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Update hexapod.py

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This commit is contained in:
Zhengyu Peng 2022-03-11 18:44:54 -05:00
parent c64c2b2fb2
commit 7461f653e1
1 changed files with 10 additions and 2 deletions
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12
software/raspberry pi/hexapod.py
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@ -328,12 +328,13 @@ class Hexapod(Thread):
data_array = cmd_string.split(',')
if len(data_array) == 4:
op = data_array[0].lstrip()
leg_idx = int(data_array[1])
if leg_idx <0 or leg_idx >5:
if leg_idx < 0 or leg_idx > 5:
return
joint_idx = int(data_array[2])
if joint_idx <0 or joint_idx >2:
if joint_idx < 0 or joint_idx > 2:
return
angle = float(data_array[3])
@ -345,6 +346,13 @@ class Hexapod(Thread):
config_str = 'leg'+str(leg_idx)+'Offset'
self.config[config_str] = self.legs[leg_idx].correction
self.save_config()
def save_config(self):
try:
json.dump(self.config, open('config.json', 'w+'), indent=4)
except PermissionError as err:
pass
def run(self):
while True: