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add left turn

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This commit is contained in:
Zhengyu Peng
2021-12-09 21:54:12 -05:00
parent 118769b2c5
commit 93d0994725
2 changed files with 37 additions and 11 deletions
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26
software/rpi/hexapod.py
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@ -13,6 +13,7 @@ import time
import json
from path_generator import gen_forward_path, gen_backward_path
from path_generator import gen_fastforward_path, gen_fastbackward_path
from path_generator import gen_leftturn_path
SIN30 = 0.5
@ -90,20 +91,25 @@ class Hexapod:
self.fastforward_path = gen_fastforward_path()
self.fastbackward_path = gen_fastbackward_path()
self.leftturn_path = gen_leftturn_path()
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)
# for mm in range(0, 20):
# self.move(self.fastforward_path, 0.005)
# for mm in range(0, 20):
# self.move(self.fastbackward_path, 0.005)
for mm in range(0, 20):
self.move(self.backward_path, 0.005)
for mm in range(0, 20):
self.move(self.fastforward_path, 0.005)
for mm in range(0, 20):
self.move(self.fastbackward_path, 0.005)
self.move(self.leftturn_path, 0.005)
time.sleep(1)
self.standby()
@ -183,8 +189,6 @@ class Hexapod:
return angles
# return [path, mir_path, path, mir_path, path, mir_path, ], "shift", 20, (0, halfsteps)
def main():