update paths

software/android/.idea/codeStyles/Project.xml

@@ -0,0 +1,123 @@
+<component name="ProjectCodeStyleConfiguration">
+  <code_scheme name="Project" version="173">
+    <JetCodeStyleSettings>
+      <option name="CODE_STYLE_DEFAULTS" value="KOTLIN_OFFICIAL" />
+    </JetCodeStyleSettings>
+    <codeStyleSettings language="XML">
+      <option name="FORCE_REARRANGE_MODE" value="1" />
+      <indentOptions>
+        <option name="CONTINUATION_INDENT_SIZE" value="4" />
+      </indentOptions>
+      <arrangement>
+        <rules>
+          <section>
+            <rule>
+              <match>
+                <AND>
+                  <NAME>xmlns:android</NAME>
+                  <XML_ATTRIBUTE />
+                  <XML_NAMESPACE>^$</XML_NAMESPACE>
+                </AND>
+              </match>
+            </rule>
+          </section>
+          <section>
+            <rule>
+              <match>
+                <AND>
+                  <NAME>xmlns:.*</NAME>
+                  <XML_ATTRIBUTE />
+                  <XML_NAMESPACE>^$</XML_NAMESPACE>
+                </AND>
+              </match>
+              <order>BY_NAME</order>
+            </rule>
+          </section>
+          <section>
+            <rule>
+              <match>
+                <AND>
+                  <NAME>.*:id</NAME>
+                  <XML_ATTRIBUTE />
+                  <XML_NAMESPACE>http://schemas.android.com/apk/res/android</XML_NAMESPACE>
+                </AND>
+              </match>
+            </rule>
+          </section>
+          <section>
+            <rule>
+              <match>
+                <AND>
+                  <NAME>.*:name</NAME>
+                  <XML_ATTRIBUTE />
+                  <XML_NAMESPACE>http://schemas.android.com/apk/res/android</XML_NAMESPACE>
+                </AND>
+              </match>
+            </rule>
+          </section>
+          <section>
+            <rule>
+              <match>
+                <AND>
+                  <NAME>name</NAME>
+                  <XML_ATTRIBUTE />
+                  <XML_NAMESPACE>^$</XML_NAMESPACE>
+                </AND>
+              </match>
+            </rule>
+          </section>
+          <section>
+            <rule>
+              <match>
+                <AND>
+                  <NAME>style</NAME>
+                  <XML_ATTRIBUTE />
+                  <XML_NAMESPACE>^$</XML_NAMESPACE>
+                </AND>
+              </match>
+            </rule>
+          </section>
+          <section>
+            <rule>
+              <match>
+                <AND>
+                  <NAME>.*</NAME>
+                  <XML_ATTRIBUTE />
+                  <XML_NAMESPACE>^$</XML_NAMESPACE>
+                </AND>
+              </match>
+              <order>BY_NAME</order>
+            </rule>
+          </section>
+          <section>
+            <rule>
+              <match>
+                <AND>
+                  <NAME>.*</NAME>
+                  <XML_ATTRIBUTE />
+                  <XML_NAMESPACE>http://schemas.android.com/apk/res/android</XML_NAMESPACE>
+                </AND>
+              </match>
+              <order>ANDROID_ATTRIBUTE_ORDER</order>
+            </rule>
+          </section>
+          <section>
+            <rule>
+              <match>
+                <AND>
+                  <NAME>.*</NAME>
+                  <XML_ATTRIBUTE />
+                  <XML_NAMESPACE>.*</XML_NAMESPACE>
+                </AND>
+              </match>
+              <order>BY_NAME</order>
+            </rule>
+          </section>
+        </rules>
+      </arrangement>
+    </codeStyleSettings>
+    <codeStyleSettings language="kotlin">
+      <option name="CODE_STYLE_DEFAULTS" value="KOTLIN_OFFICIAL" />
+    </codeStyleSettings>
+  </code_scheme>
+</component>

software/android/.idea/codeStyles/codeStyleConfig.xml

@@ -0,0 +1,5 @@
+<component name="ProjectCodeStyleConfiguration">
+  <state>
+    <option name="USE_PER_PROJECT_SETTINGS" value="true" />
+  </state>
+</component>

software/android/.idea/compiler.xml

@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <project version="4">
   <component name="CompilerConfiguration">
-    <bytecodeTargetLevel target="11" />
+    <bytecodeTargetLevel target="17" />
   </component>
 </project>

software/android/.idea/gradle.xml

@@ -7,6 +7,7 @@
         <option name="testRunner" value="GRADLE" />
         <option name="distributionType" value="DEFAULT_WRAPPED" />
         <option name="externalProjectPath" value="$PROJECT_DIR$" />
+        <option name="gradleJvm" value="Embedded JDK" />
         <option name="modules">
           <set>
             <option value="$PROJECT_DIR$" />

software/android/.idea/kotlinc.xml

@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="KotlinJpsPluginSettings">
+    <option name="version" value="1.6.21" />
+  </component>
+</project>

software/android/.idea/misc.xml

@@ -29,10 +29,13 @@
       </map>
     </option>
   </component>
-  <component name="ProjectRootManager" version="2" languageLevel="JDK_11" default="true" project-jdk-name="Android Studio default JDK" project-jdk-type="JavaSDK">
+  <component name="ProjectRootManager" version="2" languageLevel="JDK_17" default="true" project-jdk-name="jbr-17" project-jdk-type="JavaSDK">
     <output url="file://$PROJECT_DIR$/build/classes" />
   </component>
   <component name="ProjectType">
     <option name="id" value="Android" />
   </component>
+  <component name="SuppressKotlinCodeStyleNotification">
+    <option name="disableForAll" value="true" />
+  </component>
 </project>

software/android/app/src/main/res/layout/activity_device_list.xml

@@ -13,18 +13,19 @@
 <LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
     android:layout_width="match_parent"
     android:layout_height="match_parent"
-    android:orientation="vertical"
-    >
+    android:background="@color/black"
+    android:orientation="vertical">
 
     <TextView
         android:id="@+id/title_paired_devices"
         android:layout_width="match_parent"
         android:layout_height="wrap_content"
+        android:background="@color/black"
         android:padding="24dp"
-        android:textAppearance="?attr/textAppearanceHeadline6"
         android:text="Select a Device"
-        android:visibility="visible"
-        />
+        android:textAppearance="?attr/textAppearanceHeadline6"
+        android:textColor="@color/white"
+        android:visibility="visible" />
 
     <View
         android:id="@+id/divider"
@@ -36,8 +37,9 @@
         android:id="@+id/paired_devices"
         android:layout_width="match_parent"
         android:layout_height="wrap_content"
-        android:stackFromBottom="false"
-        />
+        android:background="@color/black"
+        android:listSelector="@color/grey_800"
+        android:stackFromBottom="false" />
 
     <View
         android:id="@+id/divider1"
@@ -49,14 +51,13 @@
         android:id="@+id/cancel_picker"
         android:layout_width="match_parent"
         android:layout_height="wrap_content"
-        android:padding="24dp"
-        android:textAppearance="?attr/textAppearanceButton"
-        android:gravity="center_horizontal"
+        android:background="?attr/selectableItemBackground"
         android:clickable="true"
         android:focusable="true"
-        android:background="?attr/selectableItemBackground"
+        android:gravity="center_horizontal"
+        android:padding="24dp"
         android:text="Cancel"
-        android:visibility="visible"
-        />
+        android:textAppearance="?attr/textAppearanceButton"
+        android:visibility="visible" />
 
 </LinearLayout>

software/android/app/src/main/res/layout/activity_main.xml

@@ -18,11 +18,12 @@
             android:layout_width="match_parent"
             android:layout_height="wrap_content"
             android:background="@color/white"
+            android:elevation="8dp"
+            android:forceDarkAllowed="false"
             android:gravity="center_horizontal"
             android:orientation="vertical"
             android:paddingStart="16dp"
-            android:paddingEnd="16dp"
-            android:elevation="8dp">
+            android:paddingEnd="16dp">
 
             <ImageView
                 android:id="@+id/hexapod_logo"
@@ -50,12 +51,16 @@
                     android:id="@+id/wifi_tab"
                     android:layout_width="wrap_content"
                     android:layout_height="wrap_content"
+                    android:background="@color/white"
+                    android:forceDarkAllowed="false"
                     android:text="WiFi" />
 
                 <com.google.android.material.tabs.TabItem
                     android:id="@+id/bluetooth_tab"
                     android:layout_width="wrap_content"
                     android:layout_height="wrap_content"
+                    android:background="@color/white"
+                    android:forceDarkAllowed="false"
                     android:text="Bluetooth" />
 
             </com.google.android.material.tabs.TabLayout>
@@ -78,6 +83,8 @@
                 <LinearLayout
                     android:layout_width="match_parent"
                     android:layout_height="wrap_content"
+                    android:background="@color/grey_500"
+                    android:forceDarkAllowed="false"
                     android:orientation="vertical">
 
                     <com.google.android.material.textfield.TextInputLayout
@@ -85,9 +92,10 @@
                         android:layout_width="match_parent"
                         android:layout_height="wrap_content"
                         android:layout_marginBottom="4dp"
+                        android:background="@color/grey_500"
                         android:paddingStart="16dp"
-                        android:paddingEnd="16dp"
                         android:paddingTop="16dp"
+                        android:paddingEnd="16dp"
                         android:visibility="visible"
                         app:errorEnabled="true"
                         app:layout_constraintBottom_toTopOf="@id/port_input_layout"
@@ -99,20 +107,23 @@
                             android:id="@+id/ip_input"
                             android:layout_width="match_parent"
                             android:layout_height="wrap_content"
+                            android:background="@color/grey_500"
                             android:digits="0123456789."
-                            android:backgroundTint="@color/grey_100"
+                            android:forceDarkAllowed="false"
                             android:hint="IP"
                             android:inputType="number|numberDecimal"
-                            android:text="192.168.1.127" />
+                            android:text="192.168.1.127"
+                            android:textColor="@android:color/primary_text_light" />
                     </com.google.android.material.textfield.TextInputLayout>
 
                     <com.google.android.material.textfield.TextInputLayout
                         android:id="@+id/port_input_layout"
                         android:layout_width="match_parent"
                         android:layout_height="wrap_content"
+                        android:layout_marginBottom="4dp"
+                        android:background="@color/grey_500"
                         android:paddingStart="16dp"
                         android:paddingEnd="16dp"
-                        android:layout_marginBottom="4dp"
                         android:visibility="visible"
                         app:errorEnabled="true"
                         app:layout_constraintBottom_toTopOf="@id/paired_devices"
@@ -124,10 +135,12 @@
                             android:id="@+id/port_input"
                             android:layout_width="match_parent"
                             android:layout_height="wrap_content"
-                            android:backgroundTint="@color/grey_100"
+                            android:background="@color/grey_500"
+                            android:forceDarkAllowed="false"
                             android:hint="Port"
                             android:inputType="number"
-                            android:text="1234" />
+                            android:text="1234"
+                            android:textColor="@android:color/primary_text_light" />
 
                     </com.google.android.material.textfield.TextInputLayout>
 

software/android/app/src/main/res/layout/selected_device.xml

@@ -4,9 +4,10 @@
     xmlns:tools="http://schemas.android.com/tools"
     android:layout_width="match_parent"
     android:layout_height="wrap_content"
+    android:background="@color/grey_500"
     android:clickable="true"
     android:focusable="true"
-    android:background="?android:attr/selectableItemBackground"
+    android:forceDarkAllowed="false"
     android:paddingTop="16dp"
     android:paddingBottom="16dp">
 
@@ -16,17 +17,17 @@
         android:layout_height="64dp"
         android:padding="16dp"
         app:layout_constraintBottom_toBottomOf="parent"
+        app:layout_constraintEnd_toStartOf="@+id/textView_device_name"
         app:layout_constraintStart_toStartOf="parent"
         app:layout_constraintTop_toTopOf="parent"
-        app:layout_constraintEnd_toStartOf="@+id/textView_device_name"
         app:srcCompat="@drawable/ic_baseline_bluetooth_24" />
 
     <TextView
         android:id="@+id/textView_device_name"
         android:layout_width="wrap_content"
         android:layout_height="wrap_content"
-        android:textAppearance="?attr/textAppearanceBody1"
         android:text="TextView"
+        android:textAppearance="?attr/textAppearanceBody1"
         app:layout_constraintBottom_toTopOf="@+id/textView_device_mac"
         app:layout_constraintStart_toEndOf="@+id/imageView"
         app:layout_constraintTop_toTopOf="parent"
@@ -36,8 +37,8 @@
         android:id="@+id/textView_device_mac"
         android:layout_width="wrap_content"
         android:layout_height="wrap_content"
-        android:textAppearance="?attr/textAppearanceCaption"
         android:text="TextView"
+        android:textAppearance="?attr/textAppearanceCaption"
         app:layout_constraintBottom_toBottomOf="parent"
         app:layout_constraintStart_toEndOf="@+id/imageView"
         app:layout_constraintTop_toBottomOf="@+id/textView_device_name" />

software/android/local.properties

@@ -1,10 +1,8 @@
-## This file is automatically generated by Android Studio.
-# Do not modify this file -- YOUR CHANGES WILL BE ERASED!
-#
-# This file should *NOT* be checked into Version Control Systems,
+## This file must *NOT* be checked into Version Control Systems,
 # as it contains information specific to your local configuration.
 #
 # Location of the SDK. This is only used by Gradle.
 # For customization when using a Version Control System, please read the
 # header note.
-sdk.dir=C\:\\Users\\rooki\\AppData\\Local\\Android\\Sdk
+#Fri Oct 21 23:04:27 CDT 2022
+sdk.dir=/home/cole/Android/Sdk

software/raspberry pi/adafruit_servokit.py

@@ -3,7 +3,8 @@
 # SPDX-License-Identifier: MIT
 #
 # MODIFIED to use pololu motor drivers, but compatible with adafruit_servokit driver layout
-# by Cole Deck
+# by Amelia Deck
+# Based on adafruit_motor.py as well
 
 """
 `adafruit_servokit`
@@ -41,6 +42,7 @@ Implementation Notes
 try:
     from typing import Optional
     import maestro
+    import time
     #from busio import I2C
     #from adafruit_motor.servo import Servo, ContinuousServo
 except ImportError:
@@ -83,7 +85,7 @@ class ServoKit:
         #i2c: Optional[I2C] = None,
         address: str = "/dev/ttyACM0",
         reference_clock_speed: int = 25000000,
-        frequency: int = 50 # actually, device ID over serial pololu protocol
+        frequency: int = 50 # actually, device ID over serial pololu protocol. using existing var names for full compatibility!
     ) -> None:
         if channels not in [6, 12, 18, 24]:
             raise ValueError("servo_channels must be 6, 12, 18, 24!")
@@ -134,6 +136,7 @@ class _Servo:
         if servo_channel >= num_channels or servo_channel < 0:
             raise ValueError("servo must be 0-{}!".format(num_channels - 1))
         servo = pololuservo(servo_channel)
+        
         return servo
         raise ValueError("Channel {} is already in use.".format(servo_channel))
 
@@ -141,13 +144,19 @@ class _Servo:
         return len(self.kit._items)
 
 class pololuservo:
-    def __init__(self, ch, actuation_range: int = 180, min_pulse: int = 3000, max_pulse: int = 9000):
+    def __init__(self, ch, actuation_range: int = 180, min_pulse: int = 1600, max_pulse: int = 9900):
         self.ch = ch
         self.actuation_range = actuation_range
         self._min_duty = min_pulse
         self._max_duty = max_pulse
-        self._duty_range = max_pulse = min_pulse
+        self._duty_range = max_pulse - min_pulse
         self.duty_cycle = 0
+        print("init servo", ch)
+        pca.setAccel(ch, 15)
+        pca.setTarget(ch, int((max_pulse-min_pulse)/2 + min_pulse)) # set midpoint
+        time.sleep(0.1)
+        pca.setAccel(ch, 0)
+
 
     @property
     def angle(self) -> Optional[float]:
@@ -158,7 +167,7 @@ class pololuservo:
         return self.actuation_range * self.fraction
     
     @angle.setter
-    def angle(self, new_angle: Optional[int]) -> None:
+    def angle(self, new_angle: Optional[float]) -> None:
         if new_angle is None:  # disable the servo by sending 0 signal
             self.fraction = None
             return
@@ -184,7 +193,14 @@ class pololuservo:
             return
         if not 0.0 <= value <= 1.0:
             raise ValueError("Must be 0.0 to 1.0")
+        #if self.ch > 2 and self.ch < 6:
+        #    valuetmp = 1.0 - value
+        #    self.duty_cycle = self._min_duty + int(valuetmp * self._duty_range)
+        #else: 
         self.duty_cycle = self._min_duty + int(value * self._duty_range)
         #print(self.ch)
-        pca.setTarget(self.ch,self.duty_cycle)
+        #if self.ch == 0:
+            #print(value)
+        pca.setTarget(self.ch,int(self.duty_cycle))
+        time.sleep(0.002)
         #self._pwm_out.duty_cycle = duty_cycle

software/raspberry pi/btserver.py

@@ -49,7 +49,7 @@ class BluetoothServer(Thread):
 
         self.cmd_queue = out_cmd_queue
 
-        with open('/home/cole/Downloads/hexapod/software/raspberry pi/config.json', 'r') as read_file:
+        with open('config.json', 'r') as read_file:
             self.config = json.load(read_file)
         try:
 

software/raspberry pi/config.json

@@ -38,39 +38,39 @@
     "movementInterval": 5,
     "movementSwitchDuration": 150,
     "leg0Offset": [
-        4.0,
-        6.0,
-        2
+        10,
+        10,
+        30
     ],
     "leg0Scale": [
         1,
-        1,
-        1
+        -1,
+        -1
     ],
     "leg1Offset": [
-        -1.0,
-        8,
-        -6
+        15,
+        -20,
+        35
     ],
     "leg1Scale": [
         1,
-        1,
-        1
+        -1,
+        -1
     ],
     "leg2Offset": [
-        1.0,
-        12.0,
-        1.0
+        -3,
+        10,
+        20
     ],
     "leg2Scale": [
         1,
-        1,
-        1
+        -1,
+        -1
     ],
     "leg3Offset": [
-        -3,
-        12.0,
-        -6.0
+        7,
+        15,
+        -10
     ],
     "leg3Scale": [
         1,
@@ -78,9 +78,9 @@
         1
     ],
     "leg4Offset": [
-        -6,
-        2,
-        -6.0
+        15,
+        10,
+        5
     ],
     "leg4Scale": [
         1,
@@ -88,13 +88,20 @@
         1
     ],
     "leg5Offset": [
-        0,
-        4.0,
-        -10
+        -7,
+        10,
+        -30
     ],
     "leg5Scale": [
         1,
         1,
         1
-    ]
+    ],
+    "leg0Laser": 17,
+    "leg1Laser": 27,
+    "leg2Laser": 22,
+    "leg3Laser": 10,
+    "leg4Laser": 9,
+    "leg5Laser": 11
+
 }

software/raspberry pi/hexapod.py

@@ -1,4 +1,4 @@
-#!python
+#!/usr/bin/python3
 #
 # 2021 - PRESENT  Zhengyu Peng
 # Website: https://zpeng.me
@@ -93,7 +93,7 @@ class Hexapod(Thread):
 
         self.calibration_mode = False
 
-        with open('/home/cole/Downloads/hexapod/software/raspberry pi/config.json', 'r') as read_file:
+        with open('config.json', 'r') as read_file:
             self.config = json.load(read_file)
 
         # legs' coordinates
@@ -116,40 +116,40 @@ class Hexapod(Thread):
         self.mount_position[:, 1] = self.mount_y
 
         # Objects
-        self.pca_right = ServoKit(channels=18, address="/dev/ttyUSB0", frequency=0x0c)
-        self.pca_left = ServoKit(channels=18, address="/dev/ttyUSB0", frequency=0x0d)
-
+        self.pca_right = ServoKit(channels=18, address="/dev/serial/by-path/platform-fd500000.pcie-pci-0000:01:00.0-usb-0:1.4:1.0", frequency=0x0c)
+        self.pca_left = ServoKit(channels=18, address="/dev/serial/by-path/platform-fd500000.pcie-pci-0000:01:00.0-usb-0:1.3:1.0", frequency=0x0d)
+        #self.pca_left = self.pca_right
         self.legs = [
             # front right
             Leg(0,
-                [self.pca_left.servo[15], self.pca_left.servo[14],
-                 self.pca_left.servo[13]],
-                correction=self.config.get('leg0Offset', [0, 0, 0])),
-            # center right
-            Leg(1,
-                [self.pca_left.servo[8], self.pca_left.servo[4],
-                 self.pca_left.servo[11]],
-                correction=self.config.get('leg1Offset', [0, 0, 0])),
-            # rear right
-            Leg(2,
                 [self.pca_left.servo[0], self.pca_left.servo[1],
                  self.pca_left.servo[2]],
-                correction=self.config.get('leg2Offset', [0, 0, 0])),
+                correction=self.config.get('leg0Offset', [0, 0, 0]), scale=self.config.get('leg0Scale', [1, 1, 1])),
+            # center right
+            Leg(1,
+                [self.pca_left.servo[3], self.pca_left.servo[4],
+                 self.pca_left.servo[5]],
+                correction=self.config.get('leg1Offset', [0, 0, 0]), scale=self.config.get('leg1Scale', [1, 1, 1])),
+            # rear right
+            Leg(2,
+                [self.pca_left.servo[6], self.pca_left.servo[7],
+                 self.pca_left.servo[8]],
+                correction=self.config.get('leg2Offset', [0, 0, 0]), scale=self.config.get('leg2Scale', [1, 1, 1])),
             # rear left
             Leg(3,
-                [self.pca_right.servo[15], self.pca_right.servo[14],
-                 self.pca_right.servo[13]],
-                correction=self.config.get('leg3Offset', [0, 0, 0])),
+                [self.pca_right.servo[6], self.pca_right.servo[7],
+                 self.pca_right.servo[8]],
+                correction=self.config.get('leg3Offset', [0, 0, 0]), scale=self.config.get('leg3Scale', [1, 1, 1])),
             # center left
             Leg(4,
-                [self.pca_right.servo[7], self.pca_right.servo[11],
-                 self.pca_right.servo[6]],
-                correction=self.config.get('leg4Offset', [0, 0, 0])),
+                [self.pca_right.servo[3], self.pca_right.servo[4],
+                 self.pca_right.servo[5]],
+                correction=self.config.get('leg4Offset', [0, 0, 0]), scale=self.config.get('leg4Scale', [1, 1, 1])),
             # front left
             Leg(5,
-                [self.pca_right.servo[0], self.pca_right.servo[2],
-                 self.pca_right.servo[5]],
-                correction=self.config.get('leg5Offset', [0, 0, 0]))]
+                [self.pca_right.servo[0], self.pca_right.servo[1],
+                 self.pca_right.servo[2]],
+                correction=self.config.get('leg5Offset', [0, 0, 0]), scale=self.config.get('leg5Scale', [1, 1, 1]))]
 
         # self.leg_0.reset(True)
         # self.leg_1.reset(True)
@@ -263,7 +263,7 @@ class Hexapod(Thread):
 
             try:
                 cmd_string = self.cmd_queue.get(block=False)
-                print('interrput')
+                print('interrupt')
             except Empty:
                 # time.sleep(self.interval)
                 pass
@@ -300,7 +300,6 @@ class Hexapod(Thread):
 
         angles[:, 1] = 90-((ar + a1) * 180 / np.pi)
         angles[:, 2] = (90 - ((a1 + a2) * 180 / np.pi))+90
-
         return angles
 
     def cmd_handler(self, cmd_string):
@@ -352,7 +351,7 @@ class Hexapod(Thread):
     def save_config(self):
         try:
             json.dump(self.config, open(
-                '/home/pi/hexapod/software/raspberry pi/config.json', 'w+'), indent=4)
+                '/home/amelia/hexapod/software/raspberry pi/config2.json', 'w+'), indent=4)
         except PermissionError as err:
             pass
 
@@ -362,7 +361,7 @@ class Hexapod(Thread):
             try:
                 cmd_string = self.cmd_queue.get(block=False)
             except Empty:
-                # time.sleep(self.interval)
+                #time.sleep(self.interval)
                 pass
             else:
                 self.cmd_handler(cmd_string)

software/raspberry pi/leg.py

@@ -38,6 +38,7 @@ class Leg:
         self.junction_servos = junction_servos
         self.correction = correction
         self.constraint = constraint
+        self.scale = scale
 
     def set_angle(self, junction, angle):
         set_angle = np.min(
@@ -50,9 +51,20 @@ class Leg:
         self.junction_servos[junction].angle = angle
 
     def move_junctions(self, angles):
-        self.set_angle(0, angles[0])
-        self.set_angle(1, angles[1])
-        self.set_angle(2, angles[2])
+        if self.scale[0] < 0:
+            self.set_angle(0, self.constraint[0][1] + self.constraint[0][0] - angles[0])
+            #print(self.scale, self.constraint[0][1] + self.constraint[0][0] - angles[0])
+        else:
+            self.set_angle(0, angles[0])
+            #print(self.scale, angles[0])
+        if self.scale[1] < 0:
+            self.set_angle(1, self.constraint[1][1] + self.constraint[1][0] - angles[1])
+        else:
+            self.set_angle(1, angles[1])
+        if self.scale[2] < 0:
+            self.set_angle(2, self.constraint[2][1] + self.constraint[2][0] - angles[2])
+        else:
+            self.set_angle(2, angles[2])
 
     def reset(self, calibrated=False):
         if calibrated:

software/raspberry pi/tcpserver.py

@@ -47,10 +47,10 @@ class TCPServer(Thread):
 
         self.cmd_queue = out_cmd_queue
 
-        with open('/home/cole/Downloads/hexapod/software/raspberry pi/config.json', 'r') as read_file:
+        with open('config.json', 'r') as read_file:
             self.config = json.load(read_file)
 
-        self.ip = '192.168.1.127'
+        self.ip = '0.0.0.0'
         self.port = 1234
         self.tcp_socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
 

software/raspberry pi/test.py

@@ -0,0 +1,16 @@
+import maestro
+servo = maestro.Controller()
+import time
+print("1")
+for i in range(18):
+
+    servo.setAccel(i,10)      #set servo 0 acceleration to 4
+    servo.setSpeed(i,50)     #set speed of servo 1
+    servo.setTarget(i,6000)  #set servo to move to center position
+
+time.sleep(1)
+#servo.setTarget(0,6000)
+#x = servo.getPosition(1) #get the current position of servo 1
+print("5")
+#servo.close()
+print("6")