SunFounder PiCrawler Kit - Page 80

SunFounder PiCrawler Kit
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``````` ```````
1: Select right front leg
2: Select left front leg
3: Select left rear leg
4: Select right rear leg
W: Y++ R: Z++
A: X-- F: Z--
S: Y--
D: X++ Esc: Quit
'''
legs_list = ['right front', 'left front', 'left rear', 'right rear']
def main():
leg = 0
speed = 80
step = 2
print(manual)
crawler.do_step('stand',speed)
sleep(0.2)
coordinate=crawler.current_step_all_leg_value()
def show_info():
print("\033[H\033[J",end='') # clear terminal windows
print(manual)
print('%s : %s'%(leg+1, legs_list[leg]))
print('coordinate: %s'%(coordinate))
show_info()
while True:
# readkey
key = readchar.readkey()
key = key.lower()
# select the leg
if key in ('1234'):
leg = int(key) - 1
show_info()
# move
elif key in ('wsadrf'):
if 'w' == key:
coordinate[leg][1]=coordinate[leg][1] + step
elif 's' == key:
coordinate[leg][1]=coordinate[leg][1] - step
elif 'a' == key:
coordinate[leg][0]=coordinate[leg][0] - step
elif 'd' == key:
coordinate[leg][0]=coordinate[leg][0] + step
elif 'r' == key:
coordinate[leg][2]=coordinate[leg][2] + step
elif 'f' == key:
coordinate[leg][2]=coordinate[leg][2] - step
crawler.do_single_leg(leg,coordinate[leg],speed)
sleep(0.1)
# coordinate=crawler.current_step_all_leg_value()
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76 Chapter 3. Play with Python