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Update leg.py

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master
Zhengyu Peng 3 years ago
parent ace0884c46
commit f5269f214b
1 changed files with 6 additions and 3 deletions
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9
software/rpi/leg.py
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@ -45,12 +45,15 @@ class Leg:
[set_angle, self.constraint[junction][0]+self.correction[junction], 0]) [set_angle, self.constraint[junction][0]+self.correction[junction], 0])
self.junction_servos[junction].angle = set_angle self.junction_servos[junction].angle = set_angle
def set_raw_angle(self, junction, angle):
self.junction_servos[junction].angle = angle
def move_junctions(self, angles): def move_junctions(self, angles):
self.set_angle(0, angles[0]) self.set_angle(0, angles[0])
self.set_angle(1, angles[1]) self.set_angle(1, angles[1])
self.set_angle(2, angles[2]) self.set_angle(2, angles[2])
def reset(self): def reset(self):
self.set_angle(0, 90) self.set_raw_angle(0, 90)
self.set_angle(1, 90) self.set_raw_angle(1, 90)
self.set_angle(2, 90) self.set_raw_angle(2, 90)

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