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Update hexapod.py

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

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