Here are the modified codes for TurnAround-Rotate Left and right moves:
RotateLeft:
[code]import time
Move: Turn Left
deg = 35
#set neck to where body is turning
hexy.neck.set(deg)
for i in range(1):
#re-plant tripod1 deg degrees forward
for leg in hexy.tripod1:
leg.replantFoot(deg,stepTime=0.3)
time.sleep(0.4)
#raise tripod2 feet
for leg in hexy.tripod2:
leg.setFootY(int(floor/3.0))
#swing tripod1 feet back 2*deg degrees (to -deg)
for leg in hexy.tripod1:
leg.setHipDeg(-deg,stepTime=0.3)
#################################################
for i in range(1):
#re-plant tripod2 deg degrees forward
for leg in hexy.tripod2:
leg.replantFoot(deg,stepTime=0.3)
time.sleep(0.4)
#raise tripod1 feet
for leg in hexy.tripod1:
leg.setFootY(int(floor/3.0))
#swing tripod2 feet back 2*deg degrees (to -deg)
for leg in hexy.tripod2:
leg.setHipDeg(-deg,stepTime=0.3)
#lower tripod1 feet
for leg in hexy.tripod1:
leg.setFootY(floor)
#################################################
for i in range(1):
#re-plant tripod1 deg degrees forward
for leg in hexy.tripod1:
leg.replantFoot(deg,stepTime=0.3)
time.sleep(0.4)
#raise tripod2 feet
for leg in hexy.tripod2:
leg.setFootY(int(floor/3.0))
#swing tripod1 feet back 2*deg degrees (to -deg)
for leg in hexy.tripod1:
leg.setHipDeg(-deg,stepTime=0.3)
##################################################
for i in range(1):
#re-plant tripod2 deg degrees forward
for leg in hexy.tripod2:
leg.replantFoot(deg,stepTime=0.3)
time.sleep(0.4)
#raise tripod1 feet
for leg in hexy.tripod1:
leg.setFootY(int(floor/3.0))
#swing tripod2 feet back 2*deg degrees (to -deg)
for leg in hexy.tripod2:
leg.setHipDeg(-deg,stepTime=0.3)
#lower tripod1 feet
for leg in hexy.tripod1:
leg.setFootY(floor)
[/code]
RotateRight:
[code]import time
Move: Turn Right
deg = -35
#set neck to where body is turning
hexy.neck.set(deg)
for i in range(1):
#re-plant tripod1 deg degrees forward
for leg in hexy.tripod1:
leg.replantFoot(deg,stepTime=0.3)
time.sleep(0.4)
#raise tripod2 feet
for leg in hexy.tripod2:
leg.setFootY(int(floor/3.0))
#swing tripod1 feet back 2*deg degrees (to -deg)
for leg in hexy.tripod1:
leg.setHipDeg(-deg,stepTime=0.3)
#################################################
for i in range(1):
#re-plant tripod2 deg degrees forward
for leg in hexy.tripod2:
leg.replantFoot(deg,stepTime=0.3)
time.sleep(0.4)
#raise tripod1 feet
for leg in hexy.tripod1:
leg.setFootY(int(floor/3.0))
#swing tripod2 feet back 2*deg degrees (to -deg)
for leg in hexy.tripod2:
leg.setHipDeg(-deg,stepTime=0.3)
#lower tripod1 feet
for leg in hexy.tripod1:
leg.setFootY(floor)
#################################################
for i in range(1):
#re-plant tripod1 deg degrees forward
for leg in hexy.tripod1:
leg.replantFoot(deg,stepTime=0.3)
time.sleep(0.4)
#raise tripod2 feet
for leg in hexy.tripod2:
leg.setFootY(int(floor/3.0))
#swing tripod1 feet back 2*deg degrees (to -deg)
for leg in hexy.tripod1:
leg.setHipDeg(-deg,stepTime=0.3)
##################################################
for i in range(1):
#re-plant tripod2 deg degrees forward
for leg in hexy.tripod2:
leg.replantFoot(deg,stepTime=0.3)
time.sleep(0.4)
#raise tripod1 feet
for leg in hexy.tripod1:
leg.setFootY(int(floor/3.0))
#swing tripod2 feet back 2*deg degrees (to -deg)
for leg in hexy.tripod2:
leg.setHipDeg(-deg,stepTime=0.3)
#lower tripod1 feet
for leg in hexy.tripod1:
leg.setFootY(floor)
[/code]
TurnAroundLeft:
[code]import time
Move: TurnAroundLeft
move(‘Rotate Left’)
move(‘Rotate Left’)
move(‘Rotate Left’)
[/code]
TurnAroundRight:
[code]import time
Move: TurnAroundRight
move(‘Rotate Right’)
move(‘Rotate Right’)
move(‘Rotate Right’)
[/code]
Enjoy:)