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Update hexapod.py

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This commit is contained in:
Zhengyu Peng 2022-03-07 22:41:10 -05:00
parent 65370b01a8
commit b16a91f3d4
1 changed files with 3 additions and 2 deletions
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software/raspberry pi/hexapod.py
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@ -334,11 +334,12 @@ class Hexapod(Thread):
if op == 'angle': if op == 'angle':
self.legs[leg_idx].set_angle(joint_idx, angle) self.legs[leg_idx].set_angle(joint_idx, angle)
elif op == 'offset': elif op == 'offset':
config_str = 'leg'+str(leg_idx)+'Offset'
self.legs[leg_idx].correction[joint_idx] = angle self.legs[leg_idx].correction[joint_idx] = angle
self.config[config_str] = self.legs[leg_idx].correction
self.legs[leg_idx].reset(calibrated=True) self.legs[leg_idx].reset(calibrated=True)
config_str = 'leg'+str(leg_idx)+'Offset'
self.config[config_str] = self.legs[leg_idx].correction
def run(self): def run(self):
while True: while True:
# if self.current_motion is None: # if self.current_motion is None: