SunFounder PiDog, Manual

Page: 82 / 109

SunFounder PiDog Kit, Release 1.0
Pidog . wait_head_done()
Wait for all the head actions in the buffer to be executed
Pidog . head_stop()
Clear all the head actions of leg in the buffer, to make head servos stop
Here are some common use cases:
1. Nod five times.
from pidog import Pidog
import time
my_dog = Pidog()
for _ in range ( 5 ):
my_dog . head_move([[ 0 , 0 , 30 ],[ 0 , 0 , - 30 ]], speed = 80 )
my_dog . wait_head_done()
time . sleep( 0.5 )
2. Shake your head for 10 seconds.
from pidog import
Pidog
import time
my_dog = Pidog()
for _ in range ( 99 ):
my_dog . head_move([[ 30 , 0 , 0 ],[ - 30 , 0 , 0 ]], immediately = False , speed = 30 )
# keep 10s
time . sleep( 10 )
my_dog . head_move([[ 0 , 0 , 0 ]], immediately = True , speed = 80 )
3. Whether sitting or half standing, PiDog keeps its head level when shaking its head.
from pidog import Pidog
import time
my_dog = Pidog()
# action list
shake_head = [[ 30 , 0 , 0 ],[ - 30 , 0 , 0 ]]
half_stand_leg = [[ 45 , 10 , - 45 , - 10 , 45 , 10 , - 45 , - 10 ]]
sit_leg = [[ 30 , 60 , - 30 , - 60 , 80 , - 45 , - 80 , 45 ]]
while True :
# shake head in half stand
my_dog . legs_move(half_stand_leg, speed = 30 )
for _ in range ( 5 ):
my_dog . head_move(shake_head, pitch_comp = 0 , speed = 50 )
my_dog . wait_head_done()
time . sleep( 0.5 )
# shake head in sit
(continues on next page)
78 Chapter 2. Play with Python