Update body_bottom.f3d

update
Update build.gradle
2022-10-21 15:24:34 -04:00 · 2022-05-09 21:23:33 -04:00 · 2022-03-21 21:06:58 -04:00 · 2022-03-13 23:24:56 -04:00 · 2022-03-13 14:38:56 -04:00 · 2022-03-13 14:38:30 -04:00
21 changed files with 178 additions and 674 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
@@ -1,123 +0,0 @@
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-      <indentOptions>
-        <option name="CONTINUATION_INDENT_SIZE" value="4" />
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-          <section>
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-                  <XML_ATTRIBUTE />
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-                </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>
@@ -7,7 +7,6 @@
        <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="$PROJECT_DIR$" />
@@ -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>
@@ -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:visibility="visible" />
+        android:text="Select a Device"
+        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:listSelector="@color/grey_800"
-        android:stackFromBottom="false" />
+        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:padding="24dp"
+        android:background="?attr/selectableItemBackground"
        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:textColor="@android:color/primary_text_light" />
+                            android:text="192.168.1.127" />
                    </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:forceDarkAllowed="false"
+                            android:backgroundTint="@color/grey_100"
                            android:hint="Port"
                            android:inputType="number"
-                            android:text="1234"
-                            android:textColor="@android:color/primary_text_light" />
+                            android:text="1234" />

                    </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" />
@@ -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=/home/cole/Android/Sdk
+sdk.dir=C\:\\Users\\rooki\\AppData\\Local\\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')
-            output = stream.read()
-            device_id = "hci0"
-            bt_mac = output.split("{}:".format(device_id))[1].split(
-                "BD Address: ")[1].split(" ")[0].strip()
+        stream = os.popen('hciconfig hci0')
+        output = stream.read()
+        device_id = "hci0"
+        bt_mac = output.split("{}:".format(device_id))[1].split(
+            "BD Address: ")[1].split(" ")[0].strip()

-            self.mac = bt_mac
-            self.port = 10
-            self.bt_socket = socket.socket(
-                socket.AF_BLUETOOTH, socket.SOCK_STREAM, socket.BTPROTO_RFCOMM)
+        self.mac = bt_mac
+        self.port = 10
+        self.bt_socket = socket.socket(
+            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.cmd_queue.put('standby:')
-                print('exit')
-            except:
-                pass
+            self.bt_socket.close()
+            self.cmd_queue.put('standby:')
+            print('exit')
@@ -38,39 +38,39 @@
    "movementInterval": 5,
    "movementSwitchDuration": 150,
    "leg0Offset": [
-        10,
-        10,
-        30
+        4.0,
+        6.0,
+        2
    ],
    "leg0Scale": [
        1,
-        -1,
-        -1
+        1,
+        1
    ],
    "leg1Offset": [
-        15,
-        -20,
-        35
+        -1.0,
+        8,
+        -6
    ],
    "leg1Scale": [
        1,
-        -1,
-        -1
+        1,
+        1
    ],
    "leg2Offset": [
-        -3,
-        10,
-        20
+        1.0,
+        12.0,
+        1.0
    ],
    "leg2Scale": [
        1,
-        -1,
-        -1
+        1,
+        1
    ],
    "leg3Offset": [
-        7,
-        15,
-        -10
+        -3,
+        12.0,
+        -6.0
    ],
    "leg3Scale": [
        1,
@@ -78,9 +78,9 @@
        1
    ],
    "leg4Offset": [
-        15,
-        10,
-        5
+        -6,
+        2,
+        -6.0
    ],
    "leg4Scale": [
        1,
@@ -88,20 +88,13 @@
        1
    ],
    "leg5Offset": [
-        -7,
-        10,
-        -30
+        0,
+        4.0,
+        -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_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.pca_right = ServoKit(channels=16, address=0x40, frequency=120)
+        self.pca_left = ServoKit(channels=16, address=0x41, frequency=120)
+
        self.legs = [
            # front right
            Leg(0,
-                [self.pca_left.servo[0], self.pca_left.servo[1],
-                 self.pca_left.servo[2]],
-                correction=self.config.get('leg0Offset', [0, 0, 0]), scale=self.config.get('leg0Scale', [1, 1, 1])),
+                [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[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])),
+                [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[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])),
+                [self.pca_left.servo[0], self.pca_left.servo[1],
+                 self.pca_left.servo[2]],
+                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[8]],
-                correction=self.config.get('leg3Offset', [0, 0, 0]), scale=self.config.get('leg3Scale', [1, 1, 1])),
+                [self.pca_right.servo[15], self.pca_right.servo[14],
+                 self.pca_right.servo[13]],
+                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[5]],
-                correction=self.config.get('leg4Offset', [0, 0, 0]), scale=self.config.get('leg4Scale', [1, 1, 1])),
+                [self.pca_right.servo[7], self.pca_right.servo[11],
+                 self.pca_right.servo[6]],
+                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[2]],
-                correction=self.config.get('leg5Offset', [0, 0, 0]), scale=self.config.get('leg5Scale', [1, 1, 1]))]
+                [self.pca_right.servo[0], self.pca_right.servo[2],
+                 self.pca_right.servo[5]],
+                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):
@@ -351,7 +351,7 @@ class Hexapod(Thread):
    def save_config(self):
        try:
            json.dump(self.config, open(
-                '/home/amelia/hexapod/software/raspberry pi/config2.json', 'w+'), indent=4)
+                '/home/pi/hexapod/software/raspberry pi/config.json', 'w+'), indent=4)
        except PermissionError as err:
            pass

@@ -361,7 +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)
@@ -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, 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])
+        self.set_angle(0, angles[0])
+        self.set_angle(1, angles[1])
+        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")