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Record New Step

We use the keyboard to control PiCrawler to make several poses in turn, and record these poses. Replay them later.

Run the Code

cd ~/picrawler/examples
sudo python3 record_new_step_by_keyboard.py

After the code runs, please operate according to the prompt that pops up in the terminal.

• Press 1234 to select the feet separately, 1: right front foot, 2: left front foot, 3: left rear foot, 4: right rear foot

• Press w, a, s, d, r, and f to slowly control the PiCrawler’s coordinate values.

• Press space to print all coordinate values.

• Press p to have PiCrawler replay the recorded action.

• Press esc to exit.

Code

from picrawler import Picrawler
from time import sleep
import sys
import tty
import termios
import copy

crawler = Picrawler()
speed = 80

def readchar():
    fd = sys.stdin.fileno()
    old_settings = termios.tcgetattr(fd)
    try:
        tty.setraw(sys.stdin.fileno())
        ch = sys.stdin.read(1)
    finally:
        termios.tcsetattr(fd, termios.TCSADRAIN, old_settings)
    return ch


manual = '''
Press keys on keyboard to control!
    w: Y++
    a: X--
    s: Y--
    d: X++
    r: Z++
    f: Z--
    1: Select right front leg
    2: Select left front leg
    3: Select left rear leg
    4: Select right rear leg
    Space: Print all leg coodinate & Save this step
    p: Play all saved step
    esc: Quit
'''


new_step=[]

def save_new_step():
    new_step.append(copy.deepcopy(crawler.current_step_all_leg_value()))
    print(new_step)

def play_all_new_step():
    for step in new_step:
        crawler.do_step(step,speed)
        sleep(0.6)

def main():

    speed = 80
    print(manual)
    crawler.do_step('sit',speed)
    leg = 0
    coodinate=crawler.current_step_leg_value(leg)
    while True:
        key = readchar()
        key = key.lower()
        # print(key)
        if 'w' == key:
            coodinate[1]=coodinate[1]+2
        elif 's' == key:
            coodinate[1]=coodinate[1]-2
        elif 'a' == key:
            coodinate[0]=coodinate[0]-2
        elif 'd' == key:
            coodinate[0]=coodinate[0]+2
        elif 'r' == key:
            coodinate[2]=coodinate[2]+2
        elif 'f' == key:
            coodinate[2]=coodinate[2]-2
        elif '1' == key:
            leg=0
            coodinate=crawler.current_step_leg_value(leg)
        elif '2' == key:
            leg=1
            coodinate=crawler.current_step_leg_value(leg)
        elif '3' == key:
            leg=2
            coodinate=crawler.current_step_leg_value(leg)
        elif '4' == key:
            leg=3
            coodinate=crawler.current_step_leg_value(leg)
        elif chr(32) == key:
            print("[[right front],[left front],[left rear],[right rear]]")
            print("saved new step")
            print(crawler.current_step_all_leg_value())
            save_new_step()
        elif 'p' == key:
            play_all_new_step()
        elif chr(27) == key:# 27 for ESC
            break

        sleep(0.05)
        crawler.do_single_leg(leg,coodinate,speed)
    print("\n q Quit")


if __name__ == "__main__":
    main()

How it works?

This project was born out of Adjust Posture. Added recording and replay functions.

The recording function is implemented by the following code.

new_step=[]

def save_new_step():
    new_step.append(copy.deepcopy(crawler.current_step_all_leg_value()))
    print(new_step)

Note

The assignment here needs to use the Deep Copy function, otherwise the new_step will not get a new array object when appending.

The replay function is implemented by the following code.

def play_all_new_step():
    for step in new_step:
        crawler.do_step(step,speed)
        sleep(0.6)