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calibrate legs

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This commit is contained in:
Zhengyu Peng
2021-12-07 21:31:09 -05:00
parent ab96e2cf41
commit 4795ec01e4
2 changed files with 10 additions and 15 deletions
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7
software/rpi/leg.py
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@ -5,13 +5,14 @@ class Leg:
id,
junction_servos,
correction=[0, 0, 0],
constraint=[0, 180]):
constraint=[[45, 135], [45, 165], [30, 150]]):
self.id = id
self.junction_servos = junction_servos
self.correction = correction
self.constraint = constraint
def set_angle(self, junction, angle):
set_angle = min(angle+self.correction[junction], self.constraint[1])
set_angle = max(set_angle, self.constraint[0])
set_angle = min(
angle+self.correction[junction], self.constraint[junction][1])
set_angle = max(set_angle, self.constraint[junction][0])
self.junction_servos[junction].angle = set_angle