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climb

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This commit is contained in:
Zhengyu Peng
2021-12-09 22:56:58 -05:00
parent 9640f03e2e
commit 578b390b72
2 changed files with 43 additions and 3 deletions
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12
software/rpi/hexapod.py
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@ -15,6 +15,7 @@ from path_generator import gen_forward_path, gen_backward_path
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
SIN30 = 0.5
@ -98,6 +99,8 @@ class Hexapod:
self.shiftleft_path = gen_shiftleft_path()
self.shiftright_path = gen_shiftright_path()
self.climb_path = gen_climb_path()
self.standby()
time.sleep(1)
@ -119,11 +122,14 @@ class Hexapod:
# for mm in range(0, 20):
# self.move(self.rightturn_path, 0.005)
for mm in range(0, 20):
self.move(self.shiftleft_path, 0.005)
# for mm in range(0, 20):
# self.move(self.shiftleft_path, 0.005)
# for mm in range(0, 20):
# self.move(self.shiftright_path, 0.005)
for mm in range(0, 20):
self.move(self.shiftright_path, 0.005)
self.move(self.climb_path, 0.005)
time.sleep(1)
self.standby()