SunFounder PiDog, Руководство пользователя

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SunFounder PiDog Kit, Release 1.0
(continued from previous page)
my_dog . legs_move([[ 45 , 10 , - 45 , - 10 , 45 , 10 , - 45 , - 10 ]], speed = 50 )
# pushup preparation
my_dog . legs_move([[ 45 , 35 , - 45 , - 35 , 80 , 70 , - 80 , - 70 ]], immediately = False , speed = 20 )
# pushup
for _ in range ( 99 ):
my_dog . legs_move([[ 90 , - 30 , - 90 , 30 , 80 , 70 , - 80 , - 70 ],
[ 45 , 35 , - 45 , - 35 , 80 , 70 , - 80 , - 70 ]], immediately = False ,
˓
→
speed = 30 )
# keep 10s
time . sleep( 10 )
# stop and half stand
my_dog . legs_move([[ 45 , 10 , - 45 , - 10 , 45 , 10 , - 45 , - 10 ]], immediately = True , speed = 50 )
PiDog’s leg control also has the following functions that can be used together:
Pidog . is_legs_done()
This function is used to determine whether the angle group in the cache has been executed. If yes, return
True
;
otherwise, return
False
.
Pidog . wait_legs_done()
Suspends the program until the angle groups in the cache have been executed.
Pidog . legs_stop()
Empty the angular group in the cache.
2.3.3 Head Move
The control of PiDog’s head servo is implemented by the following functions.
Pidog . head_move(target_yrps, roll_comp = 0 , pitch_comp = 0 , immediately = True , speed = 50 )
•
target_angles
: It is a two-dimensional array composed of an array of 3 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.
•
roll_comp
: Provides angular compensation on the roll axis.
•
pitch_comp
: Provides angle compensation on the pitch axis.
•
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.
PiDog’s head servo control also has some supporting functions:
Pidog . is_head_done()
Whether all the head actions in the buffer to be executed
2.3. Easy Coding 77