def calibrate(self):
# if(self.lleg.angle <= abs(self.angle)):
# self.lleg.lock = False
# if(self.rleg.angle <= abs(self.angle)):
# self.rleg.lock = False
while ((abs(self.angle) > self.lleg.angle and self.lleg.angle > 0)
or (abs(self.angle) > self.rleg.angle and self.rleg.angle > 0)):
if (self.angle != 0):
self.angle = self.angle + (0 - self.angle) / abs(self.angle)
move_angle(self.point_zero, self.angle, self.stop_addr)
time.sleep(.005)
# if(self.lleg.angle + self.rleg.angle == 0):
# self.rleg.lock = True
# self.lleg.lock = True
while (self.angle != 0 or self.lleg.angle != 0
or self.rleg.angle != 0):
#while((self.angle > self.lleg.angle and self.lleg.angle > 0) or (self.angle > self.rleg.angle and self.rleg.angle > 0)):
if (self.angle != 0):
self.angle = self.angle + (0 - self.angle) / abs(self.angle)
if (self.lleg.angle + self.rleg.angle == 0):
self.rleg.lock = True
self.lleg.lock = True
if (self.lleg.angle != 0 and self.lleg.lock):
self.lleg.calibrate()
if (self.rleg.angle != 0 and self.rleg.lock):
self.rleg.calibrate()
time.sleep(.005)
#move_angle(self.addr)
#print('p: {}, l: {}, r: {}'.format(self.angle, self.lleg.angle, self.rleg.angle))
self.last = 0
def move(self, mode, way):
if (self.lleg.lock):
self.lleg.move(self.last, mode)
if (self.rleg.lock):
self.rleg.move(self.last, mode)
self.angle = self.angle + 2 * self.modes[self.last]
move_angle(self.point_zero, way * self.angle, self.stop_addr)
if (self.angle >= self.max):
self.last = 1
elif (self.angle <= self.min):
self.last = 3
elif (self.angle == 0 and self.last == 1):
self.last = 2
elif (self.angle == 0 and self.last == 3):
self.last = 4
elif (abs(self.angle) == int(self.max / 2) and self.last == 0):
self.last = 5
if (self.last == 2 or self.last == 4 or self.last == 5):
if (self.lleg.angle + self.rleg.angle == 0):
self.rleg.lock = True
self.lleg.lock = True
def move(self, last, mode):
if (last != 0 and last != 5 and last != 6):
self.angle = self.angle + 9 * (self.modes[last] * self.mode)
elif (last == 0):
self.angle = self.angle + 9 * (mode * self.mode)
elif (last == 5):
self.angle = self.angle - 9 * (mode * self.mode)
if (self.angle <= self.min):
self.lock = False
move_angle(self.point_zero, self.angle, self.stop_addr)
def move_up(self, mode):
self.lleg.move(self.last, self.lleg.mode)
move_angle(self.lleg.point_zero, self.lleg.angle, self.lleg.stop_addr)
self.rleg.move(self.last, self.rleg.mode)
move_angle(self.rleg.point_zero, self.rleg.angle, self.rleg.stop_addr)
self.angle = self.angle + self.modes[self.last]
move_angle(self.point_zero, self.angle, self.stop_addr)
time.sleep(.3)
if (abs(self.angle) == 22 and self.last == 0):
self.last = 5
def calibrate(self):
self.angle = self.angle + (0 - self.angle) / abs(self.angle)
move_angle(self.point_zero, self.angle, self.stop_addr)