29 lines
807 B
Python
29 lines
807 B
Python
|
from axi import Planner
|
||
|
|
from math import pi, sin, cos
|
||
|
|
|
||
|
|
def circle(cx, cy, r, n):
|
||
|
|
points = []
|
||
|
|
for i in range(n + 1):
|
||
|
|
a = 2 * pi * i / n
|
||
|
|
x = cx + cos(a) * r
|
||
|
|
y = cy + sin(a) * r
|
||
|
|
points.append((x, y))
|
||
|
|
return points
|
||
|
|
|
||
|
|
def main():
|
||
|
|
points = circle(0, 0, 100, 90)
|
||
|
|
points = [(-100, -100), (100, -100)] + points + [(100, 100), (-100, 100), (-100, -100)]
|
||
|
|
for r in range(20, 100, 20):
|
||
|
|
points = circle(0, 0, r, 90) + points
|
||
|
|
planner = Planner(
|
||
|
|
acceleration=50, max_velocity=200, corner_factor=1)
|
||
|
|
plan = planner.plan(points)
|
||
|
|
print 'var PIECES = ['
|
||
|
|
for b in plan.blocks:
|
||
|
|
record = (b.p1.x, b.p1.y, b.p2.x, b.p2.y, b.a, b.t)
|
||
|
|
print '[%s],' % ','.join(map(str, record))
|
||
|
|
print '];'
|
||
|
|
|
||
|
|
if __name__ == '__main__':
|
||
|
|
main()
|