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increase limitation

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This commit is contained in:
Zhengyu Peng
2021-12-09 20:51:04 -05:00
parent 0a83d5e7fb
commit 9eed4f8a21
2 changed files with 16 additions and 9 deletions
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14
software/rpi/hexapod.py
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@ -88,10 +88,12 @@ class Hexapod:
self.standby()
time.sleep(0.1)
full_path = forward_path()
# self.leg_0.set_angle(1, 45)
for mm in range(0, 30):
self.move(full_path, 0.005)
# full_path = forward_path()
# for mm in range(0, 30):
# self.move(full_path, 0.005)
full_path = backward_path()
@ -104,11 +106,13 @@ class Hexapod:
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, :])
self.leg_2.move_junctions(angles[2, :])
self.leg_3.move_junctions(angles[3, :])
self.leg_4.move_junctions(angles[4, :])
self.leg_5.move_junctions(angles[5, :])
time.sleep(interval)