increase limitation
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5c26cd09ca
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@ -88,10 +88,12 @@ class Hexapod:
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self.standby()
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time.sleep(0.1)
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full_path = forward_path()
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# self.leg_0.set_angle(1, 45)
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for mm in range(0, 30):
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self.move(full_path, 0.005)
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# full_path = forward_path()
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# for mm in range(0, 30):
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# self.move(full_path, 0.005)
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full_path = backward_path()
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@ -104,11 +106,13 @@ class Hexapod:
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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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self.leg_2.move_junctions(angles[2, :])
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self.leg_3.move_junctions(angles[3, :])
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self.leg_4.move_junctions(angles[4, :])
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self.leg_5.move_junctions(angles[5, :])
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time.sleep(interval)
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@ -1,20 +1,23 @@
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# -*- coding: utf-8 -*-
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import numpy as np
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class Leg:
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def __init__(self,
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id,
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junction_servos,
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correction=[0, 0, 0],
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constraint=[[45, 135], [45, 165], [30, 150]]):
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constraint=[[35, 145], [30, 165], [30, 150]]):
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self.id = id
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self.junction_servos = junction_servos
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self.correction = correction
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self.constraint = constraint
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def set_angle(self, junction, angle):
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set_angle = min(
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angle+self.correction[junction], self.constraint[junction][1])
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set_angle = max(set_angle, self.constraint[junction][0])
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set_angle = np.min(
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[angle+self.correction[junction], self.constraint[junction][1]+self.correction[junction], 180])
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set_angle = np.max(
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[set_angle, self.constraint[junction][0]+self.correction[junction], 0])
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self.junction_servos[junction].angle = set_angle
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def move_junctions(self, angles):
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