SunFounder PiDog, Руководство пользователя

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SunFounder PiDog Kit, Release 1.0
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my_dog . legs_move(sit_leg, speed = 30 )
for _ in range ( 5 ):
my_dog . head_move(shake_head, pitch_comp =- 30 , speed = 50 )
my_dog . wait_head_done()
time . sleep( 0.5 )
2.3.4 Tail Move
Following are the functions that control PiDog’s tail. This function is similar to Leg Move .
Pidog . tail_move(target_angles, immediately = True , speed = 50 )
• target_angles : It is a two-dimensional array composed of an array of 1 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.
PiDog’s tail servo control also has some supporting functions:
Pidog . is_tail_done()
whether all the tail actions in the buffer to be executed
Pidog . wait_tail_done()
wait for all the tail actions in the buffer to be executed
Pidog . tail_stop()
clear all the tail actions of leg in the buffer, to make tail servo stop
Here are some common usages:
1. Wag tail for 10 seconds.
from pidog import Pidog
import time
my_dog = Pidog()
for _ in range ( 99 ):
my_dog . tail_move([[ 30 ],[ - 30 ]], immediately = False , speed = 30 )
# keep 10s
time . sleep( 10 )
my_dog . tail_stop()
2.3. Easy Coding 79