Changes between Version 20 and Version 21 of Tutorials

Timestamp:

Mar 29, 2016, 2:18:35 PM (10 years ago)

Author:

fma

Comment:

--

Tutorials

@@ -426 +426 @@
             # Create joints servos
             num = settings.LEGS_SERVOS_MAPPING[leg.index]['coxa']
-            servo = Servo(leg.coxa, num)
+            servo = Servo(leg.coxa, num, **settings.SERVOS_CALIBRATION[num])
             pool.add(servo)
 
             num = settings.LEGS_SERVOS_MAPPING[leg.index]['femur']
-            servo = Servo(leg.femur, num)
+            servo = Servo(leg.femur, num, **settings.SERVOS_CALIBRATION[num])
             pool.add(servo)
 
             num = settings.LEGS_SERVOS_MAPPING[leg.index]['tibia']
-            servo = Servo(leg.tibia, num)
+            servo = Servo(leg.tibia, num, **settings.SERVOS_CALIBRATION[num])
             pool.add(servo)
         return pool
@@ -448 +448 @@
      1: {'offset': -90., 'pulse90': 1500, 'ratio': 1000/90.},  # femur leg RF
      2: {'offset':   0., 'pulse90': 1500, 'ratio': 1000/90.},  # tibia leg RF
-     3: {'offset':   0., 'pulse90': 1500, 'ratio': 1000/90.},  # unused
+
      4: {'offset':   0., 'pulse90': 1500, 'ratio': 1000/90.},  # coxa leg RM
      5: {'offset': -90., 'pulse90': 1500, 'ratio': 1000/90.},  # femur leg RM
      6: {'offset':   0., 'pulse90': 1500, 'ratio': 1000/90.},  # tibia leg RM
-     7: {'offset':   0., 'pulse90': 1505, 'ratio': 1000/90.},  # unused
+
      8: {'offset':   0., 'pulse90': 1500, 'ratio': 1000/90.},  # coxa leg RR
      9: {'offset': -90., 'pulse90': 1500, 'ratio': 1000/90.},  # femur leg RR
     10: {'offset':   0., 'pulse90': 1500, 'ratio': 1000/90.},  # tibia leg RR
-    11: {'offset':   0., 'pulse90': 1500, 'ratio': 1000/90.},  # unused
-    12: {'offset':   0., 'pulse90': 1500, 'ratio': 1000/90.},  # unused
+
+    15: {'offset':   0., 'pulse90': 1500, 'ratio': 1000/90.},  # coxa leg LR
+    14: {'offset': -90., 'pulse90': 1500, 'ratio': 1000/90.},  # femur leg LR
     13: {'offset':   0., 'pulse90': 1500, 'ratio': 1000/90.},  # tibia leg LR
-    14: {'offset': -90., 'pulse90': 1500, 'ratio': 1000/90.},  # femur leg LR
-    15: {'offset':   0., 'pulse90': 1500, 'ratio': 1000/90.},  # coxa leg LR
-    16: {'offset':   0., 'pulse90': 1500, 'ratio': 1000/90.},  # unused
+
+    19: {'offset':   0., 'pulse90': 1505, 'ratio': 1000/90.},  # coxa leg LM
+    18: {'offset': -90., 'pulse90': 1500, 'ratio': 1000/90.},  # femur leg LM
     17: {'offset':   0., 'pulse90': 1500, 'ratio': 1000/90.},  # tibia leg LM
-    18: {'offset': -90., 'pulse90': 1500, 'ratio': 1000/90.},  # femur leg LM
-    19: {'offset':   0., 'pulse90': 1505, 'ratio': 1000/90.},  # coxa leg LM
-    20: {'offset':   0., 'pulse90': 1500, 'ratio': 1000/90.},  # unused
+
+    23: {'offset':   0., 'pulse90': 1500, 'ratio': 1000/90.},  # coxa leg LF
+    22: {'offset': -90., 'pulse90': 1500, 'ratio': 1000/90.},  # femur leg LF
     21: {'offset':   0., 'pulse90': 1500, 'ratio': 1000/90.},  # tibia leg LF
-    22: {'offset': -90., 'pulse90': 1500, 'ratio': 1000/90.},  # femur leg LF
-    23: {'offset':   0., 'pulse90': 1500, 'ratio': 1000/90.},  # coxa leg LF
 }
 }}}