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Update hexapod.py

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This commit is contained in:
Zhengyu Peng 2022-02-27 21:57:06 -05:00
parent c74f9b1078
commit e2ebf32698
1 changed files with 2 additions and 4 deletions
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software/raspberry pi/hexapod.py
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@ -134,7 +134,7 @@ class Hexapod(Thread):
self.pca_right.servo[13]], self.pca_right.servo[13]],
correction=[-3, 10, -8]) 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[11], [self.pca_right.servo[7], self.pca_right.servo[11],
self.pca_right.servo[6]], self.pca_right.servo[6]],
correction=[-6, 2, -4]) correction=[-6, 2, -4])
@ -246,7 +246,7 @@ class Hexapod(Thread):
angles = self.inverse_kinematics(dest) angles = self.inverse_kinematics(dest)
self.leg_0.move_junctions(angles[0, :]) self.leg_0.move_junctions(angles[0, :])
self.leg_5.move_junctions(angles[5, :])
self.leg_1.move_junctions(angles[1, :]) self.leg_1.move_junctions(angles[1, :])
self.leg_4.move_junctions(angles[4, :]) self.leg_4.move_junctions(angles[4, :])
@ -254,8 +254,6 @@ class Hexapod(Thread):
self.leg_2.move_junctions(angles[2, :]) self.leg_2.move_junctions(angles[2, :])
self.leg_3.move_junctions(angles[3, :]) self.leg_3.move_junctions(angles[3, :])
self.leg_5.move_junctions(angles[5, :])
try: try:
cmd_string = self.cmd_queue.get(block=False) cmd_string = self.cmd_queue.get(block=False)
print('interrput') print('interrput')