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a project for the RMC course, creating a chess playing robot arm
不知道serial (ser) 类中的方法write()和read()分别记录和读取的什么东西?是接口端的信号吗?
怀疑是train_test_split导入出了点问题,目前sklearn应该是0.19.2
在文件gripper.py中发现第一行import RPi.GPIO as GPIO不能用pip下载RPi module,在外部terminal中也下载不了,可能是要在树梅派系统安装好了之后才能下这个包?
这个方法出现了很多次,但是没能弄明白其作用是什么?
在raspberryturkd.py文件中引用部分from daemon import runner报错
有几点应该是没问题的:
calibrated_offset关联机器人的初始位姿,对比recenter 和 return_to_rest 两个函数
setReg()函数传入的变量包括舵机id,修改对应的编码位,修改对应的值
执行的exceute函数传入id,ax12.py中的常量,修改的位+值,三个值
猜测这里的kdtree是用来寻找与传入point最近的位姿的,节点里应该是对应角度根据运动学解出的点,找一个最近的,返回对应的index然后转换出需要的两个角度。
做动力学仿真需要机械臂的具体参数,比如实际具体的长度,质量等(摩擦的话要不先忽略,然后后面算在error里?);
打算采用拉格朗日方法求动力学;
PS. 另外我们下次讨论的时候决定一下运动学采用哪种方案
在文件square_color_detector.py中:
from raspberryturk.core.data.raw_pixels_extractor import RawPixelsExtractor
from raspberryturk.core.data.class_encoding import empty_or_not
但是core.data是没有的,我估计可能是.ignore文件把那个文件给bind掉了,下次commit的时候我改一下.gitignore
需要确定机械臂基座固定的位置,应当在棋盘中轴线处
需要确定运动方案,调用电机的顺序和组
现在只出现不论黑白,棋子数据会分到一个文件里,也就是少了6个文件夹
调整到gpu上会引起其它报错,不调整则很费时间
niklasf/python-chess#389
在文件stockfish_player.py中,第一行from chess import uci发现uci在新版本中已经被去掉,而是新增了engine模块,里面有uci
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