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71 lines
2.1 KiB
Python
71 lines
2.1 KiB
Python
#!/usr/bin/env python
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# -*- coding: utf-8 -*-
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# Libraries
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# https://circuitpython.readthedocs.io/projects/servokit/en/latest/
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from adafruit_servokit import ServoKit
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from leg import Leg
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import time
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import json
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class Hexapod:
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def __init__(self):
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with open('./config.json', 'r') as read_file:
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self.config = json.load(read_file)
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# Objects
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self.pca_right = ServoKit(channels=16, address=0x40, frequency=120)
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self.pca_left = ServoKit(channels=16, address=0x41, frequency=120)
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# front right
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self.leg_0 = Leg(0,
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[self.pca_left.servo[15], self.pca_left.servo[2],
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self.pca_left.servo[1]],
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correction=[-6, 4, -6])
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# center right
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self.leg_1 = Leg(1,
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[self.pca_left.servo[7], self.pca_left.servo[8],
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self.pca_left.servo[6]],
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correction=[3, -5, -6])
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# rear right
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self.leg_2 = Leg(2,
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[self.pca_left.servo[0], self.pca_left.servo[14],
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self.pca_left.servo[13]],
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correction=[3, -6, -5])
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# rear left
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self.leg_3 = Leg(3,
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[self.pca_right.servo[15], self.pca_right.servo[1],
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self.pca_right.servo[2]],
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correction=[-3, -4, 6])
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# center left
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self.leg_4 = Leg(4,
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[self.pca_right.servo[7], self.pca_right.servo[6],
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self.pca_right.servo[8]],
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correction=[-6, 2, 0])
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# front left
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self.leg_5 = Leg(5,
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[self.pca_right.servo[0], self.pca_right.servo[13],
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self.pca_right.servo[14]],
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correction=[-6, 4, 0])
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self.leg_0.reset()
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self.leg_1.reset()
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self.leg_2.reset()
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self.leg_3.reset()
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self.leg_4.reset()
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self.leg_5.reset()
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def main():
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hexapod = Hexapod()
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if __name__ == '__main__':
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main()
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