shark/hexapod
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update

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This commit is contained in:
Zhengyu Peng
2021-12-10 15:32:53 -05:00
parent b53c68bb7a
commit 937c23f2be
2 changed files with 29 additions and 29 deletions
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22
software/rpi/hexapod.py
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@ -90,18 +90,18 @@ class Hexapod:
correction=[-6, 4, 0])
self.standby_coordinate = self.calculate_standby_coordinate(60, 75)
self.forward_path = gen_forward_path()
self.backward_path = gen_backward_path()
self.fastforward_path = gen_fastforward_path()
self.fastbackward_path = gen_fastbackward_path()
self.forward_path = gen_forward_path(self.standby_coordinate)
self.backward_path = gen_backward_path(self.standby_coordinate)
self.fastforward_path = gen_fastforward_path(self.standby_coordinate)
self.fastbackward_path = gen_fastbackward_path(self.standby_coordinate)
self.leftturn_path = gen_leftturn_path()
self.rightturn_path = gen_rightturn_path()
self.leftturn_path = gen_leftturn_path(self.standby_coordinate)
self.rightturn_path = gen_rightturn_path(self.standby_coordinate)
self.shiftleft_path = gen_shiftleft_path()
self.shiftright_path = gen_shiftright_path()
self.shiftleft_path = gen_shiftleft_path(self.standby_coordinate)
self.shiftright_path = gen_shiftright_path(self.standby_coordinate)
self.climb_path = gen_climb_path()
self.climb_path = gen_climb_path(self.standby_coordinate)
self.rotatex_path = gen_rotatex_path(self.standby_coordinate)
self.rotatey_path = gen_rotatey_path(self.standby_coordinate)
@ -111,8 +111,8 @@ class Hexapod:
self.standby()
time.sleep(1)
# for mm in range(0, 20):
# self.move(self.forward_path, 0.005)
for mm in range(0, 20):
self.move(self.forward_path, 0.005)
# for mm in range(0, 20):
# self.move(self.backward_path, 0.005)