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changeset 8:ce5ba7f8163c

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Take into account different range of servo angles
author Radomir Dopieralski <dev@sheep.art.pl>
date Tue, 26 Jan 2016 23:40:39 +0100
parents 576484754322
children b99cc61c581e
files leg.py trim.py
diffstat 2 files changed, 3 insertions(+), 2 deletions(-) [+]
line wrap: on
line diff
--- a/leg.py	Tue Jan 26 23:25:30 2016 +0100
+++ b/leg.py	Tue Jan 26 23:40:39 2016 +0100
@@ -46,7 +46,7 @@
         ankle = _solve_triangle(self.femur, self.tibia, d) - PI2
 
         for servo, angle in zip(self.servos, (hip, knee, ankle)):
-            servo.move(radians=angle)
+            servo.move(radians=angle + PI2)
         self.x = x
         self.y = y
         self.z = z
--- a/trim.py	Tue Jan 26 23:25:30 2016 +0100
+++ b/trim.py	Tue Jan 26 23:40:39 2016 +0100
@@ -4,5 +4,6 @@
 servos = servo.Servos()
 while True:
     for servo in range(0, 12):
-        servos.move(servo, 0)
+        servos.move(servo, degrees=90)
+        time.sleep(0.25)
     time.sleep(1)