SunFounder PiDog - Page 56

SunFounder PiDog Kit, Release 1.0
#!/usr/bin/env python3
import time
from pidog import Pidog
from time import sleep
from preset_actions import bark
t = time.time()
my_dog = Pidog()
my_dog.do_action('stand', speed=80)
my_dog.wait_all_done()
sleep(0.1)
stand = my_dog.legs_angle_calculation([[0, 80], [0, 80], [30, 75], [30, 75]])
def patrol():
my_dog.rgb_strip.set_mode('breath', 'white', delay=0.1)
my_dog.do_action('forward', step_count=2, wait=False, speed=98)
my_dog.do_action('shake_head', step_count=1, wait=False, speed=80)
my_dog.do_action('wag_tail', step_count=5, wait=False, speed=99)
print(f"distance: {round(my_dog.distance.value, 2)} cm")
if my_dog.distance.value < 15:
print(f"distance: {round(my_dog.distance.value, 2)} cm. DANGER!")
my_dog.body_stop()
head_yaw = my_dog.head_current_angles[0]
my_dog.rgb_strip.set_mode('boom', 'red', delay=0.01)
my_dog.tail_move([[0]], speed=80)
my_dog.legs_move([stand], speed=70)
my_dog.wait_all_done()
sleep(0.1)
bark(my_dog, [head_yaw, 0, 0])
my_dog.rgb_strip.set_mode('breath', 'white', delay=0.1)
if __name__ == "__main__":
try:
while True:
patrol()
finally:
my_dog.close()
2.2.5 Response
In this project, PiDog will interact with you in an interesting way.
If you reach out and grab PiDog’s head from the front, it will bark vigilantly.
But if you reach out from behind it and pet its head, it will enjoy it very much.
Run the Code
cd /home/pi/pidog/examples
sudo python3 4_response.py
52 Chapter 2. Play with Python