from machine import Pin, PWM
import time
import esp32_cam
class Hexapod:
def __init__(self):
self.leg_count = 6
self.servo_count = 18
self.gait_speed = 1.5
self.step_height = 15
self.ik_enabled = True
def move_forward(self, speed):
for i in range(self.leg_count):
self.set_leg_angle(i, speed * self.gait_speed)
time.sleep(0.5)
def face_track(self, x, y):
if self.ik_enabled:
pan = map(x, 0, 320, -45, 45)
tilt = map(y, 0, 240, -30, 30)
self.head_move(pan, tilt)
hexa = Hexapod()
hexa.move_forward(50)