From e1504f6798392fe2b9360f559c0743ff27736648 Mon Sep 17 00:00:00 2001 From: Zhengyu Peng Date: Fri, 31 Dec 2021 11:34:08 -0500 Subject: [PATCH] update calibration --- software/rpi/hexapod.py | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/software/rpi/hexapod.py b/software/rpi/hexapod.py index af074eb..41c867c 100644 --- a/software/rpi/hexapod.py +++ b/software/rpi/hexapod.py @@ -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):