Update hexapod.py
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@ -134,7 +134,7 @@ class Hexapod(Thread):
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self.pca_right.servo[13]],
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correction=[-3, 10, -8])
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# center left
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self.leg_4 = Leg(4,
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self.leg_4 = Leg(4,
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[self.pca_right.servo[7], self.pca_right.servo[11],
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self.pca_right.servo[6]],
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correction=[-6, 2, -4])
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@ -246,7 +246,7 @@ class Hexapod(Thread):
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angles = self.inverse_kinematics(dest)
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self.leg_0.move_junctions(angles[0, :])
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self.leg_5.move_junctions(angles[5, :])
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self.leg_1.move_junctions(angles[1, :])
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self.leg_4.move_junctions(angles[4, :])
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@ -254,8 +254,6 @@ class Hexapod(Thread):
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self.leg_2.move_junctions(angles[2, :])
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self.leg_3.move_junctions(angles[3, :])
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self.leg_5.move_junctions(angles[5, :])
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try:
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cmd_string = self.cmd_queue.get(block=False)
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print('interrput')
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