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update calibration

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This commit is contained in:
Zhengyu Peng
2021-12-31 11:34:08 -05:00
parent a1c7e8e833
commit e1504f6798
1 changed files with 6 additions and 6 deletions
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12
software/rpi/hexapod.py
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@@ -89,7 +89,7 @@ class Hexapod(Thread):
self.leg_0 = Leg(0,
[self.pca_left.servo[15], self.pca_left.servo[2],
self.pca_left.servo[1]],
correction=[4, 4, 4])
correction=[4, 6, 2])
# center right
self.leg_1 = Leg(1,
[self.pca_left.servo[7], self.pca_left.servo[8],
@@ -99,22 +99,22 @@ class Hexapod(Thread):
self.leg_2 = Leg(2,
[self.pca_left.servo[0], self.pca_left.servo[14],
self.pca_left.servo[13]],
correction=[8, 6, -1])
correction=[2, 8, -1])
# rear left
self.leg_3 = Leg(3,
[self.pca_right.servo[15], self.pca_right.servo[1],
self.pca_right.servo[2]],
correction=[-5, 8, -6])
correction=[-3, 10, -8])
# center left
self.leg_4 = Leg(4,
[self.pca_right.servo[7], self.pca_right.servo[6],
self.pca_right.servo[8]],
correction=[-8, 2, -1])
correction=[-6, 2, -4])
# front left
self.leg_5 = Leg(5,
[self.pca_right.servo[0], self.pca_right.servo[13],
self.pca_right.servo[14]],
correction=[0, 0, -8])
correction=[0, 0, -10])
# self.leg_0.reset(True)
# self.leg_1.reset(True)
@@ -150,7 +150,7 @@ class Hexapod(Thread):
# self.leg_0.set_angle(1, 30)
# for mm in range(0, 10):
# self.move(self.forward_path, 0.005)
self.move(self.forward_path)
# for mm in range(0, 10):
# self.move(self.backward_path, 0.005)
# for mm in range(0, 10):