a

walk2.py

@@ -9,7 +9,7 @@ from adafruit_servokit import ServoKit  # type: ignore
 kit = ServoKit(channels=16)
 
 # Constants for delay
-DELAY = 0.25
+DELAY = 0.15
 
 # Servo angle configurations
 FORWARD = {
@@ -27,34 +27,49 @@ FORWARD = {
     11: (110, 10, 90),
 }
 
-ROTATE_RIGHT = {  # Placeholder, update values later
-    0: (0, 100, 60),
-    1: (0, 100, 60),
-    2: (0, 100, 60),
-    3: (0, 100, 60),
-    4: (0, 100, 60),
-    5: (0, 100, 60),
-    6: (10, 100, 80),
-    7: (10, 110, 55),
-    8: (60, 160, 80),
-    9: (160, 60, 80),
-    10: (110, 10, 55),
-    11: (100, 10, 80),
+BACK = { 
+    0: (0, 110, 70),
+    1: (0, 110, 70),
+    2: (0, 110, 70),
+    3: (0, 110, 70),
+    4: (0, 110, 70),
+    5: (0, 110, 70),
+    6: (110, 10, 90),
+    7: (120, 10, 65),
+    8: (170, 70, 90),
+    9: (70, 170, 90),
+    10: (10, 120, 65),
+    11: (10, 110, 90),
 }
 
-ROTATE_LEFT = {  # Placeholder, update values later
-    0: (0, 120, 80),
-    1: (0, 120, 80),
-    2: (0, 120, 80),
-    3: (0, 120, 80),
-    4: (0, 120, 80),
-    5: (0, 120, 80),
-    6: (10, 120, 100),
-    7: (10, 130, 75),
-    8: (80, 180, 100),
-    9: (180, 80, 100),
-    10: (130, 10, 75),
-    11: (120, 10, 100),
+ROTATE_RIGHT = { 
+    0: (0, 110, 70),
+    1: (0, 110, 70),
+    2: (0, 110, 70),
+    3: (0, 110, 70),
+    4: (0, 110, 70),
+    5: (0, 110, 70),
+    6: (10, 170, 90),
+    7: (10, 120, 65),
+    8: (10, 170, 90),
+    9: (10, 170, 90),
+    10: (10, 120, 65),
+    11: (10, 170, 90),
+}
+
+ROTATE_LEFT = {  
+    0: (0, 110, 70),
+    1: (0, 110, 70),
+    2: (0, 110, 70),
+    3: (0, 110, 70),
+    4: (0, 110, 70),
+    5: (0, 110, 70),
+    6: (170, 10, 90),
+    7: (120, 10, 65),
+    8: (170, 10, 90),
+    9: (170, 10, 90),
+    10: (120, 10, 65),
+    11: (170, 10, 90),
 }
 
 # Movement functions
@@ -71,7 +86,7 @@ def move_leg(servo1, servo2, servo_angles):
     time.sleep(DELAY)
 
     kit.servo[servo2].angle = back
-    time.sleep(DELAY)
+    time.sleep(DELAY*2)
 
     kit.servo[servo1].angle = up
     time.sleep(DELAY)
@@ -129,7 +144,7 @@ def is_input_available():
 
 # Main execution
 if __name__ == "__main__":
-    print("Press 'w' for FORWARD, 'a' for LEFT, 'd' for RIGHT. Press 'q' to quit.")
+    print("Press 'w' for FORWARD, 'a' for LEFT, 'd' for RIGHT, 's' for BACK. Press 'q' to quit.")
 
     command_queue = queue.Queue()
 
@@ -137,7 +152,7 @@ if __name__ == "__main__":
         while True:
             if is_input_available():
                 input_char = sys.stdin.read(1).strip()
-                if input_char in ['w', 'a', 'd']:
+                if input_char in ['w', 'a', 'd', 's']:
                     command_queue.put(input_char)
                 elif input_char == 'q':
                     print("Exiting...")
@@ -157,7 +172,11 @@ if __name__ == "__main__":
                     print("Executing RIGHT movement...")
                     group_1(ROTATE_RIGHT)
                     group_2(ROTATE_RIGHT)
+                elif command == 's':
+                    print("Executing BACK movement...")
+                    group_1(BACK)
+                    group_2(BACK)
 
             time.sleep(0.1)  # Idle loop
     except KeyboardInterrupt:
-        print("\nProgram terminated.")
+        print("\nProgram terminated.")