Freenove Raspberry Pi 2 Model B, Руководство пользователя

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128 Chapter 4 Robot Dog www.freenove.com
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Type the following command to enter the directory where myCode.py is located.
cd ~/Freenove_Robot_Dog_Kit_for_Raspberry_Pi/Code/Server
Run myCode.py
sudo python myCode.py
You can see that your robot dog moves forward for 5 steps, then twists its body at 10 degrees to the right,
then 20 degrees to the left, then returns to the original attitude and move forward 5 steps and then stops.
Related py files
Some important functions included in the py files are listed below. If you want to see more detailed code
content, please open the corresponding py file to check directly.
ADS7830.py
Function Description
power(channel) Enter 0 to return the battery voltage value.
Buzzer.py
Function Description
run(command) Enter 0, then the buzzer will not sound. Enter 1, the buzzer will sound.
Contorl.py
Function Description
coordinateToAngle(x,y,z) Enter the foot coordinate then return servo angle of each joint in one
leg.
angleToCoordinate(a,b,c) Enter the leg joint angle then return the foot coordinate.
Condition() Execute corresponding action commands
map() Mapping a value from one range to another
backWard () Move backward one step
forward() Move forward one step
turnLeft() Turn left one step
turnRight() Turn right one step
stop() Stop.
setpLeft() Move to left one step
setpRight() Move to right one step
upAndDown() Adjust height of body
beforeAndAfter() Make body move forward or backward