calibrate legs
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@ -21,38 +21,32 @@ class Hexapod:
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self.leg_0 = Leg('rr',
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[self.pca_left.servo[15], self.pca_left.servo[2],
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self.pca_left.servo[1]],
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correction=[0, 0, 0],
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constraint=[0, 180])
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correction=[-6, 4, -6])
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# center right
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self.leg_1 = Leg('cr',
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[self.pca_left.servo[7], self.pca_left.servo[8],
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self.pca_left.servo[6]],
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correction=[0, 0, 0],
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constraint=[0, 180])
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correction=[3, -5, -6])
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# front right
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self.leg_2 = Leg('fr',
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[self.pca_left.servo[0], self.pca_left.servo[14],
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self.pca_left.servo[13]],
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correction=[0, 0, 0],
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constraint=[0, 180])
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correction=[3, -6, -5])
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# front left
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self.leg_3 = Leg('fl',
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[self.pca_right.servo[15], self.pca_right.servo[1],
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self.pca_right.servo[2]],
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correction=[0, 0, 0],
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constraint=[0, 180])
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correction=[-3, -4, 6])
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# center left
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self.leg_4 = Leg('cl',
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[self.pca_right.servo[7], self.pca_right.servo[6],
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self.pca_right.servo[8]],
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correction=[0, 0, 0],
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constraint=[0, 180])
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correction=[-6, 0, 0])
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# rear left
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self.leg_5 = Leg('rl',
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[self.pca_right.servo[0], self.pca_right.servo[13],
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self.pca_right.servo[14]],
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correction=[0, 0, 0],
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constraint=[0, 180])
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correction=[-6, 4, 0])
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self.leg_0.set_angle(0, 90)
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self.leg_0.set_angle(1, 90)
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@ -5,13 +5,14 @@ class Leg:
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id,
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junction_servos,
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correction=[0, 0, 0],
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constraint=[0, 180]):
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constraint=[[45, 135], [45, 165], [30, 150]]):
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self.id = id
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self.junction_servos = junction_servos
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self.correction = correction
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self.constraint = constraint
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def set_angle(self, junction, angle):
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set_angle = min(angle+self.correction[junction], self.constraint[1])
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set_angle = max(set_angle, self.constraint[0])
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set_angle = min(
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angle+self.correction[junction], self.constraint[junction][1])
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set_angle = max(set_angle, self.constraint[junction][0])
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self.junction_servos[junction].angle = set_angle
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