Update hexapod.py
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@ -110,8 +110,8 @@ class Hexapod(Thread):
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self.mount_position[:, 1] = self.mount_y
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# Objects
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self.pca_right = ServoKit(channels=16, address=0x40, frequency=50)
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self.pca_left = ServoKit(channels=16, address=0x41, frequency=50)
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self.pca_right = ServoKit(channels=16, address=0x40, frequency=120)
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self.pca_left = ServoKit(channels=16, address=0x41, frequency=120)
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# front right
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self.leg_0 = Leg(0,
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@ -238,7 +238,7 @@ class Hexapod(Thread):
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self.leg_2.move_junctions(angles[2, :])
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self.leg_3.move_junctions(angles[3, :])
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time.sleep(self.interval)
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# time.sleep(self.interval)
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def motion(self, path):
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for p_idx in range(0, np.shape(path)[0]):
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@ -258,7 +258,7 @@ class Hexapod(Thread):
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cmd_string = self.cmd_queue.get(block=False)
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print('interrput')
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except Empty:
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time.sleep(self.interval)
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# time.sleep(self.interval)
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pass
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else:
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self.cmd_handler(cmd_string)
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@ -308,7 +308,7 @@ class Hexapod(Thread):
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try:
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cmd_string = self.cmd_queue.get(block=False)
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except Empty:
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time.sleep(self.interval)
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# time.sleep(self.interval)
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pass
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else:
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self.cmd_handler(cmd_string)
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