update

software/rpi/hexapod.py

@@ -95,32 +95,39 @@ class Hexapod:
         self.leg_0 = Leg(0,
                          [self.pca_left.servo[15], self.pca_left.servo[2],
                              self.pca_left.servo[1]],
-                         correction=[-6, 4, -4])
+                         correction=[4, 4, 4])
         # center right
         self.leg_1 = Leg(1,
                          [self.pca_left.servo[7], self.pca_left.servo[8],
                              self.pca_left.servo[6]],
-                         correction=[3, -5, -6])
+                         correction=[0, 8, -6])
         # rear right
         self.leg_2 = Leg(2,
                          [self.pca_left.servo[0], self.pca_left.servo[14],
                              self.pca_left.servo[13]],
-                         correction=[3, -6, -5])
+                         correction=[8, 6, -1])
         # rear left
         self.leg_3 = Leg(3,
                          [self.pca_right.servo[15], self.pca_right.servo[1],
                              self.pca_right.servo[2]],
-                         correction=[-3, -4, 6])
+                         correction=[-5, 8, -6])
         # center left
         self.leg_4 = Leg(4,
                          [self.pca_right.servo[7], self.pca_right.servo[6],
                              self.pca_right.servo[8]],
-                         correction=[-6, 2, 0])
+                         correction=[-8, 2, -1])
         # front left
         self.leg_5 = Leg(5,
                          [self.pca_right.servo[0], self.pca_right.servo[13],
                              self.pca_right.servo[14]],
-                         correction=[-6, 4, 0])
+                         correction=[0, 0, -8])
+
+        # self.leg_0.reset(True)
+        # self.leg_1.reset(True)
+        # self.leg_2.reset(True)
+        # self.leg_3.reset(True)
+        # self.leg_4.reset(True)
+        # self.leg_5.reset(True)
 
         self.standby_coordinate = self.calculate_standby_coordinate(60, 75)
         self.forward_path = gen_forward_path(self.standby_coordinate)

software/rpi/leg.py

@@ -53,7 +53,12 @@ class Leg:
         self.set_angle(1, angles[1])
         self.set_angle(2, angles[2])
 
-    def reset(self):
-        self.set_raw_angle(0, 90)
-        self.set_raw_angle(1, 90)
-        self.set_raw_angle(2, 90)
+    def reset(self, calibrated=False):
+        if calibrated:
+            self.set_angle(0, 90)
+            self.set_angle(1, 90)
+            self.set_angle(2, 90)
+        else:
+            self.set_raw_angle(0, 90)
+            self.set_raw_angle(1, 90)
+            self.set_raw_angle(2, 90)