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update calibration

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This commit is contained in:
Zhengyu Peng
2021-12-07 21:45:49 -05:00
parent 4795ec01e4
commit 0d49699b16
2 changed files with 12 additions and 23 deletions
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30
software/rpi/hexapod.py
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@ -41,36 +41,20 @@ class Hexapod:
self.leg_4 = Leg('cl',
[self.pca_right.servo[7], self.pca_right.servo[6],
self.pca_right.servo[8]],
correction=[-6, 0, 0])
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.set_angle(0, 90)
self.leg_0.set_angle(1, 90)
self.leg_0.set_angle(2, 90)
self.leg_0.reset()
self.leg_1.reset()
self.leg_2.reset()
self.leg_3.reset()
self.leg_4.reset()
self.leg_5.reset()
self.leg_1.set_angle(0, 90)
self.leg_1.set_angle(1, 90)
self.leg_1.set_angle(2, 90)
self.leg_2.set_angle(0, 90)
self.leg_2.set_angle(1, 90)
self.leg_2.set_angle(2, 90)
self.leg_3.set_angle(0, 90)
self.leg_3.set_angle(1, 90)
self.leg_3.set_angle(2, 90)
self.leg_4.set_angle(0, 90)
self.leg_4.set_angle(1, 90)
self.leg_4.set_angle(2, 90)
self.leg_5.set_angle(0, 90)
self.leg_5.set_angle(1, 90)
self.leg_5.set_angle(2, 90)
def main():