SunFounder PiDog, Manual

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SunFounder PiDog Kit, Release 1.0
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head_init_angles = [ 0 , 0 , - 25 ],
tail_init_angle = [ 0 ]
)
2.3.2 Leg Move
PiDog’s leg movements are implemented by the following functions.
Pidog . legs_move(target_angles, immediately = True , speed = 50 )
•
target_angles
: It is a two-dimensional array composed of an array of 8 servo angles (referred to as angle
group) as elements. These angle groups will be used to control the angles of the 8 foot servos. If multiple angle
groups are written, the unexecuted angle groups will be stored in the cache.
•
immediately
: When calling the function, set this parameter to
True
, the cache will be cleared immediately
to execute the newly written angle group; if the parameter is set to
False
, the newly written The incoming
angular group is added to the execution queue.
• speed : The speed at which the angular group is executed.
Some common usages are listed below:
1. Take action immediately.
from pidog import Pidog
import time
my_dog = Pidog()
# half stand
my_dog . legs_move([[ 45 , 10 , - 45 , - 10 , 45 , 10 , - 45 , - 10 ]], speed = 50 )
2. Add some angular groups to the execution queue.
from pidog import Pidog
import time
my_dog = Pidog()
# half stand
my_dog . legs_move([[ 45 , 10 , - 45 , - 10 , 45 , 10 , - 45 , - 10 ]], speed = 50 )
# multiple actions
my_dog . legs_move([[ 45 , 35 , - 45 , - 35 , 80 , 70 , - 80 , - 70 ],
[ 90 , - 30 , - 90 , 30 , 80 , 70 , - 80 , - 70 ],
[ 45 , 35 , - 45 , - 35 , 80 , 70 , - 80 , - 70 ]], immediately = False ,
˓ →
speed = 30 )
3. Perform repetitions within 10 seconds.
from pidog import Pidog
import time
my_dog = Pidog()
# half stand
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76 Chapter 2. Play with Python