diff --git a/software/raspberry pi/hexapod.py b/software/raspberry pi/hexapod.py index ff645b9..87f2b1b 100644 --- a/software/raspberry pi/hexapod.py +++ b/software/raspberry pi/hexapod.py @@ -39,7 +39,7 @@ import time import json from path_generator import gen_walk_path from path_generator import gen_fastwalk_path -from path_generator import gen_leftturn_path, gen_rightturn_path +from path_generator import gen_turn_path from path_generator import gen_shiftleft_path, gen_shiftright_path from path_generator import gen_climb_path from path_generator import gen_rotatex_path, gen_rotatey_path, gen_rotatez_path @@ -170,7 +170,9 @@ class Hexapod(Thread): 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.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.standby()