SunFounder PiDog - Page 83

SunFounder PiDog Kit, Release 1.0
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my_dog.legs_move(sit_leg, speed=30)
for _ in range(5):
my_dog.head_move(shake_head, pitch_comp=-30, speed=50)
my_dog.wait_head_done()
time.sleep(0.5)
2.3.4 Tail Move
Following are the functions that control PiDog’s tail. This function is similar to Leg Move.
Pidog.tail_move(target_angles, immediately=True, speed=50)
• target_angles : It is a two-dimensional array composed of an array of 1 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.
PiDog’s tail servo control also has some supporting functions:
Pidog.is_tail_done()
whether all the tail actions in the buffer to be executed
Pidog.wait_tail_done()
wait for all the tail actions in the buffer to be executed
Pidog.tail_stop()
clear all the tail actions of leg in the buffer, to make tail servo stop
Here are some common usages:
1. Wag tail for 10 seconds.
from pidog import Pidog
import time
my_dog = Pidog()
for _ in range(99):
my_dog.tail_move([[30],[-30]], immediately=False, speed=30)
# keep 10s
time.sleep(10)
my_dog.tail_stop()
2.3. Easy Coding 79