From bb9a1f13192b086d66995332848f752d8420202e Mon Sep 17 00:00:00 2001
From: Zhengyu Peng <rookie.dev@gmail.com>
Date: Tue, 7 Dec 2021 13:23:41 -0500
Subject: [PATCH] flip front and back

---
 software/rpi/hexapod.py | 66 +++++++++++++++++++++++++++--------------
 1 file changed, 43 insertions(+), 23 deletions(-)

diff --git a/software/rpi/hexapod.py b/software/rpi/hexapod.py
index 5273cac..a1a1dfa 100644
--- a/software/rpi/hexapod.py
+++ b/software/rpi/hexapod.py
@@ -17,46 +17,66 @@ class Hexapod:
         self.pca_right = ServoKit(channels=16, address=0x40, frequency=120)
         self.pca_left = ServoKit(channels=16, address=0x41, frequency=120)
 
-        # front right
-        self.leg_0 = Leg('fr',
-                         [self.pca_right.servo[15], self.pca_right.servo[1],
-                             self.pca_right.servo[2]],
+        # rear right
+        self.leg_0 = Leg('rr',
+                         [self.pca_left.servo[15], self.pca_left.servo[2],
+                             self.pca_left.servo[1]],
                          correction=[0, 0, 0],
                          constraint=[0, 180])
         # center right
         self.leg_1 = Leg('cr',
-                         [self.pca_right.servo[7], self.pca_right.servo[6],
-                             self.pca_right.servo[8]],
+                         [self.pca_left.servo[7], self.pca_left.servo[8],
+                             self.pca_left.servo[6]],
                          correction=[0, 0, 0],
                          constraint=[0, 180])
-        # rear right
-        self.leg_2 = Leg('rr',
-                         [self.pca_right.servo[0], self.pca_right.servo[13],
-                             self.pca_right.servo[14]],
+        # front right
+        self.leg_2 = Leg('fr',
+                         [self.pca_left.servo[0], self.pca_left.servo[14],
+                             self.pca_left.servo[13]],
                          correction=[0, 0, 0],
                          constraint=[0, 180])
-        # rear left
-        self.leg_3 = Leg('rl',
-                         [self.pca_left.servo[15], self.pca_left.servo[2],
-                             self.pca_left.servo[1]],
+        # front left
+        self.leg_3 = Leg('fl',
+                         [self.pca_right.servo[15], self.pca_right.servo[1],
+                             self.pca_right.servo[2]],
                          correction=[0, 0, 0],
                          constraint=[0, 180])
         # center left
         self.leg_4 = Leg('cl',
-                         [self.pca_left.servo[7], self.pca_left.servo[8],
-                             self.pca_left.servo[6]],
+                         [self.pca_right.servo[7], self.pca_right.servo[6],
+                             self.pca_right.servo[8]],
                          correction=[0, 0, 0],
                          constraint=[0, 180])
-        # front left
-        self.leg_5 = Leg('fl',
-                         [self.pca_left.servo[0], self.pca_left.servo[14],
-                             self.pca_left.servo[13]],
+        # rear left
+        self.leg_5 = Leg('rl',
+                         [self.pca_right.servo[0], self.pca_right.servo[13],
+                             self.pca_right.servo[14]],
                          correction=[0, 0, 0],
                          constraint=[0, 180])
 
-        self.leg_5.set_angle(0, 45)
-        self.leg_5.set_angle(1, 45)
-        self.leg_5.set_angle(2, 45)
+        self.leg_0.set_angle(0, 90)
+        self.leg_0.set_angle(1, 90)
+        self.leg_0.set_angle(2, 90)
+
+        self.leg_1.set_angle(0, 90)
+        self.leg_1.set_angle(1, 90)
+        self.leg_1.set_angle(2, 90)
+
+        self.leg_2.set_angle(0, 90)
+        self.leg_2.set_angle(1, 90)
+        self.leg_2.set_angle(2, 90)
+
+        self.leg_3.set_angle(0, 90)
+        self.leg_3.set_angle(1, 90)
+        self.leg_3.set_angle(2, 90)
+
+        self.leg_4.set_angle(0, 90)
+        self.leg_4.set_angle(1, 90)
+        self.leg_4.set_angle(2, 90)
+
+        self.leg_5.set_angle(0, 90)
+        self.leg_5.set_angle(1, 90)
+        self.leg_5.set_angle(2, 90)
 
 
 def main():