diff --git a/software/raspberry pi/hexapod.py b/software/raspberry pi/hexapod.py index def4a31..9ad0666 100644 --- a/software/raspberry pi/hexapod.py +++ b/software/raspberry pi/hexapod.py @@ -117,32 +117,32 @@ class Hexapod(Thread): self.leg_0 = Leg(0, [self.pca_left.servo[15], self.pca_left.servo[14], self.pca_left.servo[13]], - correction=[4, 6, 2]) + correction=self.config.get('leg0Offset', [0, 0, 0])) # center right self.leg_1 = Leg(1, [self.pca_left.servo[8], self.pca_left.servo[4], self.pca_left.servo[11]], - correction=[0, 8, -6]) + correction=self.config.get('leg1Offset', [0, 0, 0])) # rear right self.leg_2 = Leg(2, [self.pca_left.servo[0], self.pca_left.servo[1], self.pca_left.servo[2]], - correction=[2, 8, -1]) + correction=self.config.get('leg2Offset', [0, 0, 0])) # rear left self.leg_3 = Leg(3, [self.pca_right.servo[15], self.pca_right.servo[14], self.pca_right.servo[13]], - correction=[-3, 10, -8]) + correction=self.config.get('leg3Offset', [0, 0, 0])) # center left self.leg_4 = Leg(4, [self.pca_right.servo[7], self.pca_right.servo[11], self.pca_right.servo[6]], - correction=[-6, 2, -4]) + correction=self.config.get('leg4Offset', [0, 0, 0])) # front left self.leg_5 = Leg(5, [self.pca_right.servo[0], self.pca_right.servo[2], self.pca_right.servo[5]], - correction=[0, 0, -10]) + correction=self.config.get('leg5Offset', [0, 0, 0])) # self.leg_0.reset(True) # self.leg_1.reset(True)