Changes between Version 33 and Version 34 of Tutorials

Timestamp:

Mar 31, 2016, 8:23:34 AM (10 years ago)

Author:

fma

Comment:

--

Tutorials

@@ -427 +427 @@
 and let's say you want to use a [http://www.dfrobot.com/wiki/index.php/Veyron_Servo_Driver_(24-Channel)_(SKU:DRI0029) Veyron servos driver] as low-level hardware driver.
 
-Let's modify our {{{Hexapod}}} class:
+Here is the new {{{Hexapod}}} class:
 
 {{{
@@ -467 +467 @@
 }}}
 
-In addition, we must add a few things in the '''{{{settings.py}}}''' module:
-
-{{{
-#!python
+In addition, we must modify/add a few things in the '''{{{settings.py}}}''' module:
+
+{{{
+#!python
+
+# Legs / servos mapping
+LEGS_SERVOS_MAPPING = {
+    'RF': {'coxa':  0, 'femur':  1, 'tibia':  2},
+    'RM': {'coxa':  4, 'femur':  5, 'tibia':  6},
+    'RR': {'coxa':  8, 'femur':  9, 'tibia': 10},
+    'LR': {'coxa': 15, 'femur': 14, 'tibia': 13},
+    'LM': {'coxa': 19, 'femur': 18, 'tibia': 17},
+    'LF': {'coxa': 23, 'femur': 22, 'tibia': 21}
+}
 
 SERVOS_CALIBRATION = {
@@ -499 +509 @@
 }}}
 
-{{{SERVOS_CALIBRATION}}} dict contains:
+=== Settings ===
+
+In this tutorial, we just renamed {{{LEGS_ACTUATOR_MAPPING}}} to {{{LEGS_SERVOS_MAPPING}}}, and added the {{{SERVOS_CALIBRATION}}} dict, which contains:
 
 * {{{offset}}} is the angle between the servo reference and the real angle. See the [[FAQ#Howisgeometrydefined|FAQ]] for the real angles definition;
@@ -510 +522 @@
 
 
-
-
-
-
 We need to create our remote control, in order to drive our simulated robot. for this example, let's use an old gamepad, a [http://www.thrustmaster.com/en_IN/products/firestorm-dual-analog-3 Thrustmaster Firestorm Dual Analog 3]. As I own such gamepad, I already added support in Py4bot.