33 lines
703 B
Python
33 lines
703 B
Python
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from axi import Device, Planner
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from math import sin, cos, pi
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import time
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def circle(cx, cy, r, n):
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points = []
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for i in range(n + 1):
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a = 2 * pi * i / n
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x = cx + cos(a) * r
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y = cy + sin(a) * r
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points.append((x, y))
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return points
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def main():
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planner = Planner(acceleration=10, max_velocity=5, corner_factor=0.01)
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path = []
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path.append((0, 0))
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for i in range(10):
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path.extend(circle(4, 4, (i + 1) * 0.2, 72))
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path.append((0, 0))
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plan = planner.plan(path)
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d = Device()
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d.pen_up()
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d.enable_motors()
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time.sleep(0.2)
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d.run_plan(plan)
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d.wait()
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d.disable_motors()
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if __name__ == '__main__':
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main()
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