SunFounder PiDog, Manual

Page: 69 / 109

SunFounder PiDog Kit, Release 1.0
#!/usr/bin/env python3
from time import sleep
from pidog import Pidog
import readchar
from preset_actions import
*
import os
my_dog = Pidog()
sleep( 0.5 )
usage = '''
Keyboard Control Ctrl + C to Exit
...
'''
SIT_HEAD_PITCH = - 40
STAND_HEAD_PITCH = 0
STATUS_STAND = 0
STATUS_SIT = 1
STATUS_LIE = 2
HEAD_SPEED = 80
HEAD_ANGLE = 20
head_yrp = [ 0 , 0 , 0 ]
head_pitch_init = 0
command = None
current_status = STATUS_LIE
def set_head (roll = None , pitch = None , yaw = None ):
global head_yrp
if roll is not None :
head_yrp[ 1 ] = roll
if pitch is not None :
head_yrp[ 2 ] = pitch
if yaw is not None :
head_yrp[ 0 ] = yaw
my_dog . head_move([head_yrp], immediately = True , speed = HEAD_SPEED)
COMMANDS = {
"forward" : {
"commands" : [ "forward" ],
"function" : lambda : my_dog . do_action( 'forward' , wait = False , speed = 98 ),
"status" : STATUS_STAND,
"head_pitch" : STAND_HEAD_PITCH,
},
"backward" : {
"commands" : [ "backward" ],
"function" : lambda : my_dog . do_action( 'backward' , wait = False , speed = 98 ),
"status" : STATUS_STAND,
"head_pitch" : STAND_HEAD_PITCH,
},
"turn left" : {
"commands" : [ "turn left" ],
"function" : lambda : my_dog . do_action( 'turn_left' , wait = False , speed = 98 ),
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2.2. Funny Project 65