shark/hexapod
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

twist

Browse Source
This commit is contained in:
Zhengyu Peng
2021-12-10 15:03:00 -05:00
parent f312acddc8
commit b53c68bb7a
2 changed files with 212 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
software/rpi/hexapod.py
View File

@ -17,6 +17,7 @@ from path_generator import gen_leftturn_path, gen_rightturn_path
from path_generator import gen_shiftleft_path, gen_shiftright_path
from path_generator import gen_climb_path
from path_generator import gen_rotatex_path, gen_rotatey_path, gen_rotatez_path
from path_generator import gen_twist_path
SIN30 = 0.5
@ -105,6 +106,7 @@ class Hexapod:
self.rotatex_path = gen_rotatex_path(self.standby_coordinate)
self.rotatey_path = gen_rotatey_path(self.standby_coordinate)
self.rotatez_path = gen_rotatez_path(self.standby_coordinate)
self.twist_path = gen_twist_path(self.standby_coordinate)
self.standby()
time.sleep(1)
@ -138,7 +140,7 @@ class Hexapod:
# self.move(self.rotatex_path, 0.005)
for mm in range(0, 20):
self.move(self.rotatez_path, 0.005)
self.move(self.twist_path, 0.005)
time.sleep(1)
self.standby()