From 9874e5d75ac228431873df090a867cfd50445bf7 Mon Sep 17 00:00:00 2001 From: Zhengyu Peng Date: Sun, 27 Feb 2022 21:57:06 -0500 Subject: [PATCH] Update hexapod.py --- software/raspberry pi/hexapod.py | 6 ++---- 1 file changed, 2 insertions(+), 4 deletions(-) diff --git a/software/raspberry pi/hexapod.py b/software/raspberry pi/hexapod.py index b202b29..def4a31 100644 --- a/software/raspberry pi/hexapod.py +++ b/software/raspberry pi/hexapod.py @@ -134,7 +134,7 @@ class Hexapod(Thread): self.pca_right.servo[13]], correction=[-3, 10, -8]) # center left - self.leg_4 = Leg(4, + self.leg_4 = Leg(4, [self.pca_right.servo[7], self.pca_right.servo[11], self.pca_right.servo[6]], correction=[-6, 2, -4]) @@ -246,7 +246,7 @@ class Hexapod(Thread): angles = self.inverse_kinematics(dest) self.leg_0.move_junctions(angles[0, :]) - + self.leg_5.move_junctions(angles[5, :]) self.leg_1.move_junctions(angles[1, :]) self.leg_4.move_junctions(angles[4, :]) @@ -254,8 +254,6 @@ class Hexapod(Thread): self.leg_2.move_junctions(angles[2, :]) self.leg_3.move_junctions(angles[3, :]) - self.leg_5.move_junctions(angles[5, :]) - try: cmd_string = self.cmd_queue.get(block=False) print('interrput')