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Update hexapod.py

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This commit is contained in:
Zhengyu Peng 2022-02-23 12:49:52 -05:00
parent f55ad94ec6
commit b3525a8185
1 changed files with 14 additions and 14 deletions
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software/raspberry pi/hexapod.py
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@ -154,29 +154,29 @@ class Hexapod(Thread):
self.CMD_STANDBY: self.standby_posture, self.CMD_STANDBY: self.standby_posture,
self.CMD_LAYDOWN: self.gen_posture(0, 15), self.CMD_LAYDOWN: self.gen_posture(0, 15),
self.CMD_FORWARD: gen_walk_path( self.CMD_FORWARD: gen_walk_path(
self.standby_posture), self.standby_posture['coord']),
self.CMD_BACKWARD: gen_walk_path( self.CMD_BACKWARD: gen_walk_path(
self.standby_posture, reverse=True), self.standby_posture['coord'], reverse=True),
self.CMD_FASTFORWARD: gen_fastwalk_path( self.CMD_FASTFORWARD: gen_fastwalk_path(
self.standby_posture), self.standby_posture['coord']),
self.CMD_FASTBACKWARD: gen_fastwalk_path( self.CMD_FASTBACKWARD: gen_fastwalk_path(
self.standby_posture, reverse=True), self.standby_posture['coord'], reverse=True),
self.CMD_TURNLEFT: gen_turn_path( self.CMD_TURNLEFT: gen_turn_path(
self.standby_posture, direction='left'), self.standby_posture['coord'], direction='left'),
self.CMD_TURNRIGHT: gen_turn_path( self.CMD_TURNRIGHT: gen_turn_path(
self.standby_posture, direction='right'), self.standby_posture['coord'], direction='right'),
self.CMD_SHIFTLEFT: gen_shift_path( self.CMD_SHIFTLEFT: gen_shift_path(
self.standby_posture, direction='left'), self.standby_posture['coord'], direction='left'),
self.CMD_SHIFTRIGHT: gen_shift_path( self.CMD_SHIFTRIGHT: gen_shift_path(
self.standby_posture, direction='right'), self.standby_posture['coord'], direction='right'),
self.CMD_CLIMBFORWARD: gen_climb_path( self.CMD_CLIMBFORWARD: gen_climb_path(
self.standby_posture, reverse=False), self.standby_posture['coord'], reverse=False),
self.CMD_CLIMBBACKWARD: gen_climb_path( self.CMD_CLIMBBACKWARD: gen_climb_path(
self.standby_posture, reverse=True), self.standby_posture['coord'], reverse=True),
self.CMD_ROTATEX: gen_rotatex_path(self.standby_posture), self.CMD_ROTATEX: gen_rotatex_path(self.standby_posture['coord']),
self.CMD_ROTATEY: gen_rotatey_path(self.standby_posture), self.CMD_ROTATEY: gen_rotatey_path(self.standby_posture['coord']),
self.CMD_ROTATEZ: gen_rotatez_path(self.standby_posture), self.CMD_ROTATEZ: gen_rotatez_path(self.standby_posture['coord']),
self.CMD_TWIST: gen_twist_path(self.standby_posture) self.CMD_TWIST: gen_twist_path(self.standby_posture['coord'])
} }
self.posture(self.standby_posture) self.posture(self.standby_posture)