From 75a8af655aa9d82d1ad909580c38252a6347b0fc Mon Sep 17 00:00:00 2001
From: Zhengyu Peng <rookie.dev@gmail.com>
Date: Tue, 7 Dec 2021 21:45:49 -0500
Subject: [PATCH] update calibration

---
 software/rpi/hexapod.py | 30 +++++++-----------------------
 software/rpi/leg.py     |  5 +++++
 2 files changed, 12 insertions(+), 23 deletions(-)

diff --git a/software/rpi/hexapod.py b/software/rpi/hexapod.py
index 1505b49..331bfbd 100644
--- a/software/rpi/hexapod.py
+++ b/software/rpi/hexapod.py
@@ -41,36 +41,20 @@ class Hexapod:
         self.leg_4 = Leg('cl',
                          [self.pca_right.servo[7], self.pca_right.servo[6],
                              self.pca_right.servo[8]],
-                         correction=[-6, 0, 0])
+                         correction=[-6, 2, 0])
         # rear left
         self.leg_5 = Leg('rl',
                          [self.pca_right.servo[0], self.pca_right.servo[13],
                              self.pca_right.servo[14]],
                          correction=[-6, 4, 0])
 
-        self.leg_0.set_angle(0, 90)
-        self.leg_0.set_angle(1, 90)
-        self.leg_0.set_angle(2, 90)
+        self.leg_0.reset()
+        self.leg_1.reset()
+        self.leg_2.reset()
+        self.leg_3.reset()
+        self.leg_4.reset()
+        self.leg_5.reset()
 
-        self.leg_1.set_angle(0, 90)
-        self.leg_1.set_angle(1, 90)
-        self.leg_1.set_angle(2, 90)
-
-        self.leg_2.set_angle(0, 90)
-        self.leg_2.set_angle(1, 90)
-        self.leg_2.set_angle(2, 90)
-
-        self.leg_3.set_angle(0, 90)
-        self.leg_3.set_angle(1, 90)
-        self.leg_3.set_angle(2, 90)
-
-        self.leg_4.set_angle(0, 90)
-        self.leg_4.set_angle(1, 90)
-        self.leg_4.set_angle(2, 90)
-
-        self.leg_5.set_angle(0, 90)
-        self.leg_5.set_angle(1, 90)
-        self.leg_5.set_angle(2, 90)
 
 
 def main():
diff --git a/software/rpi/leg.py b/software/rpi/leg.py
index 836f2a2..d2f8f87 100644
--- a/software/rpi/leg.py
+++ b/software/rpi/leg.py
@@ -16,3 +16,8 @@ class Leg:
             angle+self.correction[junction], self.constraint[junction][1])
         set_angle = max(set_angle, self.constraint[junction][0])
         self.junction_servos[junction].angle = set_angle
+
+    def reset(self):
+        self.set_angle(0, 90)
+        self.set_angle(1, 90)
+        self.set_angle(2, 90)
\ No newline at end of file