PoMoCo Moves

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Newly Improved PoMoCo Moves

Postby relodan » Fri Feb 07, 2014 12:09 pm

I would like to share this video of Hexy with the "polished" version of pomoco moves that I've modified so far. There is lots of new and modified moves like the series of twists, get down and some short dance combinations.

Check it out:
http://youtu.be/tm--60XvVxo
http://youtu.be/ZhQ8T1BGMB4

I'll post the codes soon.
Any feedbacks, please let me know.

Thanks,

- relodan
relodan
 
Posts: 60
Joined: Tue Dec 31, 2013 6:47 am

New PoMoCo Moves

Postby relodan » Mon Feb 10, 2014 12:21 pm

I had Hexy for almost 3 months now and I must say Arcbotics really did a great job on this project. Hexy was my first robot buddy and I really learned a lot and even played almost everyday after work. So in return I decided to contribute a little of my work - some new pomoco moves that I mentioned earlier in this thread.

You might need to make some minor adjustments in the robot.py to make it work right.

https://www.dropbox.com/s/90t1b5elydr0o93/Moves.zip

Thank you Arcbotics and to those who share their knowledge in robotic programming!

- relodan
relodan
 
Posts: 60
Joined: Tue Dec 31, 2013 6:47 am

Re: PoMoCo Moves

Postby relodan » Wed Feb 12, 2014 6:07 am

Here are the codes for the new moves:

Belly_Flop Move
Code: Select all
import time

for timeStop in range(3):
   
# going down
    for angle in range(0,50,10):
        for leg in hexy.legs:
            leg.knee(45-angle)
            leg.ankle(-45-angle)
        time.sleep(0.1)

# going up
    for angle in range(0,60,10):
        for leg in hexy.legs:
            leg.knee(angle)
            leg.ankle(-90+angle)
        time.sleep(0.1)


Belly_Twist Move
Code: Select all
import time

deg = 35
midFloor = 30
hipSwing = 0
pause = 0.3
time.sleep(0.1)

for timeStop in range(3):

# going down
    for angle in range(0,50,10):
        for leg in hexy.legs:
            leg.knee(45-angle)
            leg.ankle(-45-angle)
           
        time.sleep(0.1)
       
    time.sleep(0.3)
    #   twist left
    hexy.RF.setHipDeg(-deg+hipSwing,stepTime=0.3)
    hexy.LM.setHipDeg(-deg+hipSwing,stepTime=0.3)
    hexy.RB.setHipDeg(-deg+hipSwing,stepTime=0.3)
    hexy.neck.set(35)
    hexy.LF.setHipDeg(-deg-hipSwing,stepTime=0.3)
    hexy.RM.setHipDeg(-deg-hipSwing,stepTime=0.3)
    hexy.LB.setHipDeg(-deg-hipSwing,stepTime=0.3)

    time.sleep(0.3)
   
    #   twist right
    hexy.RF.setHipDeg(deg-hipSwing,stepTime=0.3)
    hexy.LM.setHipDeg(deg-hipSwing,stepTime=0.3)
    hexy.RB.setHipDeg(deg-hipSwing,stepTime=0.3)
    hexy.neck.set(-35)
    hexy.LF.setHipDeg(deg+hipSwing,stepTime=0.3)
    hexy.RM.setHipDeg(deg+hipSwing,stepTime=0.3)
    hexy.LB.setHipDeg(deg+hipSwing,stepTime=0.3)
   
    time.sleep(0.3)

# going up
    for angle in range(0,60,10):
        for leg in hexy.legs:
            leg.knee(angle)
            leg.ankle(-90+angle)
           
        time.sleep(0.1)
       
    time.sleep(0.3)
    #   twist left
    hexy.RF.setHipDeg(-deg+hipSwing,stepTime=0.3)
    hexy.LM.setHipDeg(-deg+hipSwing,stepTime=0.3)
    hexy.RB.setHipDeg(-deg+hipSwing,stepTime=0.3)
    hexy.neck.set(35)
    hexy.LF.setHipDeg(-deg-hipSwing,stepTime=0.3)
    hexy.RM.setHipDeg(-deg-hipSwing,stepTime=0.3)
    hexy.LB.setHipDeg(-deg-hipSwing,stepTime=0.3)

    time.sleep(0.3)
   
    #   twist right
    hexy.RF.setHipDeg(deg-hipSwing,stepTime=0.3)
    hexy.LM.setHipDeg(deg-hipSwing,stepTime=0.3)
    hexy.RB.setHipDeg(deg-hipSwing,stepTime=0.3)
    hexy.neck.set(-35)
    hexy.LF.setHipDeg(deg+hipSwing,stepTime=0.3)
    hexy.RM.setHipDeg(deg+hipSwing,stepTime=0.3)
    hexy.LB.setHipDeg(deg+hipSwing,stepTime=0.3)
   
    time.sleep(0.8)


Body_Twist Move
Code: Select all
import time

deg = 40
midFloor = 30
hipSwing = 0
pause = 0.3
time.sleep(0.1)

for timeStop in range(3):

# going down
    for angle in range(0,40,10):
        for leg in hexy.legs:
            leg.knee(45-angle)
            leg.ankle(-45-angle)
           
        time.sleep(0.1)       

    #   twist left
    hexy.RF.setHipDeg(-deg+hipSwing,stepTime=0.3)
    hexy.LM.setHipDeg(-deg+hipSwing,stepTime=0.3)
    hexy.RB.setHipDeg(-deg+hipSwing,stepTime=0.3)
    hexy.neck.set(35)
    hexy.LF.setHipDeg(-deg-hipSwing,stepTime=0.3)
    hexy.RM.setHipDeg(-deg-hipSwing,stepTime=0.3)
    hexy.LB.setHipDeg(-deg-hipSwing,stepTime=0.3)

    time.sleep(0.3)
# going up
    for angle in range(0,60,10):
        for leg in hexy.legs:
            leg.knee(angle)
            leg.ankle(-90+angle)
           
        time.sleep(0.1)

    #   twist right
    hexy.RF.setHipDeg(deg-hipSwing,stepTime=0.3)
    hexy.LM.setHipDeg(deg-hipSwing,stepTime=0.3)
    hexy.RB.setHipDeg(deg-hipSwing,stepTime=0.3)
    hexy.neck.set(-35)
    hexy.LF.setHipDeg(deg+hipSwing,stepTime=0.3)
    hexy.RM.setHipDeg(deg+hipSwing,stepTime=0.3)
    hexy.LB.setHipDeg(deg+hipSwing,stepTime=0.3)
   
    time.sleep(0.3)

# going down
    for angle in range(0,40,10):
        for leg in hexy.legs:
            leg.knee(45-angle)
            leg.ankle(-45-angle)
           
        time.sleep(0.1)       

    #   twist left
    hexy.RF.setHipDeg(-deg+hipSwing,stepTime=0.3)
    hexy.LM.setHipDeg(-deg+hipSwing,stepTime=0.3)
    hexy.RB.setHipDeg(-deg+hipSwing,stepTime=0.3)
    hexy.neck.set(35)
    hexy.LF.setHipDeg(-deg-hipSwing,stepTime=0.3)
    hexy.RM.setHipDeg(-deg-hipSwing,stepTime=0.3)
    hexy.LB.setHipDeg(-deg-hipSwing,stepTime=0.3)

    time.sleep(0.3)
 # going up
    for angle in range(0,60,10):
        for leg in hexy.legs:
            leg.knee(angle)
            leg.ankle(-90+angle)
           
        time.sleep(0.1)

    #   twist right
    hexy.RF.setHipDeg(deg-hipSwing,stepTime=0.3)
    hexy.LM.setHipDeg(deg-hipSwing,stepTime=0.3)
    hexy.RB.setHipDeg(deg-hipSwing,stepTime=0.3)
    hexy.neck.set(-35)
    hexy.LF.setHipDeg(deg+hipSwing,stepTime=0.3)
    hexy.RM.setHipDeg(deg+hipSwing,stepTime=0.3)
    hexy.LB.setHipDeg(deg+hipSwing,stepTime=0.3)
   
    time.sleep(0.3)


Down_Twist Move

Code: Select all
import time

deg = 35
midFloor = 30
hipSwing = 0
move("Reset")

# get down
for angle in range(0,120,10):
    for leg in hexy.legs:
        leg.knee(45-angle)
        leg.ankle(-45-angle)
    time.sleep(0.1)
   
time.sleep(0.5)

# legs fold inward
for angle in range(0,50,10):
    for leg in hexy.legs:
        leg.knee(-50-angle)
        leg.ankle(30+angle)
    time.sleep(0.1)
   
time.sleep(0.5)
# set legs to zero
for angle in range(0,110,10):
    for leg in hexy.legs:
        leg.knee(-150+angle)
        leg.ankle(-150+angle)
    time.sleep(0.1)
   
time.sleep(0.5)

for timeStop in range(3):
   
    #   twist left
    hexy.RF.setHipDeg(-deg+hipSwing,stepTime=0.3)
    hexy.LM.setHipDeg(-deg+hipSwing,stepTime=0.3)
    hexy.RB.setHipDeg(-deg+hipSwing,stepTime=0.3)
    hexy.neck.set(35)
    hexy.LF.setHipDeg(-deg-hipSwing,stepTime=0.3)
    hexy.RM.setHipDeg(-deg-hipSwing,stepTime=0.3)
    hexy.LB.setHipDeg(-deg-hipSwing,stepTime=0.3)

    time.sleep(0.3)
   
    #   twist right
    hexy.RF.setHipDeg(deg-hipSwing,stepTime=0.3)
    hexy.LM.setHipDeg(deg-hipSwing,stepTime=0.3)
    hexy.RB.setHipDeg(deg-hipSwing,stepTime=0.3)
    hexy.neck.set(-35)
    hexy.LF.setHipDeg(deg+hipSwing,stepTime=0.3)
    hexy.RM.setHipDeg(deg+hipSwing,stepTime=0.3)
    hexy.LB.setHipDeg(deg+hipSwing,stepTime=0.3)
   
    time.sleep(0.3)


Twist_Up_Down Move

Code: Select all
import time

deg = 35
midFloor = 30
hipSwing = 0

for timeStop in range(3):

    #   twist right
    hexy.RF.setHipDeg(deg-hipSwing,stepTime=0.3)
    hexy.LM.setHipDeg(deg-hipSwing,stepTime=0.3)
    hexy.RB.setHipDeg(deg-hipSwing,stepTime=0.3)
    hexy.neck.set(-35)
    hexy.LF.setHipDeg(deg+hipSwing,stepTime=0.3)
    hexy.RM.setHipDeg(deg+hipSwing,stepTime=0.3)
    hexy.LB.setHipDeg(deg+hipSwing,stepTime=0.3)

    time.sleep(0.3)
   
    #   going down
    for angle in range(0,40,9):
        for leg in hexy.legs:
            leg.knee(45-angle)
            leg.ankle(-45-angle)
           
        time.sleep(0.1)
   
    #   going up
    for angle in range(0,60,9):
        for leg in hexy.legs:
            leg.knee(angle)
            leg.ankle(-90+angle)
           
        time.sleep(0.1)
       
   
    #   twist left
    hexy.RF.setHipDeg(-deg+hipSwing,stepTime=0.3)
    hexy.LM.setHipDeg(-deg+hipSwing,stepTime=0.3)
    hexy.RB.setHipDeg(-deg+hipSwing,stepTime=0.3)
    hexy.neck.set(35)
    hexy.LF.setHipDeg(-deg-hipSwing,stepTime=0.3)
    hexy.RM.setHipDeg(-deg-hipSwing,stepTime=0.3)
    hexy.LB.setHipDeg(-deg-hipSwing,stepTime=0.3)

    time.sleep(0.3)

    #   going down
    for angle in range(0,40,9):
        for leg in hexy.legs:
            leg.knee(45-angle)
            leg.ankle(-45-angle)
           
        time.sleep(0.1)
   
    #   going up
    for angle in range(0,50,9):
        for leg in hexy.legs:
            leg.knee(angle)
            leg.ankle(-90+angle)
           
        time.sleep(0.1)


Twist_Left_Right Move

Code: Select all
import time

deg = 35
midFloor = 30
hipSwing = 0

#tripod1 = RF,LM,RB
#tripod2 = LF,RM,LB

for timeStop in range(3):
   
#   twist left
    hexy.RF.setHipDeg(-deg+hipSwing,stepTime=0.5)
    hexy.LM.setHipDeg(-deg+hipSwing,stepTime=0.5)
    hexy.RB.setHipDeg(-deg+hipSwing,stepTime=0.5)
    hexy.neck.set(35)
    hexy.LF.setHipDeg(-deg-hipSwing,stepTime=0.5)
    hexy.RM.setHipDeg(-deg-hipSwing,stepTime=0.5)
    hexy.LB.setHipDeg(-deg-hipSwing,stepTime=0.5)

    time.sleep(0.5)

#   twist right
    hexy.RF.setHipDeg(deg-hipSwing,stepTime=0.5)
    hexy.LM.setHipDeg(deg-hipSwing,stepTime=0.5)
    hexy.RB.setHipDeg(deg-hipSwing,stepTime=0.5)
    hexy.neck.set(-35)
    hexy.LF.setHipDeg(deg+hipSwing,stepTime=0.5)
    hexy.RM.setHipDeg(deg+hipSwing,stepTime=0.5)
    hexy.LB.setHipDeg(deg+hipSwing,stepTime=0.5)

    time.sleep(0.5)


Use the codes at your own risk.

Thanks,

- relodan
relodan
 
Posts: 60
Joined: Tue Dec 31, 2013 6:47 am

Re: PoMoCo Moves

Postby relodan » Mon Mar 24, 2014 1:09 am

After the new updated version been posted, I'm going to post some more new moves for hexy:)
relodan
 
Posts: 60
Joined: Tue Dec 31, 2013 6:47 am

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