From 2f90828d3633ebb93d21ac5c95a719c2a507e90c Mon Sep 17 00:00:00 2001 From: Zhengyu Peng Date: Sat, 12 Mar 2022 20:49:56 -0500 Subject: [PATCH] Update config.json --- software/raspberry pi/config.json | 122 ++++++++++++++++++++++++------ 1 file changed, 99 insertions(+), 23 deletions(-) diff --git a/software/raspberry pi/config.json b/software/raspberry pi/config.json index 9b3b399..6b73774 100644 --- a/software/raspberry pi/config.json +++ b/software/raspberry pi/config.json @@ -1,24 +1,100 @@ { - "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], - "legMountAngle":[45, 0, -45, -135, -180, -225], - "legRootToJoint1":20.75, - "legJoint1ToJoint2":28.0, - "legJoint2ToJoint3":42.6, - "legJoint3ToTip":89.07, - "movementInterval":5, - "movementSwitchDuration":150, - "leg0Offset":[4, 6, 2], - "leg0Scale":[1, 1, 1], - "leg1Offset":[0, 8, -6], - "leg1Scale":[1, 1, 1], - "leg2Offset":[2, 8, -1], - "leg2Scale":[1, 1, 1], - "leg3Offset":[-3, 10, -8], - "leg3Scale":[1, 1, 1], - "leg4Offset":[-6, 2, -4], - "leg4Scale":[1, 1, 1], - "leg5Offset":[0, 0, -10], - "leg5Scale":[1, 1, 1] -} + "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 + ], + "legMountAngle": [ + 45, + 0, + -45, + -135, + -180, + -225 + ], + "legRootToJoint1": 20.75, + "legJoint1ToJoint2": 28.0, + "legJoint2ToJoint3": 42.6, + "legJoint3ToTip": 89.07, + "movementInterval": 5, + "movementSwitchDuration": 150, + "leg0Offset": [ + 4.0, + 6.0, + 2 + ], + "leg0Scale": [ + 1, + 1, + 1 + ], + "leg1Offset": [ + -1.0, + 8, + -6 + ], + "leg1Scale": [ + 1, + 1, + 1 + ], + "leg2Offset": [ + 1.0, + 12.0, + 1.0 + ], + "leg2Scale": [ + 1, + 1, + 1 + ], + "leg3Offset": [ + -3, + 12.0, + -6.0 + ], + "leg3Scale": [ + 1, + 1, + 1 + ], + "leg4Offset": [ + -6, + 2, + -6.0 + ], + "leg4Scale": [ + 1, + 1, + 1 + ], + "leg5Offset": [ + 0, + 4.0, + -10 + ], + "leg5Scale": [ + 1, + 1, + 1 + ] +} \ No newline at end of file