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mian.py测试完成的多轨迹运动控制代码

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This commit is contained in:
琉璃月光
2025-09-17 16:39:51 +08:00
parent 95c75bd409
commit 02268ca185
14 changed files with 561 additions and 603 deletions
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6
calculate/trajectory.py
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@ -2,14 +2,14 @@
import numpy as np
def circle_trajectory(center=(80, 0), radius=40, num_points=60):
def circle_trajectory(center=(80, 0), radius=40, num_points=200):
""" 圆形轨迹 """
angles = np.linspace(0, 2 * np.pi, num_points)
x_list = center[0] + radius * np.cos(angles)
y_list = center[1] + radius * np.sin(angles)
return x_list, y_list
def line_trajectory(start=(40, 0), end=(120, 0), num_points=20):
def line_trajectory(start=(40, 0), end=(120, 0), num_points=100):
""" 直线轨迹 """
t = np.linspace(0, 1, num_points)
x_list = start[0] + t * (end[0] - start[0])
@ -53,7 +53,7 @@ def line_trajectory_fix(start=(40, 0), end=(120, 100), vx=0.1, vy=0.1, num_point
return x_list, y_list
def ellipse_trajectory(center=(80, 0), rx=50, ry=25, num_points=60):
def ellipse_trajectory(center=(80, 0), rx=50, ry=25, num_points=200):
""" 椭圆轨迹 """
angles = np.linspace(0, 2 * np.pi, num_points)
x_list = center[0] + rx * np.cos(angles)