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Update hexapod.py

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This commit is contained in:
Zhengyu Peng
2022-02-23 12:23:38 -05:00
parent 11e9f7a323
commit 7cfb69a276
1 changed files with 15 additions and 12 deletions
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software/raspberry pi/hexapod.py
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@@ -40,7 +40,7 @@ import json
from path_generator import gen_walk_path
from path_generator import gen_fastwalk_path
from path_generator import gen_turn_path
from path_generator import gen_shiftleft_path, gen_shiftright_path
from path_generator import gen_shift_path
from path_generator import gen_climb_path
from path_generator import gen_rotatex_path, gen_rotatey_path, gen_rotatez_path
from path_generator import gen_twist_path
@@ -148,12 +148,6 @@ class Hexapod(Thread):
self.standby_posture = self.gen_posture(60, 75)
self.leftturn_path = gen_leftturn_path(self.standby_posture)
self.rightturn_path = gen_rightturn_path(self.standby_posture)
self.shiftleft_path = gen_shiftleft_path(self.standby_posture)
self.shiftright_path = gen_shiftright_path(self.standby_posture)
self.climb_path = gen_climb_path(self.standby_posture)
self.rotatex_path = gen_rotatex_path(self.standby_posture)
@@ -166,13 +160,22 @@ class Hexapod(Thread):
self.cmd_dict = {
self.CMD_STANDBY: self.standby_posture,
self.CMD_LAYDOWN: self.gen_posture(0, 15),
self.CMD_FORWARD: gen_walk_path(self.standby_posture),
self.CMD_BACKWARD: gen_walk_path(self.standby_posture, reverse=True),
self.CMD_FASTFORWARD: gen_fastwalk_path(self.standby_posture),
self.CMD_FORWARD: gen_walk_path(
self.standby_posture),
self.CMD_BACKWARD: gen_walk_path(
self.standby_posture, reverse=True),
self.CMD_FASTFORWARD: gen_fastwalk_path(
self.standby_posture),
self.CMD_FASTBACKWARD: gen_fastwalk_path(
self.standby_posture, reverse=True),
self.CMD_TURNLEFT: gen_turn_path(self.standby_posture, direction='left'),
self.CMD_TURNRIGHT: gen_turn_path(self.standby_posture, direction='right')
self.CMD_TURNLEFT: gen_turn_path(
self.standby_posture, direction='left'),
self.CMD_TURNRIGHT: gen_turn_path(
self.standby_posture, direction='right'),
self.CMD_SHIFTLEFT: gen_shift_path(
self.standby_posture, direction='left'),
self.CMD_SHIFTRIGHT: gen_shift_path(
self.standby_posture, direction='right')
}
self.standby()