hexapod/software/rpi/hexapod.py

#!/usr/bin/env python
# -*- coding: utf-8 -*-

# Libraries
# https://circuitpython.readthedocs.io/projects/servokit/en/latest/
from adafruit_servokit import ServoKit

from leg import Leg

import time


class Hexapod:

    def __init__(self):
        # Objects
        self.pca_right = ServoKit(channels=16, address=0x40, frequency=120)
        self.pca_left = ServoKit(channels=16, address=0x41, frequency=120)

        # rear right
        self.leg_0 = Leg('rr',
                         [self.pca_left.servo[15], self.pca_left.servo[2],
                             self.pca_left.servo[1]],
                         correction=[-6, 4, -6])
        # center right
        self.leg_1 = Leg('cr',
                         [self.pca_left.servo[7], self.pca_left.servo[8],
                             self.pca_left.servo[6]],
                         correction=[3, -5, -6])
        # front right
        self.leg_2 = Leg('fr',
                         [self.pca_left.servo[0], self.pca_left.servo[14],
                             self.pca_left.servo[13]],
                         correction=[3, -6, -5])
        # front left
        self.leg_3 = Leg('fl',
                         [self.pca_right.servo[15], self.pca_right.servo[1],
                             self.pca_right.servo[2]],
                         correction=[-3, -4, 6])
        # center left
        self.leg_4 = Leg('cl',
                         [self.pca_right.servo[7], self.pca_right.servo[6],
                             self.pca_right.servo[8]],
                         correction=[-6, 2, 0])
        # rear left
        self.leg_5 = Leg('rl',
                         [self.pca_right.servo[0], self.pca_right.servo[13],
                             self.pca_right.servo[14]],
                         correction=[-6, 4, 0])

        self.leg_0.reset()
        self.leg_1.reset()
        self.leg_2.reset()
        self.leg_3.reset()
        self.leg_4.reset()
        self.leg_5.reset()



def main():

    hexapod = Hexapod()


if __name__ == '__main__':
    main()