update code

software/android/.idea/kotlinc.xml

@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="KotlinJpsPluginSettings">
+    <option name="version" value="1.6.21" />
+  </component>
+</project>

software/raspberry pi/adafruit_servokit.py

@@ -3,7 +3,7 @@
 # SPDX-License-Identifier: MIT
 #
 # MODIFIED to use pololu motor drivers, but compatible with adafruit_servokit driver layout
-# by Cole Deck
+# by Amelia Deck
 # Based on adafruit_motor.py as well
 
 """
@@ -152,7 +152,7 @@ class pololuservo:
         self._duty_range = max_pulse - min_pulse
         self.duty_cycle = 0
         print("init servo", ch)
-        pca.setAccel(ch, 10)
+        pca.setAccel(ch, 15)
         pca.setTarget(ch, int((max_pulse-min_pulse)/2 + min_pulse)) # set midpoint
         time.sleep(0.1)
         pca.setAccel(ch, 0)

software/raspberry pi/config.json

@@ -38,9 +38,9 @@
     "movementInterval": 5,
     "movementSwitchDuration": 150,
     "leg0Offset": [
-        0,
         10,
-        25
+        10,
+        30
     ],
     "leg0Scale": [
         1,
@@ -48,29 +48,29 @@
         -1
     ],
     "leg1Offset": [
-        -1.0,
+        15,
-        8,
+        -20,
-        -6
+        35
     ],
     "leg1Scale": [
         1,
-        1,
+        -1,
-        1
+        -1
     ],
     "leg2Offset": [
-        1.0,
+        -3,
-        12.0,
+        10,
-        1.0
+        20
     ],
     "leg2Scale": [
         1,
-        1,
+        -1,
-        1
+        -1
     ],
     "leg3Offset": [
-        -3,
+        7,
-        12.0,
+        15,
-        -6.0
+        -10
     ],
     "leg3Scale": [
         1,
@@ -78,9 +78,9 @@
         1
     ],
     "leg4Offset": [
-        -6,
+        15,
-        2,
+        10,
-        -6.0
+        5
     ],
     "leg4Scale": [
         1,
@@ -88,9 +88,9 @@
         1
     ],
     "leg5Offset": [
-        0,
+        -7,
         10,
-        -40
+        -30
     ],
     "leg5Scale": [
         1,

software/raspberry pi/hexapod.py

@@ -132,18 +132,18 @@ class Hexapod(Thread):
                 correction=self.config.get('leg1Offset', [0, 0, 0]), scale=self.config.get('leg1Scale', [1, 1, 1])),
             # rear right
             Leg(2,
-                [self.pca_left.servo[12], self.pca_left.servo[13],
+                [self.pca_left.servo[14], self.pca_left.servo[13],
-                 self.pca_left.servo[14]],
+                 self.pca_left.servo[12]],
                 correction=self.config.get('leg2Offset', [0, 0, 0]), scale=self.config.get('leg2Scale', [1, 1, 1])),
             # rear left
             Leg(3,
-                [self.pca_right.servo[15], self.pca_right.servo[16],
+                [self.pca_right.servo[17], self.pca_right.servo[16],
-                 self.pca_right.servo[17]],
+                 self.pca_right.servo[15]],
                 correction=self.config.get('leg3Offset', [0, 0, 0]), scale=self.config.get('leg3Scale', [1, 1, 1])),
             # center left
             Leg(4,
-                [self.pca_right.servo[9], self.pca_right.servo[10],
+                [self.pca_right.servo[11], self.pca_right.servo[10],
-                 self.pca_right.servo[11]],
+                 self.pca_right.servo[9]],
                 correction=self.config.get('leg4Offset', [0, 0, 0]), scale=self.config.get('leg4Scale', [1, 1, 1])),
             # front left
             Leg(5,