You cannot select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
18 lines
566 B
Python
18 lines
566 B
Python
3 years ago
|
# -*- coding: utf-8 -*-
|
||
|
|
|
||
|
|
class Leg:
|
||
|
|
def __init__(self,
|
||
|
|
id,
|
||
|
|
junction_servos,
|
||
|
|
correction=[0, 0, 0],
|
||
|
|
constraint=[0, 180]):
|
||
|
|
self.id = id
|
||
|
|
self.junction_servos = junction_servos
|
||
|
|
self.correction = correction
|
||
|
|
self.constraint = constraint
|
||
|
|
|
||
|
|
def set_angle(self, junction, angle):
|
||
|
|
set_angle = min(angle+self.correction[junction], self.constraint[1])
|
||
|
|
set_angle = max(set_angle, self.constraint[0])
|
||
|
|
self.junction_servos[junction].angle = set_angle
|