SunFounder PiDog, Manual

Page: 63 / 109

SunFounder PiDog Kit, Release 1.0
(continued from previous page)
from preset_actions import bark
my_dog = Pidog()
sleep( 0.1 )
def delay (time):
my_dog . wait_legs_done()
my_dog . wait_head_done()
sleep(time)
def face_track ():
Vilib . camera_start(vflip = False , hflip = False )
Vilib . display(local = True , web = True )
Vilib . human_detect_switch( True )
sleep( 0.2 )
print ( 'start' )
yaw = 0
roll = 0
pitch = 0
flag = False
direction = 0
my_dog . do_action( 'sit' , speed = 50 )
my_dog . head_move([[yaw, 0 , pitch]], pitch_comp =-
40 , immediately = True , speed = 80 )
delay( 0.5 )
if my_dog . ears . isdetected():
direction = my_dog . ears . read()
while True :
if flag == False :
my_dog . rgb_strip . set_mode( 'breath' , 'pink' , delay = 0.1 )
# If heard somthing, turn to face it
if my_dog . ears . isdetected():
flag = False
direction = my_dog . ears . read()
pitch = 0
if direction > 0 and direction < 100 :
yaw = - direction
if yaw < - 80 :
yaw = - 80
elif direction > 260 and direction < 360 :
yaw = 360 - direction
if yaw > 80 :
yaw = 80
my_dog . head_move([[yaw, 0 , pitch]], pitch_comp =-
40 , immediately = True , speed = 80 )
sleep( 0.05 )
ex = Vilib . detect_obj_parameter[ 'human_x' ] - 320
ey = Vilib . detect_obj_parameter[ 'human_y' ] - 240
people = Vilib . detect_obj_parameter[ 'human_n' ]
# If see someone, bark at him/her
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2.2. Funny Project 59