shark/hexapod
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Update hexapod.py

Browse Source
This commit is contained in:
Zhengyu Peng 2022-03-06 22:09:50 -05:00
parent 2784d496e2
commit 6ba63d7160
1 changed files with 18 additions and 5 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

23
software/raspberry pi/hexapod.py
View File

@ -81,12 +81,17 @@ class Hexapod(Thread):
CMD_TWIST = 'twist'
CMD_CALIBRATION = 'calibration'
CMD_NORMAL = 'normal'
def __init__(self, in_cmd_queue):
Thread.__init__(self)
self.cmd_queue = in_cmd_queue
self.interval = 0.005
self.calibration_mode = False
with open('/home/pi/hexapod/software/raspberry pi/config.json', 'r') as read_file:
self.config = json.load(read_file)
@ -298,7 +303,14 @@ class Hexapod(Thread):
def cmd_handler(self, cmd_string):
data = cmd_string.split(':')[-2]
self.current_motion = self.cmd_dict.get(data, self.standby_posture)
if data == self.CMD_CALIBRATION:
self.calibration_mode = True
elif data == self.CMD_NORMAL:
self.calibration_mode = False
if not self.calibration_mode:
self.current_motion = self.cmd_dict.get(data, self.standby_posture)
self.cmd_queue.task_done()
@ -313,10 +325,11 @@ class Hexapod(Thread):
else:
self.cmd_handler(cmd_string)
if self.current_motion['type'] == 'motion':
self.motion(self.current_motion['coord'])
elif self.current_motion['type'] == 'posture':
self.posture(self.current_motion['coord'])
if not self.calibration_mode:
if self.current_motion['type'] == 'motion':
self.motion(self.current_motion['coord'])
elif self.current_motion['type'] == 'posture':
self.posture(self.current_motion['coord'])
def main():