)
+    #     packetHandler.write2ByteTxRx(portHandler, 53, ADDR_GOAL_POSITION, angle)
+    #     time.sleep(0.001)
+    #     t += 0.01
+
+
 if __name__ == "__main__":
     print("N'exécutez pas ce fichier, mais simulator.py")

simulator.py

@@ -3,6 +3,7 @@ import argparse
 import math
 import time
 import pybullet as p
+
 if __package__ is None or __package__ == '':
     import control
 else:
@@ -14,6 +15,7 @@ dirname = os.path.dirname(__file__) + '/models/'
 n_motors = 0
 jointsMap = []
 
+
 def init():
     """Initialise le simulateur"""
     # Instanciation de Bullet
@@ -60,6 +62,7 @@ def inverseControls(name='', x_default=0.15, y_default=0.):
 
     return target_x, target_y, target_z, target
 
+
 def directControls():
     alpha = p.addUserDebugParameter('alpha', -math.pi, math.pi, 0)
     beta = p.addUserDebugParameter('beta', -math.pi, math.pi, 0)
@@ -78,6 +81,7 @@ def inverseUpdate(controls):
 
     return x, y, z
 
+
 def tick():
     global t
 
@@ -85,6 +89,7 @@ def tick():
     p.stepSimulation()
     time.sleep(dt)
 
+
 if __name__ == "__main__":
     # Arguments
     parser = argparse.ArgumentParser(prog="Quadruped")
@@ -161,6 +166,8 @@ if __name__ == "__main__":
 
     robot = loadModel(robot, fixed, startPos, startOrientation)
 
+    target = loadModel('target2', True)
+
     # Boucle principale
     while True:
         if mode == 'motors':
@@ -181,10 +188,12 @@ if __name__ == "__main__":
         elif mode == 'draw':
             joints = control.draw(t) + [0] * (n_motors - 3)
 
+
             def getLegTip():
                 res = p.getLinkState(robot, 3)
                 return res[0]
 
+
             if lastLine is None:
                 lastLine = time.time(), getLegTip()
             elif time.time() - lastLine[0] > 0.1:
@@ -201,7 +210,16 @@ if __name__ == "__main__":
             x = p.readUserDebugParameter(speed_x)
             y = p.readUserDebugParameter(speed_y)
             rotation = p.readUserDebugParameter(speed_rotation)
-            joints = control.walk(t, x, y, rotation)
+            data = control.walk(t, x, y, rotation)
+            if len(data) == 2:  # When we receive the position of a target
+                joints = data[0]
+                x, y = data[1]
+                z = 0
+            else:
+                joints = data
+                x, y, z = 0, 0, -5  # We hide the target under the map
+            p.resetBasePositionAndOrientation(target, [x, y, z],
+                                              p.getQuaternionFromEuler([0, 0, 0]))
         elif mode == 'sandbox':
             joints = control.sandbox(t)