SunFounder PiCrawler Kit - Page 83

SunFounder PiCrawler Kit
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leg=0
coodinate=crawler.current_step_leg_value(leg)
elif '2' == key:
leg=1
coodinate=crawler.current_step_leg_value(leg)
elif '3' == key:
leg=2
coodinate=crawler.current_step_leg_value(leg)
elif '4' == key:
leg=3
coodinate=crawler.current_step_leg_value(leg)
elif chr(32) == key:
print("[[right front],[left front],[left rear],[right rear]]")
print("saved new step")
print(crawler.current_step_all_leg_value())
save_new_step()
elif 'p' == key:
play_all_new_step()
elif chr(27) == key:# 27 for ESC
break
sleep(0.05)
crawler.do_single_leg(leg,coodinate,speed)
print("\n q Quit")
if __name__ == "__main__":
main()
How it works?
This project was born out of Adjust Posture. Added recording and replay functions.
The recording function is implemented by the following code.
new_step=[]
def save_new_step():
new_step.append(copy.deepcopy(crawler.current_step_all_leg_value()))
print(new_step)
Note: The assignment here needs to use the Deep Copy function, otherwise the new_step will not get a new array
object when appending.
The replay function is implemented by the following code.
def play_all_new_step():
for step in new_step:
crawler.do_step(step,speed)
sleep(0.6)
3.13. Record New Step 79