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Update hexapod.py

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This commit is contained in:
Zhengyu Peng 2022-03-06 22:09:50 -05:00
parent 9f5b78f6ff
commit aecc14dfc2
1 changed files with 18 additions and 5 deletions
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13
software/raspberry pi/hexapod.py
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@ -81,12 +81,17 @@ class Hexapod(Thread):
CMD_TWIST = 'twist' CMD_TWIST = 'twist'
CMD_CALIBRATION = 'calibration'
CMD_NORMAL = 'normal'
def __init__(self, in_cmd_queue): def __init__(self, in_cmd_queue):
Thread.__init__(self) Thread.__init__(self)
self.cmd_queue = in_cmd_queue self.cmd_queue = in_cmd_queue
self.interval = 0.005 self.interval = 0.005
self.calibration_mode = False
with open('/home/pi/hexapod/software/raspberry pi/config.json', 'r') as read_file: with open('/home/pi/hexapod/software/raspberry pi/config.json', 'r') as read_file:
self.config = json.load(read_file) self.config = json.load(read_file)
@ -298,6 +303,13 @@ class Hexapod(Thread):
def cmd_handler(self, cmd_string): def cmd_handler(self, cmd_string):
data = cmd_string.split(':')[-2] data = cmd_string.split(':')[-2]
if data == self.CMD_CALIBRATION:
self.calibration_mode = True
elif data == self.CMD_NORMAL:
self.calibration_mode = False
if not self.calibration_mode:
self.current_motion = self.cmd_dict.get(data, self.standby_posture) self.current_motion = self.cmd_dict.get(data, self.standby_posture)
self.cmd_queue.task_done() self.cmd_queue.task_done()
@ -313,6 +325,7 @@ class Hexapod(Thread):
else: else:
self.cmd_handler(cmd_string) self.cmd_handler(cmd_string)
if not self.calibration_mode:
if self.current_motion['type'] == 'motion': if self.current_motion['type'] == 'motion':
self.motion(self.current_motion['coord']) self.motion(self.current_motion['coord'])
elif self.current_motion['type'] == 'posture': elif self.current_motion['type'] == 'posture':