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rotate y

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This commit is contained in:
Zhengyu Peng
2021-12-10 13:40:19 -05:00
parent bee5b3a67d
commit 5012ad8ad7
2 changed files with 270 additions and 58 deletions
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8
software/rpi/hexapod.py
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@ -16,7 +16,7 @@ from path_generator import gen_fastforward_path, gen_fastbackward_path
from path_generator import gen_leftturn_path, gen_rightturn_path
from path_generator import gen_shiftleft_path, gen_shiftright_path
from path_generator import gen_climb_path
from path_generator import gen_rotatex_path
from path_generator import gen_rotatex_path, gen_rotatey_path
SIN30 = 0.5
@ -103,6 +103,7 @@ class Hexapod:
self.climb_path = gen_climb_path()
self.rotatex_path = gen_rotatex_path(self.standby_coordinate)
self.rotatey_path = gen_rotatey_path(self.standby_coordinate)
self.standby()
time.sleep(1)
@ -134,8 +135,9 @@ class Hexapod:
# for mm in range(0, 20):
# self.move(self.climb_path, 0.005)
self.move(self.rotatex_path, 0.005)
# self.move(self.rotatex_path, 0.005)
for mm in range(0, 20):
self.move(self.rotatey_path, 0.005)
time.sleep(1)
self.standby()