SunFounder PiCrawler Kit - Twist

SunFounder PiCrawler Kit
3.14 Twist
We already know how to make PiCrawler assume a specific pose, the next step is to combine the poses to form a
continuous action.
Here, PiCrawler’s four feet are up and down in twos, jumping with the music.
Run the Code
cd /home/pi/picrawler/examples
sudo python3 twist.py
Code
Note: You can Modify/Reset/Copy/Run/Stop the code below. But before that, you need to go to source code path
like picrawler\examples. After modifying the code, you can run it directly to see the effect.
from picrawler import Picrawler
from time import sleep
from robot_hat import Music
music = Music()
crawler = Picrawler([10,11,12,4,5,6,1,2,3,7,8,9])
#crawler.set_offset([0,0,0,0,0,0,0,0,0,0,0,0])
def twist(speed):
## [right front],[left front],[left rear],[left rear]
new_step=[[50, 50, -80], [50, 50, -80],[50, 50, -80], [50, 50, -80]]
for i in range(4):
for inc in range(30,60,5):
rise = [50,50,(-80+inc
*
0.5)]
drop = [50,50,(-80-inc)]
new_step[i]=rise
new_step[(i+2)%4] = drop
new_step[(i+1)%4] = rise
new_step[(i-1)%4] = drop
crawler.do_step(new_step,speed)
def main():
music.background_music('./musics/sports-Ahjay_Stelino.mp3')
music.music_set_volume(20)
while True:
twist(speed=100)
if __name__ == "__main__":
main()
How it works?
In this code, you need to pay attention to this part:
80 Chapter 3. Play with Python