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

flip front and back

Browse Source
master
Zhengyu Peng 3 years ago
parent 44aac11026
commit bb9a1f1319
1 changed files with 43 additions and 23 deletions
Show Stats Download Patch File Download Diff File

66
software/rpi/hexapod.py
Unescape Escape View File

@ -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 # rear right
self.leg_0 = Leg('fr', self.leg_0 = Leg('rr',
[self.pca_right.servo[15], self.pca_right.servo[1], [self.pca_left.servo[15], self.pca_left.servo[2],
self.pca_right.servo[2]], self.pca_left.servo[1]],
correction=[0, 0, 0], correction=[0, 0, 0],
constraint=[0, 180]) constraint=[0, 180])
# center right # center right
self.leg_1 = Leg('cr', self.leg_1 = Leg('cr',
[self.pca_right.servo[7], self.pca_right.servo[6], [self.pca_left.servo[7], self.pca_left.servo[8],
self.pca_right.servo[8]], self.pca_left.servo[6]],
correction=[0, 0, 0], correction=[0, 0, 0],
constraint=[0, 180]) constraint=[0, 180])
# rear right # front right
self.leg_2 = Leg('rr', self.leg_2 = Leg('fr',
[self.pca_right.servo[0], self.pca_right.servo[13], [self.pca_left.servo[0], self.pca_left.servo[14],
self.pca_right.servo[14]], self.pca_left.servo[13]],
correction=[0, 0, 0], correction=[0, 0, 0],
constraint=[0, 180]) constraint=[0, 180])
# rear left # front left
self.leg_3 = Leg('rl', self.leg_3 = Leg('fl',
[self.pca_left.servo[15], self.pca_left.servo[2], [self.pca_right.servo[15], self.pca_right.servo[1],
self.pca_left.servo[1]], self.pca_right.servo[2]],
correction=[0, 0, 0], correction=[0, 0, 0],
constraint=[0, 180]) constraint=[0, 180])
# center left # center left
self.leg_4 = Leg('cl', self.leg_4 = Leg('cl',
[self.pca_left.servo[7], self.pca_left.servo[8], [self.pca_right.servo[7], self.pca_right.servo[6],
self.pca_left.servo[6]], self.pca_right.servo[8]],
correction=[0, 0, 0], correction=[0, 0, 0],
constraint=[0, 180]) constraint=[0, 180])
# front left # rear left
self.leg_5 = Leg('fl', self.leg_5 = Leg('rl',
[self.pca_left.servo[0], self.pca_left.servo[14], [self.pca_right.servo[0], self.pca_right.servo[13],
self.pca_left.servo[13]], self.pca_right.servo[14]],
correction=[0, 0, 0], correction=[0, 0, 0],
constraint=[0, 180]) 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():

Write Preview
Loading…
Cancel
Save