Mercurial > Kubik

changeset 129:62a59cad5ccd

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Fix home position and hip offsets
author Radomir Dopieralski <sheep-devel@sheep.art.pl>
date Wed, 09 Jul 2014 17:43:19 +0000
parents 3e74269c9190
children b10c6eaed9e2
files kubik.py
diffstat 1 files changed, 4 insertions(+), 4 deletions(-) [+]
line wrap: on
line diff
--- a/kubik.py	Wed Jul 09 18:59:20 2014 +0200
+++ b/kubik.py	Wed Jul 09 17:43:19 2014 +0000
@@ -71,8 +71,8 @@
             self.y_direction = 1
         else:
             self.y_direction = -1
-        self.hip_offset = 45 * self.y_direction
-        self.position = 30.0, -30.0 * self.y_direction, -35.0
+        self.hip_offset = -45 * self.y_direction
+        self.position = 30.0, 30.0 * self.y_direction, -35.0
 
     def __iter__(self):
         """Iterate over all joints."""
@@ -154,11 +154,11 @@
         """Move all legs to their initial position."""
         for leg in self.legs:
             x, y, z = leg.position
-            if (x, y) != (30, -30 * leg.y_direction):
+            if (x, y) != (30, 30 * leg.y_direction):
                 leg.move_to((None, None, 5))
                 for i in range(4):
                     yield
-                leg.move_to((30, -30 * leg.y_direction, None))
+                leg.move_to((30, 30 * leg.y_direction, None))
                 for i in range(4):
                     yield
                 leg.move_to((None, None, -34))