From 1bdd862442b06e255fef7ac734081f17b8a87a50 Mon Sep 17 00:00:00 2001
From: Zhengyu Peng <rookiepeng@users.noreply.github.com>
Date: Wed, 8 Dec 2021 09:40:00 -0500
Subject: [PATCH] add configuration file

---
 software/rpi/config.json | 14 ++++++++++++++
 software/rpi/hexapod.py  | 26 +++++++++++++++-----------
 2 files changed, 29 insertions(+), 11 deletions(-)
 create mode 100644 software/rpi/config.json

diff --git a/software/rpi/config.json b/software/rpi/config.json
new file mode 100644
index 0000000..94a302a
--- /dev/null
+++ b/software/rpi/config.json
@@ -0,0 +1,14 @@
+{
+    "legNames":["front_right", "center_right", "rear_right", "rear_left", "center_left", "front_left"],
+    "legMountX":[29.41, 36.87, 29.41, 29.41, 36.87, 29.41],
+    "legMountY":[55.41, 0, 55.41, 55.41, 0, 55.41],
+    "legMountLeftRightX":36.87,
+    "legMountOtherX":29.41,
+    "legMountOtherY":55.41,
+    "legRootToJoint1":20.75,
+    "legJoint1ToJoint2":28.0,
+    "legJoint2ToJoint3":42.6,
+    "legJoint3ToTip":89.07,
+    "movementInterval":5,
+    "movementSwitchDuration":150
+}
\ No newline at end of file
diff --git a/software/rpi/hexapod.py b/software/rpi/hexapod.py
index 331bfbd..8444a80 100644
--- a/software/rpi/hexapod.py
+++ b/software/rpi/hexapod.py
@@ -8,42 +8,47 @@ from adafruit_servokit import ServoKit
 from leg import Leg
 
 import time
+import json
 
 
 class Hexapod:
 
     def __init__(self):
+
+        with open('./config.json', 'r') as read_file:
+            self.config = json.load(read_file)
+
         # 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',
+        # front right
+        self.leg_0 = Leg(0,
                          [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.leg_1 = Leg(1,
                          [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',
+        # rear right
+        self.leg_2 = Leg(2,
                          [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',
+        # rear left
+        self.leg_3 = Leg(3,
                          [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.leg_4 = Leg(4,
                          [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',
+        # front left
+        self.leg_5 = Leg(5,
                          [self.pca_right.servo[0], self.pca_right.servo[13],
                              self.pca_right.servo[14]],
                          correction=[-6, 4, 0])
@@ -56,7 +61,6 @@ class Hexapod:
         self.leg_5.reset()
 
 
-
 def main():
 
     hexapod = Hexapod()