From ef006ee29e1e7ac9a0d8fa284d20ffb9db422e1a Mon Sep 17 00:00:00 2001 From: Zhengyu Peng Date: Sun, 27 Feb 2022 18:22:57 -0500 Subject: [PATCH] Update hexapod.py --- software/raspberry pi/hexapod.py | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/software/raspberry pi/hexapod.py b/software/raspberry pi/hexapod.py index 9dde418..b2f5bb7 100644 --- a/software/raspberry pi/hexapod.py +++ b/software/raspberry pi/hexapod.py @@ -246,7 +246,7 @@ class Hexapod(Thread): angles = self.inverse_kinematics(dest) self.leg_0.move_junctions(angles[0, :]) - self.leg_5.move_junctions(angles[5, :]) + self.leg_1.move_junctions(angles[1, :]) self.leg_4.move_junctions(angles[4, :]) @@ -254,6 +254,8 @@ class Hexapod(Thread): self.leg_2.move_junctions(angles[2, :]) self.leg_3.move_junctions(angles[3, :]) + self.leg_5.move_junctions(angles[5, :]) + try: cmd_string = self.cmd_queue.get(block=False) print('interrput')