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Update hexapod.py

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master
Zhengyu Peng 3 years ago
parent cf125414ae
commit 48b7c4e8b5
1 changed files with 16 additions and 15 deletions
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29
software/rpi/hexapod.py
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@ -45,6 +45,7 @@ from path_generator import gen_twist_path
import socket import socket
import errno import errno
class Hexapod: class Hexapod:
ERROR = -1 ERROR = -1
LISTEN = 1 LISTEN = 1
@ -312,46 +313,46 @@ class Hexapod:
# sys.exit(1) # sys.exit(1)
else: else:
if data: if data:
if data.decode()=='standby': if data.decode() == 'standby':
self.current_motion = None self.current_motion = None
self.standby() self.standby()
elif data.decode()=='forward': elif data.decode() == 'forward':
self.current_motion = self.forward_path self.current_motion = self.forward_path
# self.move(self.current_motion, 0.005) # self.move(self.current_motion, 0.005)
elif data.decode()=='backward': elif data.decode() == 'backward':
self.current_motion = self.backward_path self.current_motion = self.backward_path
# self.move(self.current_motion, 0.005) # self.move(self.current_motion, 0.005)
elif data.decode()=='fastforward': elif data.decode() == 'fastforward':
self.current_motion = self.fastforward_path self.current_motion = self.fastforward_path
# self.move(self.current_motion, 0.005) # self.move(self.current_motion, 0.005)
elif data.decode()=='fastbackward': elif data.decode() == 'fastbackward':
self.current_motion = self.fastbackward_path self.current_motion = self.fastbackward_path
# self.move(self.current_motion, 0.005) # self.move(self.current_motion, 0.005)
elif data.decode()=='leftturn': elif data.decode() == 'leftturn':
self.current_motion = self.leftturn_path self.current_motion = self.leftturn_path
# self.move(self.current_motion, 0.005) # self.move(self.current_motion, 0.005)
elif data.decode()=='rightturn': elif data.decode() == 'rightturn':
self.current_motion = self.rightturn_path self.current_motion = self.rightturn_path
# self.move(self.current_motion, 0.005) # self.move(self.current_motion, 0.005)
elif data.decode()=='shiftleft': elif data.decode() == 'shiftleft':
self.current_motion = self.shiftleft_path self.current_motion = self.shiftleft_path
# self.move(self.current_motion, 0.005) # self.move(self.current_motion, 0.005)
elif data.decode()=='shiftright': elif data.decode() == 'shiftright':
self.current_motion = self.shiftright_path self.current_motion = self.shiftright_path
# self.move(self.current_motion, 0.005) # self.move(self.current_motion, 0.005)
elif data.decode()=='climb': elif data.decode() == 'climb':
self.current_motion = self.climb_path self.current_motion = self.climb_path
# self.move(self.current_motion, 0.005) # self.move(self.current_motion, 0.005)
elif data.decode()=='rotatex': elif data.decode() == 'rotatex':
self.current_motion = self.rotatex_path self.current_motion = self.rotatex_path
# self.move(self.current_motion, 0.005) # self.move(self.current_motion, 0.005)
elif data.decode()=='rotatey': elif data.decode() == 'rotatey':
self.current_motion = self.rotatey_path self.current_motion = self.rotatey_path
# self.move(self.current_motion, 0.005) # self.move(self.current_motion, 0.005)
elif data.decode()=='rotatez': elif data.decode() == 'rotatez':
self.current_motion = self.rotatez_path self.current_motion = self.rotatez_path
# self.move(self.current_motion, 0.005) # self.move(self.current_motion, 0.005)
elif data.decode()=='twist': elif data.decode() == 'twist':
self.current_motion = self.twist_path self.current_motion = self.twist_path
# self.move(self.current_motion, 0.005) # self.move(self.current_motion, 0.005)
else: else:

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