From 552c2a8d399ac862d84dd27a21303fef1dfd616a Mon Sep 17 00:00:00 2001
From: Zhengyu Peng <rookiepeng@users.noreply.github.com>
Date: Sun, 27 Feb 2022 15:52:47 -0500
Subject: [PATCH] Update hexapod.py

---
 software/raspberry pi/hexapod.py | 26 +++++++++++++-------------
 1 file changed, 13 insertions(+), 13 deletions(-)

diff --git a/software/raspberry pi/hexapod.py b/software/raspberry pi/hexapod.py
index 82ba740..88599b1 100644
--- a/software/raspberry pi/hexapod.py	
+++ b/software/raspberry pi/hexapod.py	
@@ -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)