From 09b9ba609ddd18e5409bee87dab3e276133c5441 Mon Sep 17 00:00:00 2001
From: Zhengyu Peng <rookie.dev@gmail.com>
Date: Thu, 9 Dec 2021 09:35:55 -0500
Subject: [PATCH] update

---
 software/rpi/hexapod.py        | 25 ++-----------------------
 software/rpi/path_generator.py | 22 ++++++++++++++++++++++
 2 files changed, 24 insertions(+), 23 deletions(-)
 create mode 100644 software/rpi/path_generator.py

diff --git a/software/rpi/hexapod.py b/software/rpi/hexapod.py
index ae4d625..fc2c29f 100644
--- a/software/rpi/hexapod.py
+++ b/software/rpi/hexapod.py
@@ -11,10 +11,8 @@ from leg import Leg
 import numpy as np
 import time
 import json
+from path_generator import forward_path
 
-from collections import deque
-
-from lib import semicircle_generator
 
 SIN30 = 0.5
 COS30 = 0.866
@@ -90,7 +88,7 @@ class Hexapod:
         self.standby()
         time.sleep(0.1)
 
-        full_path = self.path_generator()
+        full_path = forward_path()
 
         for mm in range(0, 30):
             self.move(full_path, 0.005)
@@ -174,25 +172,6 @@ class Hexapod:
 
         return angles
 
-    def path_generator(self):
-        # assert (g_steps % 4) == 0
-        g_steps = 20
-        g_radius = 25
-        halfsteps = int(g_steps/2)
-
-        path = np.zeros((g_steps, 6, 3))
-
-        path[:, 0, :] = semicircle_generator(g_radius, g_steps)
-
-        mir_path = np.roll(path[:, 0, :], halfsteps, axis=0)
-        path[:, 2, :] = path[:, 0, :]
-        path[:, 4, :] = path[:, 0, :]
-        path[:, 1, :] = mir_path
-        path[:, 3, :] = mir_path
-        path[:, 5, :] = mir_path
-
-        return path
-
         # return [path, mir_path, path, mir_path, path, mir_path, ], "shift", 20, (0, halfsteps)
 
 
diff --git a/software/rpi/path_generator.py b/software/rpi/path_generator.py
new file mode 100644
index 0000000..93156fc
--- /dev/null
+++ b/software/rpi/path_generator.py
@@ -0,0 +1,22 @@
+from lib import semicircle_generator
+import numpy as np
+
+
+def forward_path():
+    # assert (g_steps % 4) == 0
+    g_steps = 20
+    g_radius = 25
+    halfsteps = int(g_steps/2)
+
+    path = np.zeros((g_steps, 6, 3))
+
+    path[:, 0, :] = semicircle_generator(g_radius, g_steps)
+
+    mir_path = np.roll(path[:, 0, :], halfsteps, axis=0)
+    path[:, 2, :] = path[:, 0, :]
+    path[:, 4, :] = path[:, 0, :]
+    path[:, 1, :] = mir_path
+    path[:, 3, :] = mir_path
+    path[:, 5, :] = mir_path
+
+    return path