From 80b911dd8d47bbfe277a7d8434958cd123172d34 Mon Sep 17 00:00:00 2001
From: Cole Deck <cole@deck.sh>
Date: Wed, 10 May 2023 19:07:16 -0500
Subject: [PATCH] update paths

---
 software/raspberry pi/btserver.py  |  2 +-
 software/raspberry pi/hexapod.py   | 30 +++++++++++++++---------------
 software/raspberry pi/tcpserver.py |  2 +-
 3 files changed, 17 insertions(+), 17 deletions(-)

diff --git a/software/raspberry pi/btserver.py b/software/raspberry pi/btserver.py
index fe97562..5fdbf0f 100644
--- a/software/raspberry pi/btserver.py	
+++ b/software/raspberry pi/btserver.py	
@@ -49,7 +49,7 @@ class BluetoothServer(Thread):
 
         self.cmd_queue = out_cmd_queue
 
-        with open('/home/cole/Downloads/hexapod/software/raspberry pi/config.json', 'r') as read_file:
+        with open('config.json', 'r') as read_file:
             self.config = json.load(read_file)
         try:
 
diff --git a/software/raspberry pi/hexapod.py b/software/raspberry pi/hexapod.py
index 713a58b..e0637c1 100644
--- a/software/raspberry pi/hexapod.py	
+++ b/software/raspberry pi/hexapod.py	
@@ -1,4 +1,4 @@
-#!python
+#!/usr/bin/python3
 #
 # 2021 - PRESENT  Zhengyu Peng
 # Website: https://zpeng.me
@@ -116,39 +116,39 @@ class Hexapod(Thread):
         self.mount_position[:, 1] = self.mount_y
 
         # Objects
-        self.pca_right = ServoKit(channels=18, address="/dev/ttyACM0", frequency=0x0c)
-        self.pca_left = ServoKit(channels=18, address="/dev/ttyACM0", frequency=0x0d)
+        self.pca_right = ServoKit(channels=18, address="/dev/serial/by-path/platform-fd500000.pcie-pci-0000:01:00.0-usb-0:1.4:1.0", frequency=0x0c)
+        self.pca_left = ServoKit(channels=18, address="/dev/serial/by-path/platform-fd500000.pcie-pci-0000:01:00.0-usb-0:1.3:1.0", frequency=0x0d)
         #self.pca_left = self.pca_right
         self.legs = [
             # front right
             Leg(0,
-                [self.pca_left.servo[2], self.pca_left.servo[1],
-                 self.pca_left.servo[0]],
+                [self.pca_left.servo[0], self.pca_left.servo[1],
+                 self.pca_left.servo[2]],
                 correction=self.config.get('leg0Offset', [0, 0, 0]), scale=self.config.get('leg0Scale', [1, 1, 1])),
             # center right
             Leg(1,
-                [self.pca_left.servo[8], self.pca_left.servo[7],
-                 self.pca_left.servo[6]],
+                [self.pca_left.servo[3], self.pca_left.servo[4],
+                 self.pca_left.servo[5]],
                 correction=self.config.get('leg1Offset', [0, 0, 0]), scale=self.config.get('leg1Scale', [1, 1, 1])),
             # rear right
             Leg(2,
-                [self.pca_left.servo[14], self.pca_left.servo[13],
-                 self.pca_left.servo[12]],
+                [self.pca_left.servo[6], self.pca_left.servo[7],
+                 self.pca_left.servo[8]],
                 correction=self.config.get('leg2Offset', [0, 0, 0]), scale=self.config.get('leg2Scale', [1, 1, 1])),
             # rear left
             Leg(3,
-                [self.pca_right.servo[17], self.pca_right.servo[16],
-                 self.pca_right.servo[15]],
+                [self.pca_right.servo[6], self.pca_right.servo[7],
+                 self.pca_right.servo[8]],
                 correction=self.config.get('leg3Offset', [0, 0, 0]), scale=self.config.get('leg3Scale', [1, 1, 1])),
             # center left
             Leg(4,
-                [self.pca_right.servo[11], self.pca_right.servo[10],
-                 self.pca_right.servo[9]],
+                [self.pca_right.servo[3], self.pca_right.servo[4],
+                 self.pca_right.servo[5]],
                 correction=self.config.get('leg4Offset', [0, 0, 0]), scale=self.config.get('leg4Scale', [1, 1, 1])),
             # front left
             Leg(5,
-                [self.pca_right.servo[5], self.pca_right.servo[4],
-                 self.pca_right.servo[3]],
+                [self.pca_right.servo[0], self.pca_right.servo[1],
+                 self.pca_right.servo[2]],
                 correction=self.config.get('leg5Offset', [0, 0, 0]), scale=self.config.get('leg5Scale', [1, 1, 1]))]
 
         # self.leg_0.reset(True)
diff --git a/software/raspberry pi/tcpserver.py b/software/raspberry pi/tcpserver.py
index a888df4..4ab4fff 100644
--- a/software/raspberry pi/tcpserver.py	
+++ b/software/raspberry pi/tcpserver.py	
@@ -47,7 +47,7 @@ class TCPServer(Thread):
 
         self.cmd_queue = out_cmd_queue
 
-        with open('/home/cole/Downloads/hexapod/software/raspberry pi/config.json', 'r') as read_file:
+        with open('config.json', 'r') as read_file:
             self.config = json.load(read_file)
 
         self.ip = '0.0.0.0'