Update hexapod.py

2022-03-07 22:40:22 -05:00 · 2022-03-07 22:40:22 -05:00 · f1ad51199b
commit f1ad51199b
parent d6e23e49af
1 changed files with 5 additions and 0 deletions
--- a/software/raspberry
+++ b/software/raspberry
@ -333,6 +333,11 @@ class Hexapod(Thread):
            angle = float(data_array[3])
            if op == 'angle':
                self.legs[leg_idx].set_angle(joint_idx, angle)
+            elif op == 'offset':
+                config_str = 'leg'+str(leg_idx)+'Offset'
+                self.legs[leg_idx].correction[joint_idx] = angle
+                self.config[config_str] = self.legs[leg_idx].correction
+                self.legs[leg_idx].reset(calibrated=True)

    def run(self):
        while True: