software/android/.idea/kotlinc.xml

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

software/raspberry pi/adafruit_servokit.py

@@ -3,7 +3,7 @@
 # SPDX-License-Identifier: MIT
 #
 # MODIFIED to use pololu motor drivers, but compatible with adafruit_servokit driver layout
-# by Amelia Deck
+# by Cole Deck
 # Based on adafruit_motor.py as well
 
 """
@@ -152,7 +152,7 @@ class pololuservo:
         self._duty_range = max_pulse - min_pulse
         self.duty_cycle = 0
         print("init servo", ch)
-        pca.setAccel(ch, 15)
+        pca.setAccel(ch, 10)
         pca.setTarget(ch, int((max_pulse-min_pulse)/2 + min_pulse)) # set midpoint
         time.sleep(0.1)
         pca.setAccel(ch, 0)

software/raspberry pi/config.json

@@ -38,9 +38,9 @@
     "movementInterval": 5,
     "movementSwitchDuration": 150,
     "leg0Offset": [
+        0,
         10,
-        10,
+        25
-        30
     ],
     "leg0Scale": [
         1,
@@ -48,29 +48,29 @@
         -1
     ],
     "leg1Offset": [
-        15,
+        -1.0,
-        -20,
+        8,
-        35
+        -6
     ],
     "leg1Scale": [
         1,
-        -1,
+        1,
-        -1
+        1
     ],
     "leg2Offset": [
-        -3,
+        1.0,
-        10,
+        12.0,
-        20
+        1.0
     ],
     "leg2Scale": [
         1,
-        -1,
+        1,
-        -1
+        1
     ],
     "leg3Offset": [
-        7,
+        -3,
-        15,
+        12.0,
-        -10
+        -6.0
     ],
     "leg3Scale": [
         1,
@@ -78,9 +78,9 @@
         1
     ],
     "leg4Offset": [
-        15,
+        -6,
-        10,
+        2,
-        5
+        -6.0
     ],
     "leg4Scale": [
         1,
@@ -88,9 +88,9 @@
         1
     ],
     "leg5Offset": [
-        -7,
+        0,
         10,
-        -30
+        -40
     ],
     "leg5Scale": [
         1,

software/raspberry pi/hexapod.py

@@ -132,18 +132,18 @@ class Hexapod(Thread):
                 correction=self.config.get('leg1Offset', [0, 0, 0]), scale=self.config.get('leg1Scale', [1, 1, 1])),
             # rear right
             Leg(2,
-                [self.pca_left.servo[14], self.pca_left.servo[13],
+                [self.pca_left.servo[12], self.pca_left.servo[13],
-                 self.pca_left.servo[12]],
+                 self.pca_left.servo[14]],
                 correction=self.config.get('leg2Offset', [0, 0, 0]), scale=self.config.get('leg2Scale', [1, 1, 1])),
             # rear left
             Leg(3,
-                [self.pca_right.servo[17], self.pca_right.servo[16],
+                [self.pca_right.servo[15], self.pca_right.servo[16],
-                 self.pca_right.servo[15]],
+                 self.pca_right.servo[17]],
                 correction=self.config.get('leg3Offset', [0, 0, 0]), scale=self.config.get('leg3Scale', [1, 1, 1])),
             # center left
             Leg(4,
-                [self.pca_right.servo[11], self.pca_right.servo[10],
+                [self.pca_right.servo[9], self.pca_right.servo[10],
-                 self.pca_right.servo[9]],
+                 self.pca_right.servo[11]],
                 correction=self.config.get('leg4Offset', [0, 0, 0]), scale=self.config.get('leg4Scale', [1, 1, 1])),
             # front left
             Leg(5,

software/raspberry pi/test.py

@@ -1,16 +0,0 @@
-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")