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Update hexapod.py

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Zhengyu Peng 2022-02-27 15:52:47 -05:00
parent a46914e3a0
commit 552c2a8d39
1 changed files with 13 additions and 13 deletions
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26
software/raspberry pi/hexapod.py
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@ -115,33 +115,33 @@ class Hexapod(Thread):
# front right
self.leg_0 = Leg(0,
[self.pca_left.servo[15], self.pca_left.servo[2],
self.pca_left.servo[1]],
[self.pca_left.servo[15], self.pca_left.servo[14],
self.pca_left.servo[13]],
correction=[4, 6, 2])
# center right
self.leg_1 = Leg(1,
[self.pca_left.servo[7], self.pca_left.servo[8],
self.pca_left.servo[6]],
[self.pca_left.servo[8], self.pca_left.servo[4],
self.pca_left.servo[11]],
correction=[0, 8, -6])
# rear right
self.leg_2 = Leg(2,
[self.pca_left.servo[0], self.pca_left.servo[14],
self.pca_left.servo[13]],
[self.pca_left.servo[0], self.pca_left.servo[1],
self.pca_left.servo[2]],
correction=[2, 8, -1])
# rear left
self.leg_3 = Leg(3,
[self.pca_right.servo[15], self.pca_right.servo[1],
self.pca_right.servo[2]],
[self.pca_right.servo[15], self.pca_right.servo[14],
self.pca_right.servo[13]],
correction=[-3, 10, -8])
# center left
self.leg_4 = Leg(4,
[self.pca_right.servo[7], self.pca_right.servo[6],
self.pca_right.servo[8]],
self.leg_4 = Leg(4,
[self.pca_right.servo[7], self.pca_right.servo[11],
self.pca_right.servo[4]],
correction=[-6, 2, -4])
# front left
self.leg_5 = Leg(5,
[self.pca_right.servo[0], self.pca_right.servo[13],
self.pca_right.servo[14]],
[self.pca_right.servo[0], self.pca_right.servo[1],
self.pca_right.servo[2]],
correction=[0, 0, -10])
# self.leg_0.reset(True)