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Update hexapod.py

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This commit is contained in:
Zhengyu Peng 2021-12-11 22:04:19 -05:00
parent cf125414ae
commit 48b7c4e8b5
1 changed files with 16 additions and 15 deletions
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31
software/rpi/hexapod.py
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@ -45,6 +45,7 @@ from path_generator import gen_twist_path
import socket
import errno
class Hexapod:
ERROR = -1
LISTEN = 1
@ -205,7 +206,7 @@ class Hexapod:
self.leg_3.move_junctions(angles[3, :])
time.sleep(interval)
def move_routine(self, path, interval):
for p_idx in range(0, np.shape(path)[0]):
dest = path[p_idx, :, :]
@ -312,46 +313,46 @@ class Hexapod:
# sys.exit(1)
else:
if data:
if data.decode()=='standby':
if data.decode() == 'standby':
self.current_motion = None
self.standby()
elif data.decode()=='forward':
elif data.decode() == 'forward':
self.current_motion = self.forward_path
# self.move(self.current_motion, 0.005)
elif data.decode()=='backward':
elif data.decode() == 'backward':
self.current_motion = self.backward_path
# self.move(self.current_motion, 0.005)
elif data.decode()=='fastforward':
elif data.decode() == 'fastforward':
self.current_motion = self.fastforward_path
# self.move(self.current_motion, 0.005)
elif data.decode()=='fastbackward':
elif data.decode() == 'fastbackward':
self.current_motion = self.fastbackward_path
# self.move(self.current_motion, 0.005)
elif data.decode()=='leftturn':
elif data.decode() == 'leftturn':
self.current_motion = self.leftturn_path
# self.move(self.current_motion, 0.005)
elif data.decode()=='rightturn':
elif data.decode() == 'rightturn':
self.current_motion = self.rightturn_path
# self.move(self.current_motion, 0.005)
elif data.decode()=='shiftleft':
elif data.decode() == 'shiftleft':
self.current_motion = self.shiftleft_path
# self.move(self.current_motion, 0.005)
elif data.decode()=='shiftright':
elif data.decode() == 'shiftright':
self.current_motion = self.shiftright_path
# self.move(self.current_motion, 0.005)
elif data.decode()=='climb':
elif data.decode() == 'climb':
self.current_motion = self.climb_path
# self.move(self.current_motion, 0.005)
elif data.decode()=='rotatex':
elif data.decode() == 'rotatex':
self.current_motion = self.rotatex_path
# self.move(self.current_motion, 0.005)
elif data.decode()=='rotatey':
elif data.decode() == 'rotatey':
self.current_motion = self.rotatey_path
# self.move(self.current_motion, 0.005)
elif data.decode()=='rotatez':
elif data.decode() == 'rotatez':
self.current_motion = self.rotatez_path
# self.move(self.current_motion, 0.005)
elif data.decode()=='twist':
elif data.decode() == 'twist':
self.current_motion = self.twist_path
# self.move(self.current_motion, 0.005)
else: