walker notes

walker.py

#!/usr/bin/python

from Adafruit_PWM_Servo_Driver import PWM
import time

# ===========================================================================
# Example Code
# ===========================================================================

# Initialise the PWM device using the default address
# bmp = PWM(0x40, debug=True)
pwm = PWM(0x40, debug=True)

servoMin = 150  # Min pulse length out of 4096
servoMax = 600  # Max pulse length out of 4096

def setServoPulse(channel, pulse):
  pulseLength = 1000000                   # 1,000,000 us per second
  pulseLength /= 60                       # 60 Hz
  print "%d us per period" % pulseLength
  pulseLength /= 4096                     # 12 bits of resolution
  print "%d us per bit" % pulseLength
  pulse *= 1000
  pulse /= pulseLength
  pwm.setPWM(channel, 0, pulse)
#foot A (12) out 600, in 200, standing 400
#tibula A (0) max open 150, max close 450, 300 directly standing
#hip A (2) max close ~420  max open 650, straight at 500

#foot B (3) mac close 700 max open 150  standing at 350?
#tibua b (4) max close 700 max opepen 300  standing 400
#hip b (5) max open 500 max close  200 standning 300

#foot c (6) maximum open 600  maximum close 200 standing 400
#tiblula c (7) maximum close ~650  max open 150 standing 400
#hip c (8) max open ~200 max close 500 standing 300

#foot d (9) max open 200 max close 600 standing 350
#tibia d(10) max open 650 max close 200 standing at 300
#hip d (11) max close ~500


pwm.setPWMFreq(60)                        # Set frequency to 60 Hz

#stand
#leg A  -->
pwm.setPWM(0, 0, 300)
time.sleep(1)
pwm.setPWM(2, 0,500)
time.sleep(1)
pwm.setPWM(12, 0, 400)


#leg b -->
pwm.setPWM(3,0,400)
time.sleep(1)
pwm.setPWM(4,0,400)
time.sleep(1)
pwm.setPWM(5,0, 300)
time.sleep(1)

#leg c  -->
pwm.setPWM(6,0, 400)
time.sleep(1)
pwm.setPWM(7,0, 400)
time.sleep(1)
pwm.setPWM(8,0, 400)
time.sleep(1)

#leg d  --->
pwm.setPWM(9,0,350)
time.sleep(1)
pwm.setPWM(10,0,300)
time.sleep(1)
pwm.setPWM(11,0, 300)
time.sleep(1)