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shift left and right

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This commit is contained in:
Zhengyu Peng
2021-12-09 22:32:45 -05:00
parent 536d3d731c
commit 9640f03e2e
2 changed files with 57 additions and 3 deletions
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16
software/rpi/hexapod.py
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@ -14,6 +14,7 @@ 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, gen_rightturn_path
from path_generator import gen_shiftleft_path, gen_shiftright_path
SIN30 = 0.5
@ -94,6 +95,9 @@ class Hexapod:
self.leftturn_path = gen_leftturn_path()
self.rightturn_path = gen_rightturn_path()
self.shiftleft_path = gen_shiftleft_path()
self.shiftright_path = gen_shiftright_path()
self.standby()
time.sleep(1)
@ -109,11 +113,17 @@ class Hexapod:
# for mm in range(0, 20):
# self.move(self.fastbackward_path, 0.005)
for mm in range(0, 20):
self.move(self.leftturn_path, 0.005)
# for mm in range(0, 20):
# self.move(self.leftturn_path, 0.005)
# for mm in range(0, 20):
# self.move(self.rightturn_path, 0.005)
for mm in range(0, 20):
self.move(self.rightturn_path, 0.005)
self.move(self.shiftleft_path, 0.005)
for mm in range(0, 20):
self.move(self.shiftright_path, 0.005)
time.sleep(1)
self.standby()