SunFounder PiDog, Руководство пользователя

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SunFounder PiDog Kit, Release 1.0
(continued from previous page)
from pidog import Pidog
from pidog.walk import Walk
import readchar
import threading
import os
my_dog = Pidog()
sleep( 0.5 )
usage = '''
Pidog Balance Ctrl + C to Exit
...
'''
stand_coords = [[[ 0 , 80 ], [ 0 , 80 ], [ 0 , 80 ], [ 0 , 80 ]]]
forward_coords = Walk(fb = Walk . FORWARD, lr = Walk . STRAIGHT) . get_coords()
backward_coords = Walk(fb = Walk . BACKWARD, lr = Walk . STRAIGHT) . get_coords()
turn_left_coords = Walk(fb = Walk . FORWARD, lr = Walk . LEFT) . get_coords()
turn_right_coords = Walk(fb = Walk . FORWARD, lr = Walk . RIGHT) . get_coords()
current_coords = stand_coords
current_pose = { 'x' : 0 , 'y' : 0 , 'z' : 80 }
current_rpy = { 'roll' : 0 , 'pitch' : 0 , 'yaw' : 0 }
thread_start = True
def move_thread ():
while thread_start:
for coord in current_coords:
# print(coord)
my_dog . set_rpy(
**
current_rpy, pid = True )
my_dog . set_pose(
**
current_pose)
my_dog . set_legs(coord)
angles = my_dog . pose2legs_angle()
my_dog . legs . servo_move(angles, speed = 98 )
t = threading . Thread(target = move_thread)
def main ():
global current_coords, current_pose, current_rpy, thread_start
my_dog . do_action( 'stand' , speed = 80 )
my_dog . wait_legs_done()
t . start()
while True :
os . system( 'cls' if os . name == 'nt' else 'clear' )
print (usage)
key = readchar . readkey()
if key == readchar . key . CTRL_C or key in readchar . key . ESCAPE_SEQUENCES:
thread_start = False
break
elif key == 'w' :
current_coords = forward_coords
elif key == 's' :
(continues on next page)
2.2. Funny Project 63