SunFounder PiDog - Page 80

SunFounder PiDog Kit, Release 1.0
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head_init_angles = [0, 0, -25],
tail_init_angle= [0]
)
2.3.2 Leg Move
PiDog’s leg movements are implemented by the following functions.
Pidog.legs_move(target_angles, immediately=True, speed=50)
• target_angles: It is a two-dimensional array composed of an array of 8 servo angles (referred to as angle
group) as elements. These angle groups will be used to control the angles of the 8 foot servos. If multiple angle
groups are written, the unexecuted angle groups will be stored in the cache.
• immediately : When calling the function, set this parameter to True, the cache will be cleared immediately
to execute the newly written angle group; if the parameter is set to False, the newly written The incoming
angular group is added to the execution queue.
• speed : The speed at which the angular group is executed.
Some common usages are listed below:
1. Take action immediately.
from pidog import Pidog
import time
my_dog = Pidog()
# half stand
my_dog.legs_move([[45, 10, -45, -10, 45, 10, -45, -10]], speed=50)
2. Add some angular groups to the execution queue.
from pidog import Pidog
import time
my_dog = Pidog()
# half stand
my_dog.legs_move([[45, 10, -45, -10, 45, 10, -45, -10]], speed=50)
# multiple actions
my_dog.legs_move([[45, 35, -45, -35, 80, 70, -80, -70],
[90, -30, -90, 30, 80, 70, -80, -70],
[45, 35, -45, -35, 80, 70, -80, -70]], immediately=False,
˓→speed=30)
3. Perform repetitions within 10 seconds.
from pidog import Pidog
import time
my_dog = Pidog()
# half stand
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76 Chapter 2. Play with Python