SunFounder PiCrawler Kit - Page 82

SunFounder PiCrawler Kit
(continued from previous page)
termios.tcsetattr(fd, termios.TCSADRAIN, old_settings)
return ch
manual = '''
Press keys on keyboard to control PiSloth!
w: Y++
a: X--
s: Y--
d: X++
r: Z++
f: Z--
1: Select right front leg
2: Select left front leg
3: Select left rear leg
4: Select right rear leg
space: Print all leg coodinate & Save this step
p: Play all saved step
esc: Quit
'''
new_step=[]
def save_new_step():
new_step.append(copy.deepcopy(crawler.current_step_all_leg_value()))
print(new_step)
def play_all_new_step():
for step in new_step:
crawler.do_step(step,speed)
sleep(0.6)
def main():
speed = 80
print(manual)
crawler.do_step('sit',speed)
leg = 0
coodinate=crawler.current_step_leg_value(leg)
while True:
key = readchar()
key = key.lower()
# print(key)
if 'w' == key:
coodinate[1]=coodinate[1]+2
elif 's' == key:
coodinate[1]=coodinate[1]-2
elif 'a' == key:
coodinate[0]=coodinate[0]-2
elif 'd' == key:
coodinate[0]=coodinate[0]+2
elif 'r' == key:
coodinate[2]=coodinate[2]+2
elif 'f' == key:
coodinate[2]=coodinate[2]-2
elif '1' == key:
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78 Chapter 3. Play with Python