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update calibration

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master
Zhengyu Peng 3 years ago
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.leg_0 = Leg(0,
[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=[4, 4, 4]) correction=[4, 6, 2])
# center right # center right
self.leg_1 = Leg(1, self.leg_1 = Leg(1,
[self.pca_left.servo[7], self.pca_left.servo[8], [self.pca_left.servo[7], self.pca_left.servo[8],
@ -99,22 +99,22 @@ class Hexapod(Thread):
self.leg_2 = Leg(2, self.leg_2 = Leg(2,
[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=[8, 6, -1]) correction=[2, 8, -1])
# rear left # rear left
self.leg_3 = Leg(3, self.leg_3 = Leg(3,
[self.pca_right.servo[15], self.pca_right.servo[1], [self.pca_right.servo[15], self.pca_right.servo[1],
self.pca_right.servo[2]], self.pca_right.servo[2]],
correction=[-5, 8, -6]) correction=[-3, 10, -8])
# center left # center left
self.leg_4 = Leg(4, self.leg_4 = Leg(4,
[self.pca_right.servo[7], self.pca_right.servo[6], [self.pca_right.servo[7], self.pca_right.servo[6],
self.pca_right.servo[8]], self.pca_right.servo[8]],
correction=[-8, 2, -1]) correction=[-6, 2, -4])
# front left # front left
self.leg_5 = Leg(5, self.leg_5 = Leg(5,
[self.pca_right.servo[0], self.pca_right.servo[13], [self.pca_right.servo[0], self.pca_right.servo[13],
self.pca_right.servo[14]], self.pca_right.servo[14]],
correction=[0, 0, -8]) correction=[0, 0, -10])
# self.leg_0.reset(True) # self.leg_0.reset(True)
# self.leg_1.reset(True) # self.leg_1.reset(True)
@ -150,7 +150,7 @@ class Hexapod(Thread):
# self.leg_0.set_angle(1, 30) # self.leg_0.set_angle(1, 30)
# for mm in range(0, 10): # for mm in range(0, 10):
# self.move(self.forward_path, 0.005) self.move(self.forward_path)
# for mm in range(0, 10): # for mm in range(0, 10):
# self.move(self.backward_path, 0.005) # self.move(self.backward_path, 0.005)
# for mm in range(0, 10): # for mm in range(0, 10):

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