I am building a quadruped robot where each leg has 3 joint (motors). 2 at the hip and 1 at keen joint.
When I run the below code 2 hip joint joints move (rotate) at the same time.
Is it possible to rotate the joints one after the other. Ex. Joint 2 starts after Joint 1 finishes its rotation.
Code:
def LegBR(hip,knee): motrotvalue = hip p.setJointMotorControl2(vision, motor_back_rightR_joint, p.POSITION_CONTROL, targetPosition=motrotvalue, force=maxMotorForce) motrotvalue = knee p.setJointMotorControl2(vision, knee_back_rightR_joint, p.POSITION_CONTROL, targetPosition=motrotvalue, force=maxMotorForce) p.stepSimulation()def LegBL(hip,knee): motrotvalue = hip p.setJointMotorControl2(vision, motor_back_leftL_joint, p.POSITION_CONTROL, targetPosition=motrotvalue, force=maxMotorForce) motrotvalue = knee p.setJointMotorControl2(vision, knee_back_leftL_joint, p.POSITION_CONTROL, targetPosition=motrotvalue, force=maxMotorForce) p.stepSimulation()maxMotorForce = 5000t = 0prevTime = time.time()while (1): timeScale = 1.0 amplitude = 0.4999 newTime = time.time() dt = (newTime - prevTime) * timeScale t = t + dt prevTime = newTime legpos = 0.05 amp = amplitude a = math.sin(t) * amp + legpos b = -(math.sin(t) * amp + legpos) LegBR(a,0) LegBL(-b,0) #LegFR(a,0) #LegFL(b,0) p.setGravity(0, 0, -10) #time.sleep(1/240)
In the above image both joint 1 and joint 2 start at the same time. I want that joint 2 (motor) to start after joint 1 completes its rotation.
Thank you for your support.
Statistics: Posted by krishna — Fri Jan 17, 2020 7:43 am
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