Python module for soccer humanoid robot
Project description
=========================== Welcome to starkit module
Installation
Install latest version from PyPI
_:
type following text in cms window
$ pip install -i https://test.pypi.org/simple/ starkit
Basic usage
Import the module import starkit
Methods
alpha_calculation(xt, yt, zt, x, y, z, w, sizes, limAlpha)
where:
sizes = [ a5, b5, c5, a6, a7, a8, a9, a10, b10, c10 ]
a5 - distance between axis of symmetry and axis of servo drive number 5 (mm) b5 - distance between axis of servo drives в„–5 and #6 in horizontal plane (mm) c5 - distance between axis of servo drive в„–6 and origin point of Z axis (mm) a6 - distance between axis of servo drives в„–6 and в„–7 (mm) a7 - distance between axis of servo drives в„–7 and в„–8 (mm) a8 - distance between axis of servo drives в„–8 and в„–9 (mm) a9 - distance between axis of servo drives в„–9 and в„–10 (mm) a10 - distance between axis of servo drive в„–10 and foot in horizontall plane (mm) b10 - distance between axis of servo drive в„–10 and foot (mm) c10 - distance between axis of servo drives в„–6 and в„–10 in horizontal plane (mm)
xt, yt, zt, x, y, z, w may be double or long types sizes - list of sizes in robot's body limAlpha
usage
starkit.alpha_calculation(xt, yt, zt, x, y, z, w, sizes, limAlpha)
Project details
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