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32 lines
989 B
Python
32 lines
989 B
Python
# -*- coding: utf-8 -*-
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import numpy as np
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class Leg:
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def __init__(self,
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id,
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junction_servos,
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correction=[0, 0, 0],
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constraint=[[35, 145], [30, 165], [30, 150]]):
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self.id = id
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self.junction_servos = junction_servos
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self.correction = correction
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self.constraint = constraint
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def set_angle(self, junction, angle):
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set_angle = np.min(
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[angle+self.correction[junction], self.constraint[junction][1]+self.correction[junction], 180])
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set_angle = np.max(
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[set_angle, self.constraint[junction][0]+self.correction[junction], 0])
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self.junction_servos[junction].angle = set_angle
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def move_junctions(self, angles):
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self.set_angle(0, angles[0])
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self.set_angle(1, angles[1])
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self.set_angle(2, angles[2])
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def reset(self):
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self.set_angle(0, 90)
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self.set_angle(1, 90)
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self.set_angle(2, 90)
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