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Update hexapod.py

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This commit is contained in:
Zhengyu Peng 2022-03-07 22:49:16 -05:00
parent a796d57e0b
commit c64c2b2fb2
1 changed files with 6 additions and 0 deletions
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6
software/raspberry pi/hexapod.py
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@ -329,7 +329,13 @@ class Hexapod(Thread):
if len(data_array) == 4: if len(data_array) == 4:
op = data_array[0].lstrip() op = data_array[0].lstrip()
leg_idx = int(data_array[1]) leg_idx = int(data_array[1])
if leg_idx <0 or leg_idx >5:
return
joint_idx = int(data_array[2]) joint_idx = int(data_array[2])
if joint_idx <0 or joint_idx >2:
return
angle = float(data_array[3]) angle = float(data_array[3])
if op == 'angle': if op == 'angle':
self.legs[leg_idx].set_angle(joint_idx, angle) self.legs[leg_idx].set_angle(joint_idx, angle)