Update path_generator.py

Update config.json
2022-03-13 14:38:30 -04:00 · 2022-03-12 20:49:56 -05:00 · 2022-03-12 18:54:16 -05:00 · 2022-03-12 16:27:04 -05:00 · 2022-03-12 16:25:46 -05:00 · 2022-03-12 16:22:48 -05:00
27 changed files with 187 additions and 685 deletions
@@ -0,0 +1,37 @@
 # This workflow will install Python dependencies, run tests and lint with a variety of Python versions
 # For more information see: https://help.github.com/actions/language-and-framework-guides/using-python-with-github-actions
 name: Build PC Client on Linux
 on:
  push:
    branches: [ main ]
  pull_request:
    branches: [ main ]
 jobs:
  build:
    runs-on: ubuntu-latest
    steps:
    - uses: actions/checkout@v2
    - name: Set up Python 3.9
      uses: actions/setup-python@v2
      with:
        python-version: 3.9
    - name: Install dependencies
      run: |
        python -m pip install --upgrade pip
        pip install PySide6 psutil pyinstaller
    - name: PyInstaller
      run: |
        cd ./software/pc
        pyinstaller hexapod.spec
        cp mainwindow.ui ./dist/hexapod/
    - name: Archive built module
      uses: actions/upload-artifact@v2
      if: success()
      with:
        name: hexapod_linux
        path: ./software/pc/dist/hexapod
@@ -0,0 +1,37 @@
 # This workflow will install Python dependencies, run tests and lint with a variety of Python versions
 # For more information see: https://help.github.com/actions/language-and-framework-guides/using-python-with-github-actions
 name: Build PC Client on Windows
 on:
  push:
    branches: [ main ]
  pull_request:
    branches: [ main ]
 jobs:
  build:
    runs-on: windows-latest
    steps:
    - uses: actions/checkout@v2
    - name: Set up Python 3.9
      uses: actions/setup-python@v2
      with:
        python-version: 3.9
    - name: Install dependencies
      run: |
        python -m pip install --upgrade pip
        pip install PySide6 psutil pyinstaller
    - name: PyInstaller
      run: |
        cd software\pc
        pyinstaller hexapod.spec
        copy mainwindow.ui .\dist\hexapod\
    - name: Archive built module
      uses: actions/upload-artifact@v2
      if: success()
      with:
        name: hexapod_windows
        path: .\software\pc\dist\hexapod
@@ -25,8 +25,6 @@ The table below shows the difference between this project and the original one.
 https://user-images.githubusercontent.com/471808/148647807-02e3e901-6181-4473-8ac4-3b5998fa8d17.mp4
 https://user-images.githubusercontent.com/471808/158099495-1caeb903-a2e6-4e8d-9f13-54728d7d255a.mp4
 ## Software
 ### Raspberry Pi
@@ -1,123 +0,0 @@
 <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>^$</XML_NAMESPACE>
                </AND>
              </match>
              <order>BY_NAME</order>
            </rule>
          </section>
          <section>
            <rule>
              <match>
                <AND>
                  <NAME>.*</NAME>
                  <XML_ATTRIBUTE />
                  <XML_NAMESPACE>http://schemas.android.com/apk/res/android</XML_NAMESPACE>
                </AND>
              </match>
              <order>ANDROID_ATTRIBUTE_ORDER</order>
            </rule>
          </section>
          <section>
            <rule>
              <match>
                <AND>
                  <NAME>.*</NAME>
                  <XML_ATTRIBUTE />
                  <XML_NAMESPACE>.*</XML_NAMESPACE>
                </AND>
              </match>
              <order>BY_NAME</order>
            </rule>
          </section>
        </rules>
      </arrangement>
    </codeStyleSettings>
    <codeStyleSettings language="kotlin">
      <option name="CODE_STYLE_DEFAULTS" value="KOTLIN_OFFICIAL" />
    </codeStyleSettings>
  </code_scheme>
 </component>
@@ -1,5 +0,0 @@
 <component name="ProjectCodeStyleConfiguration">
  <state>
    <option name="USE_PER_PROJECT_SETTINGS" value="true" />
  </state>
 </component>
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <project version="4">
  <component name="CompilerConfiguration">
-    <bytecodeTargetLevel target="17" />
+    <bytecodeTargetLevel target="11" />
  </component>
 </project>
@@ -7,13 +7,13 @@
        <option name="testRunner" value="GRADLE" />
        <option name="distributionType" value="DEFAULT_WRAPPED" />
        <option name="externalProjectPath" value="$PROJECT_DIR$" />
        <option name="gradleJvm" value="Embedded JDK" />
        <option name="modules">
          <set>
            <option value="$PROJECT_DIR$" />
            <option value="$PROJECT_DIR$/app" />
          </set>
        </option>
        <option name="resolveModulePerSourceSet" value="false" />
      </GradleProjectSettings>
    </option>
  </component>
@@ -1,6 +0,0 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <project version="4">
  <component name="KotlinJpsPluginSettings">
    <option name="version" value="1.6.21" />
  </component>
 </project>
@@ -29,13 +29,10 @@
      </map>
    </option>
  </component>
-  <component name="ProjectRootManager" version="2" languageLevel="JDK_17" default="true" project-jdk-name="jbr-17" project-jdk-type="JavaSDK">
+  <component name="ProjectRootManager" version="2" languageLevel="JDK_11" default="true" project-jdk-name="Android Studio default JDK" project-jdk-type="JavaSDK">
    <output url="file://$PROJECT_DIR$/build/classes" />
  </component>
  <component name="ProjectType">
    <option name="id" value="Android" />
  </component>
  <component name="SuppressKotlinCodeStyleNotification">
    <option name="disableForAll" value="true" />
  </component>
 </project>
@@ -4,12 +4,12 @@ plugins {
 }
 android {
-    compileSdk 32
+    compileSdk 31
    defaultConfig {
        applicationId "com.rookiedev.hexapod"
        minSdk 30
-        targetSdk 32
+        targetSdk 31
        versionCode 3
        versionName "1.2"
@@ -29,14 +29,13 @@ android {
    kotlinOptions {
        jvmTarget = '1.8'
    }
    namespace 'com.rookiedev.hexapod'
 }
 dependencies {
    implementation 'org.jetbrains.kotlinx:kotlinx-coroutines-core:1.6.0'
    implementation 'androidx.core:core-ktx:1.7.0'
    implementation 'androidx.appcompat:appcompat:1.4.1'
-    implementation 'com.google.android.material:material:1.6.0'
+    implementation 'com.google.android.material:material:1.5.0'
    implementation 'androidx.constraintlayout:constraintlayout:2.1.3'
    testImplementation 'junit:junit:4.13.2'
    androidTestImplementation 'androidx.test.ext:junit:1.1.3'
@@ -1,5 +1,6 @@
 <?xml version="1.0" encoding="utf-8"?>
-<manifest xmlns:android="http://schemas.android.com/apk/res/android">
+<manifest xmlns:android="http://schemas.android.com/apk/res/android"
    package="com.rookiedev.hexapod">
    <uses-permission android:name="android.permission.BLUETOOTH_CONNECT" />
    <uses-permission android:name="android.permission.BLUETOOTH_SCAN" />
@@ -13,19 +13,18 @@
 <LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
    android:layout_width="match_parent"
    android:layout_height="match_parent"
-    android:background="@color/black"
+    android:orientation="vertical"
-    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:text="Select a Device"
        android:textAppearance="?attr/textAppearanceHeadline6"
-        android:textColor="@color/white"
+        android:text="Select a Device"
-        android:visibility="visible" />
+        android:visibility="visible"
        />
    <View
        android:id="@+id/divider"
@@ -37,9 +36,8 @@
        android:id="@+id/paired_devices"
        android:layout_width="match_parent"
        android:layout_height="wrap_content"
-        android:background="@color/black"
+        android:stackFromBottom="false"
-        android:listSelector="@color/grey_800"
+        />
        android:stackFromBottom="false" />
    <View
        android:id="@+id/divider1"
@@ -51,13 +49,14 @@
        android:id="@+id/cancel_picker"
        android:layout_width="match_parent"
        android:layout_height="wrap_content"
-        android:background="?attr/selectableItemBackground"
+        android:padding="24dp"
        android:textAppearance="?attr/textAppearanceButton"
        android:gravity="center_horizontal"
        android:clickable="true"
        android:focusable="true"
-        android:gravity="center_horizontal"
+        android:background="?attr/selectableItemBackground"
        android:padding="24dp"
        android:text="Cancel"
-        android:textAppearance="?attr/textAppearanceButton"
+        android:visibility="visible"
-        android:visibility="visible" />
+        />
 </LinearLayout>
@@ -18,12 +18,11 @@
            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:paddingEnd="16dp"
            android:elevation="8dp">
            <ImageView
                android:id="@+id/hexapod_logo"
@@ -51,16 +50,12 @@
                    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>
@@ -83,8 +78,6 @@
                <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
@@ -92,10 +85,9 @@
                        android:layout_width="match_parent"
                        android:layout_height="wrap_content"
                        android:layout_marginBottom="4dp"
                        android:background="@color/grey_500"
                        android:paddingStart="16dp"
                        android:paddingTop="16dp"
                        android:paddingEnd="16dp"
                        android:paddingTop="16dp"
                        android:visibility="visible"
                        app:errorEnabled="true"
                        app:layout_constraintBottom_toTopOf="@id/port_input_layout"
@@ -107,23 +99,20 @@
                            android:id="@+id/ip_input"
                            android:layout_width="match_parent"
                            android:layout_height="wrap_content"
                            android:background="@color/grey_500"
                            android:digits="0123456789."
-                            android:forceDarkAllowed="false"
+                            android:backgroundTint="@color/grey_100"
                            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"
@@ -135,12 +124,10 @@
                            android:id="@+id/port_input"
                            android:layout_width="match_parent"
                            android:layout_height="wrap_content"
-                            android:background="@color/grey_500"
+                            android:backgroundTint="@color/grey_100"
                            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>
@@ -4,10 +4,9 @@
    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:forceDarkAllowed="false"
+    android:background="?android:attr/selectableItemBackground"
    android:paddingTop="16dp"
    android:paddingBottom="16dp">
@@ -17,17 +16,17 @@
        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:text="TextView"
        android:textAppearance="?attr/textAppearanceBody1"
        android:text="TextView"
        app:layout_constraintBottom_toTopOf="@+id/textView_device_mac"
        app:layout_constraintStart_toEndOf="@+id/imageView"
        app:layout_constraintTop_toTopOf="parent"
@@ -37,8 +36,8 @@
        android:id="@+id/textView_device_mac"
        android:layout_width="wrap_content"
        android:layout_height="wrap_content"
        android:text="TextView"
        android:textAppearance="?attr/textAppearanceCaption"
        android:text="TextView"
        app:layout_constraintBottom_toBottomOf="parent"
        app:layout_constraintStart_toEndOf="@+id/imageView"
        app:layout_constraintTop_toBottomOf="@+id/textView_device_name" />
@@ -5,8 +5,8 @@ buildscript {
        mavenCentral()
    }
    dependencies {
-        classpath 'com.android.tools.build:gradle:7.2.0'
+        classpath 'com.android.tools.build:gradle:7.1.2'
-        classpath "org.jetbrains.kotlin:kotlin-gradle-plugin:1.6.21"
+        classpath "org.jetbrains.kotlin:kotlin-gradle-plugin:1.6.10"
        // NOTE: Do not place your application dependencies here; they belong
        // in the individual module build.gradle files
@@ -1,6 +1,6 @@
 #Wed Feb 09 11:03:31 EST 2022
 distributionBase=GRADLE_USER_HOME
-distributionUrl=https\://services.gradle.org/distributions/gradle-7.3.3-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-7.2-bin.zip
 distributionPath=wrapper/dists
 zipStorePath=wrapper/dists
 zipStoreBase=GRADLE_USER_HOME
@@ -1,8 +1,10 @@
-## This file must *NOT* be checked into Version Control Systems,
+## 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,
 # 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.
-#Fri Oct 21 23:04:27 CDT 2022
+sdk.dir=C\:\\Users\\rooki\\AppData\\Local\\Android\\Sdk
 sdk.dir=/home/cole/Android/Sdk
@@ -1,206 +0,0 @@
 # SPDX-FileCopyrightText: 2018 Kattni Rembor for Adafruit Industries
 #
 # SPDX-License-Identifier: MIT
 #
 # MODIFIED to use pololu motor drivers, but compatible with adafruit_servokit driver layout
 # by Amelia Deck
 # Based on adafruit_motor.py as well
 """
 `adafruit_servokit`
 ====================================================
 CircuitPython helper library for the PWM/Servo FeatherWing, Shield and Pi HAT and Bonnet kits.
 * Author(s): Kattni Rembor
 Implementation Notes
 --------------------
 **Hardware:**
 * `8-Channel PWM or Servo FeatherWing <https://www.adafruit.com/product/2928>`_
 * `Adafruit 16-Channel 12-bit PWM/Servo Shield <https://www.adafruit.com/product/1411>`_
 * `Adafruit 16-Channel PWM/Servo HAT for Raspberry Pi <https://www.adafruit.com/product/2327>`_
 * `Adafruit 16-Channel PWM/Servo Bonnet for Raspberry Pi <https://www.adafruit.com/product/3416>`_
 **Software and Dependencies:**
 * Adafruit CircuitPython firmware for the supported boards:
  https://github.com/adafruit/circuitpython/releases
 * Adafruit's Bus Device library: https://github.com/adafruit/Adafruit_CircuitPython_BusDevice
 * Adafruit's Register library: https://github.com/adafruit/Adafruit_CircuitPython_Register
 * Adafruit's PCA9685 library: https://github.com/adafruit/Adafruit_CircuitPython_PCA9685
 * Adafruit's Motor library: https://github.com/adafruit/Adafruit_CircuitPython_Motor
 """
 #import board
 #from adafruit_pca9685 import PCA9685
 try:
    from typing import Optional
    import maestro
    import time
    #from busio import I2C
    #from adafruit_motor.servo import Servo, ContinuousServo
 except ImportError:
    pass
 __version__ = "0.0.0+auto.0"
 __repo__ = "https://github.com/adafruit/Adafruit_CircuitPython_ServoKit.git"
 pca = None
 class ServoKit:
    """Class representing an Adafruit PWM/Servo FeatherWing, Shield or Pi HAT and Bonnet kits.
    Automatically uses the I2C bus on a Feather, Metro or Raspberry Pi.
    Initialise the PCA9685 chip at ``address``.
    The internal reference clock is 25MHz but may vary slightly with environmental conditions and
    manufacturing variances. Providing a more precise ``reference_clock_speed`` can improve the
    accuracy of the frequency and duty_cycle computations. See the ``calibration.py`` example in
    the `PCA9685 GitHub repo <https://github.com/adafruit/Adafruit_CircuitPython_PCA9685>`_ for
    how to derive this value by measuring the resulting pulse widths.
    :param int channels: The number of servo channels available. Must be 8 or 16. The FeatherWing
                         has 8 channels. The Shield, HAT, and Bonnet have 16 channels.
    :param ~I2C i2c: The I2C bus to use. If not provided, it will use generate the default I2C
                                      bus singleton ``busio.I2C()`` and use that.
    :param int address: The I2C address of the PCA9685. Default address is ``0x40``.
    :param int reference_clock_speed: The frequency of the internal reference clock in Hertz.
                                      Default reference clock speed is ``25000000``.
    :param int frequency: The overall PWM frequency of the PCA9685 in Hertz.
                                      Default frequency is ``50``.
    """
    def __init__(
        self,
        *,
        channels: int,
        #i2c: Optional[I2C] = None,
        address: str = "/dev/ttyACM0",
        reference_clock_speed: int = 25000000,
        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!")
        self._items = [None] * channels
        self._channels = channels
        #if i2c is None:
        #    i2c = board.I2C()
        #self._pca = PCA9685(
        #    i2c, address=address, reference_clock_speed=reference_clock_speed
        #)
        #self._pca.frequency = frequency
        global pca
        self._pca = maestro.Controller(ttyStr=address,device=frequency)
        pca = self._pca
        self._servo = _Servo(self)
    @property
    def servo(self) -> "_Servo":
        """:class:`~adafruit_motor.servo.Servo` controls for standard servos.
        This FeatherWing example rotates a servo on channel ``0`` to ``180`` degrees for one second,
        and then returns it to ``0`` degrees.
        .. code-block:: python
            import time
            from adafruit_servokit import ServoKit
            kit = ServoKit(channels=8)
            kit.servo[0].angle = 180
            time.sleep(1)
            kit.servo[0].angle = 0
        """
        return self._servo
 class _Servo:
    # pylint: disable=protected-access
    def __init__(self, kit: ServoKit) -> None:
        self.kit = kit
    def __getitem__(self, servo_channel: int):
        #import adafruit_motor.servo  # pylint: disable=import-outside-toplevel
        num_channels = self.kit._channels
        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))
    def __len__(self) -> int:
        return len(self.kit._items)
 class pololuservo:
    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_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]:
        """The servo angle in degrees. Must be in the range ``0`` to ``actuation_range``.
        Is None when servo is disabled."""
        if self.fraction is None:  # special case for disabled servos
            return None
        return self.actuation_range * self.fraction
    @angle.setter
    def angle(self, new_angle: Optional[float]) -> None:
        if new_angle is None:  # disable the servo by sending 0 signal
            self.fraction = None
            return
        if new_angle < 0 or new_angle > self.actuation_range:
            raise ValueError("Angle out of range")
        self.fraction = new_angle / self.actuation_range
    @property
    def fraction(self) -> Optional[float]:
        """Pulse width expressed as fraction between 0.0 (`min_pulse`) and 1.0 (`max_pulse`).
        For conventional servos, corresponds to the servo position as a fraction
        of the actuation range. Is None when servo is diabled (pulsewidth of 0ms).
        """
        if self.duty_cycle == 0:  # Special case for disabled servos
            return None
        return (self.duty_cycle - self._min_duty) / self._duty_range
    @fraction.setter
    def fraction(self, value: Optional[float]) -> None:
        if value is None:
            #self._pwm_out.duty_cycle = 0  # disable the motor
            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)
        #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
@@ -49,32 +49,28 @@ class BluetoothServer(Thread):
        self.cmd_queue = out_cmd_queue
-        with open('config.json', 'r') as read_file:
+        with open('/home/pi/hexapod/software/raspberry pi/config.json', 'r') as read_file:
            self.config = json.load(read_file)
        try:
-            stream = os.popen('hciconfig hci0')
+        stream = os.popen('hciconfig hci0')
-            output = stream.read()
+        output = stream.read()
-            device_id = "hci0"
+        device_id = "hci0"
-            bt_mac = output.split("{}:".format(device_id))[1].split(
+        bt_mac = output.split("{}:".format(device_id))[1].split(
-                "BD Address: ")[1].split(" ")[0].strip()
+            "BD Address: ")[1].split(" ")[0].strip()
-            self.mac = bt_mac
+        self.mac = bt_mac
-            self.port = 10
+        self.port = 10
-            self.bt_socket = socket.socket(
+        self.bt_socket = socket.socket(
-                socket.AF_BLUETOOTH, socket.SOCK_STREAM, socket.BTPROTO_RFCOMM)
+            socket.AF_BLUETOOTH, socket.SOCK_STREAM, socket.BTPROTO_RFCOMM)
            self.signal = self.SIG_NORMAL
        except:
            pass
        self.signal = self.SIG_NORMAL
    def run(self):
        try:
            self.bt_socket.bind((self.mac, self.port))
            self.bt_socket.listen(1)
            print('TCP listening')
-        except: # OSError as err:
+        except OSError as err:
            # print('emit tcp server error')
            # self.status.emit(self.STOP, '')
            pass
@@ -108,9 +104,6 @@ class BluetoothServer(Thread):
                                break
        finally:
-            try:
+            self.bt_socket.close()
-                self.bt_socket.close()
+            self.cmd_queue.put('standby:')
-                self.cmd_queue.put('standby:')
+            print('exit')
                print('exit')
            except:
                pass
@@ -38,39 +38,39 @@
    "movementInterval": 5,
    "movementSwitchDuration": 150,
    "leg0Offset": [
-        10,
+        4.0,
-        10,
+        6.0,
-        30
+        2
    ],
    "leg0Scale": [
        1,
-        -1,
+        1,
-        -1
+        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,
@@ -88,20 +88,13 @@
        1
    ],
    "leg5Offset": [
-        -7,
+        0,
-        10,
+        4.0,
-        -30
+        -10
    ],
    "leg5Scale": [
        1,
        1,
        1
-    ],
+    ]
    "leg0Laser": 17,
    "leg1Laser": 27,
    "leg2Laser": 22,
    "leg3Laser": 10,
    "leg4Laser": 9,
    "leg5Laser": 11
 }
@@ -1,4 +1,4 @@
-#!/usr/bin/python3
+#!python
 #
 # 2021 - PRESENT  Zhengyu Peng
 # Website: https://zpeng.me
@@ -28,7 +28,6 @@
 # https://circuitpython.readthedocs.io/projects/servokit/en/latest/
 from audioop import reverse
 from adafruit_servokit import ServoKit
 import maestro
 from leg import Leg
@@ -93,7 +92,7 @@ class Hexapod(Thread):
        self.calibration_mode = False
-        with open('config.json', 'r') as read_file:
+        with open('/home/pi/hexapod/software/raspberry pi/config.json', 'r') as read_file:
            self.config = json.load(read_file)
        # legs' coordinates
@@ -116,40 +115,40 @@ class Hexapod(Thread):
        self.mount_position[:, 1] = self.mount_y
        # Objects
-        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_right = ServoKit(channels=16, address=0x40, frequency=120)
-        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 = ServoKit(channels=16, address=0x41, frequency=120)
-        #self.pca_left = self.pca_right
+
        self.legs = [
            # front right
            Leg(0,
-                [self.pca_left.servo[0], self.pca_left.servo[1],
+                [self.pca_left.servo[15], self.pca_left.servo[14],
-                 self.pca_left.servo[2]],
+                 self.pca_left.servo[13]],
-                correction=self.config.get('leg0Offset', [0, 0, 0]), scale=self.config.get('leg0Scale', [1, 1, 1])),
+                correction=self.config.get('leg0Offset', [0, 0, 0])),
            # center right
            Leg(1,
-                [self.pca_left.servo[3], self.pca_left.servo[4],
+                [self.pca_left.servo[8], self.pca_left.servo[4],
-                 self.pca_left.servo[5]],
+                 self.pca_left.servo[11]],
-                correction=self.config.get('leg1Offset', [0, 0, 0]), scale=self.config.get('leg1Scale', [1, 1, 1])),
+                correction=self.config.get('leg1Offset', [0, 0, 0])),
            # rear right
            Leg(2,
-                [self.pca_left.servo[6], self.pca_left.servo[7],
+                [self.pca_left.servo[0], self.pca_left.servo[1],
-                 self.pca_left.servo[8]],
+                 self.pca_left.servo[2]],
-                correction=self.config.get('leg2Offset', [0, 0, 0]), scale=self.config.get('leg2Scale', [1, 1, 1])),
+                correction=self.config.get('leg2Offset', [0, 0, 0])),
            # rear left
            Leg(3,
-                [self.pca_right.servo[6], self.pca_right.servo[7],
+                [self.pca_right.servo[15], self.pca_right.servo[14],
-                 self.pca_right.servo[8]],
+                 self.pca_right.servo[13]],
-                correction=self.config.get('leg3Offset', [0, 0, 0]), scale=self.config.get('leg3Scale', [1, 1, 1])),
+                correction=self.config.get('leg3Offset', [0, 0, 0])),
            # center left
            Leg(4,
-                [self.pca_right.servo[3], self.pca_right.servo[4],
+                [self.pca_right.servo[7], self.pca_right.servo[11],
-                 self.pca_right.servo[5]],
+                 self.pca_right.servo[6]],
-                correction=self.config.get('leg4Offset', [0, 0, 0]), scale=self.config.get('leg4Scale', [1, 1, 1])),
+                correction=self.config.get('leg4Offset', [0, 0, 0])),
            # front left
            Leg(5,
-                [self.pca_right.servo[0], self.pca_right.servo[1],
+                [self.pca_right.servo[0], self.pca_right.servo[2],
-                 self.pca_right.servo[2]],
+                 self.pca_right.servo[5]],
-                correction=self.config.get('leg5Offset', [0, 0, 0]), scale=self.config.get('leg5Scale', [1, 1, 1]))]
+                correction=self.config.get('leg5Offset', [0, 0, 0]))]
        # self.leg_0.reset(True)
        # self.leg_1.reset(True)
@@ -263,7 +262,7 @@ class Hexapod(Thread):
            try:
                cmd_string = self.cmd_queue.get(block=False)
-                print('interrupt')
+                print('interrput')
            except Empty:
                # time.sleep(self.interval)
                pass
@@ -300,6 +299,7 @@ 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):
@@ -350,8 +350,7 @@ class Hexapod(Thread):
    def save_config(self):
        try:
-            json.dump(self.config, open(
+            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
@@ -361,7 +360,7 @@ 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)
@@ -38,7 +38,6 @@ 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(
@@ -51,20 +50,9 @@ class Leg:
        self.junction_servos[junction].angle = angle
    def move_junctions(self, angles):
-        if self.scale[0] < 0:
+        self.set_angle(0, angles[0])
-            self.set_angle(0, self.constraint[0][1] + self.constraint[0][0] - angles[0])
+        self.set_angle(1, angles[1])
-            #print(self.scale, self.constraint[0][1] + self.constraint[0][0] - angles[0])
+        self.set_angle(2, angles[2])
        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:
@@ -1,169 +0,0 @@
 import serial
 from sys import version_info
 PY2 = version_info[0] == 2   #Running Python 2.x?
 #
 #---------------------------
 # Maestro Servo Controller
 #---------------------------
 #
 # Support for the Pololu Maestro line of servo controllers
 #
 # Steven Jacobs -- Aug 2013
 # https://github.com/FRC4564/Maestro/
 #
 # These functions provide access to many of the Maestro's capabilities using the
 # Pololu serial protocol
 #
 class Controller:
    # When connected via USB, the Maestro creates two virtual serial ports
    # /dev/ttyACM0 for commands and /dev/ttyACM1 for communications.
    # Be sure the Maestro is configured for "USB Dual Port" serial mode.
    # "USB Chained Mode" may work as well, but hasn't been tested.
    #
    # Pololu protocol allows for multiple Maestros to be connected to a single
    # serial port. Each connected device is then indexed by number.
    # This device number defaults to 0x0C (or 12 in decimal), which this module
    # assumes.  If two or more controllers are connected to different serial
    # ports, or you are using a Windows OS, you can provide the tty port.  For
    # example, '/dev/ttyACM2' or for Windows, something like 'COM3'.
    def __init__(self,ttyStr='/dev/ttyACM0',device=0x0c):
        # Open the command port
        self.usb = serial.Serial(ttyStr)
        # Command lead-in and device number are sent for each Pololu serial command.
        self.PololuCmd = chr(0xaa) + chr(device)
        # Track target position for each servo. The function isMoving() will
        # use the Target vs Current servo position to determine if movement is
        # occuring.  Upto 24 servos on a Maestro, (0-23). Targets start at 0.
        self.Targets = [0] * 24
        # Servo minimum and maximum targets can be restricted to protect components.
        self.Mins = [0] * 24
        self.Maxs = [0] * 24
    # Cleanup by closing USB serial port
    def close(self):
        self.usb.close()
    # Send a Pololu command out the serial port
    def sendCmd(self, cmd):
        cmdStr = self.PololuCmd + cmd
        if PY2:
            self.usb.write(cmdStr)
        else:
            self.usb.write(bytes(cmdStr,'latin-1'))
    # Set channels min and max value range.  Use this as a safety to protect
    # from accidentally moving outside known safe parameters. A setting of 0
    # allows unrestricted movement.
    #
    # ***Note that the Maestro itself is configured to limit the range of servo travel
    # which has precedence over these values.  Use the Maestro Control Center to configure
    # ranges that are saved to the controller.  Use setRange for software controllable ranges.
    def setRange(self, chan, min, max):
        self.Mins[chan] = min
        self.Maxs[chan] = max
    # Return Minimum channel range value
    def getMin(self, chan):
        return self.Mins[chan]
    # Return Maximum channel range value
    def getMax(self, chan):
        return self.Maxs[chan]
    # Set channel to a specified target value.  Servo will begin moving based
    # on Speed and Acceleration parameters previously set.
    # Target values will be constrained within Min and Max range, if set.
    # For servos, target represents the pulse width in of quarter-microseconds
    # Servo center is at 1500 microseconds, or 6000 quarter-microseconds
    # Typcially valid servo range is 3000 to 9000 quarter-microseconds
    # If channel is configured for digital output, values < 6000 = Low ouput
    def setTarget(self, chan, target):
        # if Min is defined and Target is below, force to Min
        if self.Mins[chan] > 0 and target < self.Mins[chan]:
            target = self.Mins[chan]
        # if Max is defined and Target is above, force to Max
        if self.Maxs[chan] > 0 and target > self.Maxs[chan]:
            target = self.Maxs[chan]
        #    
        lsb = target & 0x7f #7 bits for least significant byte
        msb = (target >> 7) & 0x7f #shift 7 and take next 7 bits for msb
        cmd = chr(0x04) + chr(chan) + chr(lsb) + chr(msb)
        self.sendCmd(cmd)
        # Record Target value
        self.Targets[chan] = target
    # Set speed of channel
    # Speed is measured as 0.25microseconds/10milliseconds
    # For the standard 1ms pulse width change to move a servo between extremes, a speed
    # of 1 will take 1 minute, and a speed of 60 would take 1 second.
    # Speed of 0 is unrestricted.
    def setSpeed(self, chan, speed):
        lsb = speed & 0x7f #7 bits for least significant byte
        msb = (speed >> 7) & 0x7f #shift 7 and take next 7 bits for msb
        cmd = chr(0x07) + chr(chan) + chr(lsb) + chr(msb)
        self.sendCmd(cmd)
    # Set acceleration of channel
    # This provide soft starts and finishes when servo moves to target position.
    # Valid values are from 0 to 255. 0=unrestricted, 1 is slowest start.
    # A value of 1 will take the servo about 3s to move between 1ms to 2ms range.
    def setAccel(self, chan, accel):
        lsb = accel & 0x7f #7 bits for least significant byte
        msb = (accel >> 7) & 0x7f #shift 7 and take next 7 bits for msb
        cmd = chr(0x09) + chr(chan) + chr(lsb) + chr(msb)
        self.sendCmd(cmd)
    # Get the current position of the device on the specified channel
    # The result is returned in a measure of quarter-microseconds, which mirrors
    # the Target parameter of setTarget.
    # This is not reading the true servo position, but the last target position sent
    # to the servo. If the Speed is set to below the top speed of the servo, then
    # the position result will align well with the acutal servo position, assuming
    # it is not stalled or slowed.
    def getPosition(self, chan):
        cmd = chr(0x10) + chr(chan)
        self.sendCmd(cmd)
        lsb = ord(self.usb.read())
        msb = ord(self.usb.read())
        return (msb << 8) + lsb
    # Test to see if a servo has reached the set target position.  This only provides
    # useful results if the Speed parameter is set slower than the maximum speed of
    # the servo.  Servo range must be defined first using setRange. See setRange comment.
    #
    # ***Note if target position goes outside of Maestro's allowable range for the
    # channel, then the target can never be reached, so it will appear to always be
    # moving to the target.  
    def isMoving(self, chan):
        if self.Targets[chan] > 0:
            if self.getPosition(chan) != self.Targets[chan]:
                return True
        return False
    # Have all servo outputs reached their targets? This is useful only if Speed and/or
    # Acceleration have been set on one or more of the channels. Returns True or False.
    # Not available with Micro Maestro.
    def getMovingState(self):
        cmd = chr(0x13)
        self.sendCmd(cmd)
        if self.usb.read() == chr(0):
            return False
        else:
            return True
    # Run a Maestro Script subroutine in the currently active script. Scripts can
    # have multiple subroutines, which get numbered sequentially from 0 on up. Code your
    # Maestro subroutine to either infinitely loop, or just end (return is not valid).
    def runScriptSub(self, subNumber):
        cmd = chr(0x27) + chr(subNumber)
        # can pass a param with command 0x28
        # cmd = chr(0x28) + chr(subNumber) + chr(lsb) + chr(msb)
        self.sendCmd(cmd)
    # Stop the current Maestro Script
    def stopScript(self):
        cmd = chr(0x24)
        self.sendCmd(cmd)
@@ -1,2 +0,0 @@
 pyserial
 numpy
@@ -47,10 +47,10 @@ class TCPServer(Thread):
        self.cmd_queue = out_cmd_queue
-        with open('config.json', 'r') as read_file:
+        with open('/home/pi/hexapod/software/raspberry pi/config.json', 'r') as read_file:
            self.config = json.load(read_file)
-        self.ip = '0.0.0.0'
+        self.ip = '192.168.1.127'
        self.port = 1234
        self.tcp_socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
@@ -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")