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update

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This commit is contained in:
Zhengyu Peng
2021-12-10 22:49:37 -05:00
parent e812db544c
commit 58f9cec145
3 changed files with 66 additions and 80 deletions
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35
software/rpi/hexapod.py
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@ -62,7 +62,7 @@ class Hexapod:
self.leg_0 = Leg(0,
[self.pca_left.servo[15], self.pca_left.servo[2],
self.pca_left.servo[1]],
correction=[-6, 4, -6])
correction=[-6, 4, -4])
# center right
self.leg_1 = Leg(1,
[self.pca_left.servo[7], self.pca_left.servo[8],
@ -117,30 +117,30 @@ class Hexapod:
for mm in range(0, 20):
self.move(self.backward_path, 0.005)
# for mm in range(0, 20):
# self.move(self.fastforward_path, 0.005)
for mm in range(0, 20):
self.move(self.fastforward_path, 0.005)
# for mm in range(0, 20):
# self.move(self.fastbackward_path, 0.005)
for mm in range(0, 20):
self.move(self.fastbackward_path, 0.005)
# for mm in range(0, 20):
# self.move(self.leftturn_path, 0.005)
for mm in range(0, 20):
self.move(self.leftturn_path, 0.005)
# for mm in range(0, 20):
# self.move(self.rightturn_path, 0.005)
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)
# for mm in range(0, 20):
# self.move(self.climb_path, 0.005)
for mm in range(0, 20):
self.move(self.climb_path, 0.005)
# self.move(self.rotatex_path, 0.005)
for mm in range(0, 20):
self.move(self.twist_path, 0.005)
# for mm in range(0, 20):
# self.move(self.rotatez_path, 0.005)
time.sleep(1)
self.standby()
@ -161,7 +161,6 @@ class Hexapod:
def move(self, path, interval):
for p_idx in range(0, np.shape(path)[0]):
# dest = path[p_idx, :, :]+self.standby_coordinate
dest = path[p_idx, :, :]
angles = self.inverse_kinematics(dest)