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Zhengyu Peng 2021-12-07 13:23:41 -05:00
parent 44aac11026
commit bb9a1f1319
1 changed files with 46 additions and 26 deletions
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software/rpi/hexapod.py
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@ -17,46 +17,66 @@ class Hexapod:
self.pca_right = ServoKit(channels=16, address=0x40, frequency=120) self.pca_right = ServoKit(channels=16, address=0x40, frequency=120)
self.pca_left = ServoKit(channels=16, address=0x41, 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]],
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]],
correction=[0, 0, 0],
constraint=[0, 180])
# rear right # rear right
self.leg_2 = Leg('rr', self.leg_0 = Leg('rr',
[self.pca_right.servo[0], self.pca_right.servo[13],
self.pca_right.servo[14]],
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[15], self.pca_left.servo[2],
self.pca_left.servo[1]], self.pca_left.servo[1]],
correction=[0, 0, 0], correction=[0, 0, 0],
constraint=[0, 180]) constraint=[0, 180])
# center left # center right
self.leg_4 = Leg('cl', self.leg_1 = Leg('cr',
[self.pca_left.servo[7], self.pca_left.servo[8], [self.pca_left.servo[7], self.pca_left.servo[8],
self.pca_left.servo[6]], self.pca_left.servo[6]],
correction=[0, 0, 0], correction=[0, 0, 0],
constraint=[0, 180]) constraint=[0, 180])
# front left # front right
self.leg_5 = Leg('fl', self.leg_2 = Leg('fr',
[self.pca_left.servo[0], self.pca_left.servo[14], [self.pca_left.servo[0], self.pca_left.servo[14],
self.pca_left.servo[13]], self.pca_left.servo[13]],
correction=[0, 0, 0], correction=[0, 0, 0],
constraint=[0, 180]) constraint=[0, 180])
# 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_right.servo[7], self.pca_right.servo[6],
self.pca_right.servo[8]],
correction=[0, 0, 0],
constraint=[0, 180])
# 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_0.set_angle(0, 90)
self.leg_5.set_angle(1, 45) self.leg_0.set_angle(1, 90)
self.leg_5.set_angle(2, 45) 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(): def main():