victorkich/Stewart-Platform-Environment

Stewart Plataform environment with 6 actuators done in matplotlib.

Stewart Plataform Environment

Environment with 6 actuators made in matplotlib for the development of algorithms for the stewart platform.

Environment

This project is intended to provide a simulation environment for performing virtual tests for a stewart platform. It consists of a board with 6 actuators working in parallel, so it is possible to use this environment as a basis for testing your parallel kinematics algorithms.

Setup

All of requirements is show in the badgets above, but if you want to install all of them, enter the repository and execute the following line of code:

pip3 install -r requirements.txt

To execute the test code just use:

python3 test.py

Objectives

To use this environment in the best possible way I strongly recommend looking at the test code provided in the test.py file. Anyway, this code can be seen right below:

import stewart
import threading

# Create the environment object
env = stewart.environment()

def code():
    ''' Your main code here
    ''' 
    # This function send the angles to servo motors
    angles = [90,90,90,90,90,90]
    env.step(angles, 0.1, 100)

# Create the threading for main code running
code_thread = threading.Thread(name = 'Code', target = code)
code_thread.setDaemon(True)
code_thread.start()
# Call for show plot on environment, it has to be at the end of the code
env.showPlot()

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