SunFounder PiDog Kit, Release 1.0
2.3.5 Stop All Actions
After the previous chapters, you can find that the servo control of PiDog is divided into three threads. This allows
PiDog’s head and body to move at the same time, even with two lines of code.
Here are a few functions that work with the three servo threads:
Pidog.wait_all_done()
Wait for all the actions in the leg actions buffer, head buffer and tail buffer to be executed
Pidog.body_stop()
Stop all the actions of legs, head and tail
Pidog.stop_and_lie()
Stop all the actions of legs, head and tail, then reset to “lie” pose
Pidog.close()
Stop all the actions, reset to “lie” pose, and close all the threads, usually used when exiting a program
Here are some common usages:
from pidog import Pidog
import time
my_dog = Pidog()
try:
# pushup prepare
my_dog.legs_move([[45, 35, -45, -35, 80, 70, -80, -70]], speed=30)
my_dog.head_move([[0, 0, 0]], pitch_comp=-10, speed=80)
my_dog.wait_all_done() # wait all the actions to be done
time.sleep(0.5)
# pushup
leg_pushup_action = [
[90, -30, -90, 30, 80, 70, -80, -70],
[45, 35, -45, -35, 80, 70, -80, -70],
]
head_pushup_action = [
[0, 0, -30],
[0, 0, 20],
]
# fill action buffers
for _ in range(50):
my_dog.legs_move(leg_pushup_action, immediately=False, speed=50)
my_dog.head_move(head_pushup_action, pitch_comp=-10, immediately=False,
˓→speed=50)
# show buffer length
print(f"legs buffer length (start): {len(my_dog.legs_action_buffer)}")
# keep 5 second & show buffer length
time.sleep(5)
(continues on next page)
80 Chapter 2. Play with Python
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