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I am working on quadruped robot, if I want to change order of leg, which file should I change? #80

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wanghg1992 opened this issue Sep 8, 2023 · 1 comment

wanghg1992 commented Sep 8, 2023

I am working on quadruped robot, if I want to change order of leg, which file should I change?

elpimous commented Sep 8, 2023 •

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Hello. you need to create a function who change id of joint, and eventually it direction. You can take idea here : https://github.com/elpimous/Legged_Control/blob/8fecbf5ec8629132308ff95e25dc105f80ebde0f/legged_ylo2/legged_ylo2_hw/moteus_driver/src/YloTwoPcanToMoteus.cpp#L41

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