From 665845ccfbfa13ed49af147db2b82a3239f50b16 Mon Sep 17 00:00:00 2001
From: Zhengyu Peng <rookiepeng@users.noreply.github.com>
Date: Sun, 6 Mar 2022 13:38:30 -0500
Subject: [PATCH] get calibration data from config

---
 software/raspberry pi/hexapod.py | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

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)