SunFounder PiDog - Page 63

SunFounder PiDog Kit, Release 1.0
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from preset_actions import bark
my_dog = Pidog()
sleep(0.1)
def delay(time):
my_dog.wait_legs_done()
my_dog.wait_head_done()
sleep(time)
def face_track():
Vilib.camera_start(vflip=False, hflip=False)
Vilib.display(local=True, web=True)
Vilib.human_detect_switch(True)
sleep(0.2)
print('start')
yaw = 0
roll = 0
pitch = 0
flag = False
direction = 0
my_dog.do_action('sit', speed=50)
my_dog.head_move([[yaw, 0, pitch]], pitch_comp=-
40, immediately=True, speed=80)
delay(0.5)
if my_dog.ears.isdetected():
direction = my_dog.ears.read()
while True:
if flag == False:
my_dog.rgb_strip.set_mode('breath', 'pink', delay=0.1)
# If heard somthing, turn to face it
if my_dog.ears.isdetected():
flag = False
direction = my_dog.ears.read()
pitch = 0
if direction > 0 and direction < 100:
yaw = -direction
if yaw < -80:
yaw = -80
elif direction > 260 and direction < 360:
yaw = 360 - direction
if yaw > 80:
yaw = 80
my_dog.head_move([[yaw, 0, pitch]], pitch_comp=-
40, immediately=True, speed=80)
sleep(0.05)
ex = Vilib.detect_obj_parameter['human_x'] - 320
ey = Vilib.detect_obj_parameter['human_y'] - 240
people = Vilib.detect_obj_parameter['human_n']
# If see someone, bark at him/her
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2.2. Funny Project 59