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update paths

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master
Cole Deck 1 year ago
parent e261452350
commit 80b911dd8d
3 changed files with 17 additions and 17 deletions
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2
software/raspberry pi/btserver.py
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@ -49,7 +49,7 @@ class BluetoothServer(Thread):
self.cmd_queue = out_cmd_queue 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.config = json.load(read_file)
try: try:

30
software/raspberry pi/hexapod.py
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@ -1,4 +1,4 @@
#!python #!/usr/bin/python3
# #
# 2021 - PRESENT Zhengyu Peng # 2021 - PRESENT Zhengyu Peng
# Website: https://zpeng.me # Website: https://zpeng.me
@ -116,39 +116,39 @@ class Hexapod(Thread):
self.mount_position[:, 1] = self.mount_y self.mount_position[:, 1] = self.mount_y
# Objects # Objects
self.pca_right = ServoKit(channels=18, address="/dev/ttyACM0", frequency=0x0c) 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/ttyACM0", frequency=0x0d) 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.pca_left = self.pca_right
self.legs = [ self.legs = [
# front right # front right
Leg(0, Leg(0,
[self.pca_left.servo[2], self.pca_left.servo[1], [self.pca_left.servo[0], self.pca_left.servo[1],
self.pca_left.servo[0]], self.pca_left.servo[2]],
correction=self.config.get('leg0Offset', [0, 0, 0]), scale=self.config.get('leg0Scale', [1, 1, 1])), correction=self.config.get('leg0Offset', [0, 0, 0]), scale=self.config.get('leg0Scale', [1, 1, 1])),
# center right # center right
Leg(1, Leg(1,
[self.pca_left.servo[8], self.pca_left.servo[7], [self.pca_left.servo[3], self.pca_left.servo[4],
self.pca_left.servo[6]], self.pca_left.servo[5]],
correction=self.config.get('leg1Offset', [0, 0, 0]), scale=self.config.get('leg1Scale', [1, 1, 1])), correction=self.config.get('leg1Offset', [0, 0, 0]), scale=self.config.get('leg1Scale', [1, 1, 1])),
# rear right # rear right
Leg(2, Leg(2,
[self.pca_left.servo[14], self.pca_left.servo[13], [self.pca_left.servo[6], self.pca_left.servo[7],
self.pca_left.servo[12]], self.pca_left.servo[8]],
correction=self.config.get('leg2Offset', [0, 0, 0]), scale=self.config.get('leg2Scale', [1, 1, 1])), correction=self.config.get('leg2Offset', [0, 0, 0]), scale=self.config.get('leg2Scale', [1, 1, 1])),
# rear left # rear left
Leg(3, Leg(3,
[self.pca_right.servo[17], self.pca_right.servo[16], [self.pca_right.servo[6], self.pca_right.servo[7],
self.pca_right.servo[15]], self.pca_right.servo[8]],
correction=self.config.get('leg3Offset', [0, 0, 0]), scale=self.config.get('leg3Scale', [1, 1, 1])), correction=self.config.get('leg3Offset', [0, 0, 0]), scale=self.config.get('leg3Scale', [1, 1, 1])),
# center left # center left
Leg(4, Leg(4,
[self.pca_right.servo[11], self.pca_right.servo[10], [self.pca_right.servo[3], self.pca_right.servo[4],
self.pca_right.servo[9]], self.pca_right.servo[5]],
correction=self.config.get('leg4Offset', [0, 0, 0]), scale=self.config.get('leg4Scale', [1, 1, 1])), correction=self.config.get('leg4Offset', [0, 0, 0]), scale=self.config.get('leg4Scale', [1, 1, 1])),
# front left # front left
Leg(5, Leg(5,
[self.pca_right.servo[5], self.pca_right.servo[4], [self.pca_right.servo[0], self.pca_right.servo[1],
self.pca_right.servo[3]], self.pca_right.servo[2]],
correction=self.config.get('leg5Offset', [0, 0, 0]), scale=self.config.get('leg5Scale', [1, 1, 1]))] correction=self.config.get('leg5Offset', [0, 0, 0]), scale=self.config.get('leg5Scale', [1, 1, 1]))]
# self.leg_0.reset(True) # self.leg_0.reset(True)

2
software/raspberry pi/tcpserver.py
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@ -47,7 +47,7 @@ class TCPServer(Thread):
self.cmd_queue = out_cmd_queue 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.config = json.load(read_file)
self.ip = '0.0.0.0' self.ip = '0.0.0.0'

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