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Emotional Robot

This example shows several interesting custom actions of PiCrawler.

Run the Code

cd /home/pi/picrawler/examples
sudo python3 emotional_robot.py

Code

Note

You can Modify/Reset/Copy/Run/Stop the code below. But before that, you need to go to source code path like picrawler\examples. After modifying the code, you can run it directly to see the effect.

from picrawler import Picrawler
from time import sleep

crawler = Picrawler([10,11,12,4,5,6,1,2,3,7,8,9])
#crawler.set_offset([0,0,0,0,0,0,0,0,0,0,0,0])

def handwork(speed):

    basic_step = []
    basic_step = crawler.step_list.get("sit")
    left_hand  = crawler.mix_step(basic_step,0,[0,50,80])
    right_hand  = crawler.mix_step(basic_step,1,[0,50,80])
    two_hand = crawler.mix_step(left_hand,1,[0,50,80])

    crawler.do_step('sit',speed)
    sleep(0.6)
    crawler.do_step(left_hand,speed)
    sleep(0.6)
    crawler.do_step(two_hand,speed)
    sleep(0.6)
    crawler.do_step(right_hand,speed)
    sleep(0.6)
    crawler.do_step('sit',speed)
    sleep(0.6)

def twist(speed):

    new_step=[[50, 50, -80], [50, 50, -80],[50, 50, -80], [50, 50, -80]]
    for i in range(4):
        for inc in range(30,60,5):
            rise = [50,50,(-80+inc*0.5)]
            drop = [50,50,(-80-inc)]

            new_step[i]=rise
            new_step[(i+2)%4] = drop
            new_step[(i+1)%4] = rise
            new_step[(i-1)%4] = drop
            crawler.do_step(new_step,speed)

##"[[right front], [left front], [left rear], [left rear]]")

def pushup(speed):
    up=[[80, 0, -100], [80, 0, -100],[0, 120, -60], [0, 120, -60]]
    down=[[80, 0, -30], [80, 0, -30],[0, 120, -60], [0, 120, -60]]
    crawler.do_step(up,speed)
    sleep(0.6)
    crawler.do_step(down,speed)
    sleep(0.6)

def swimming(speed):
    for i in range(100):
        crawler.do_step([[100-i,i,0],[100-i,i,0],[0,120,-60+i/5],[0,100,-40-i/5]],speed)

# main
def main():
    speed = 100

    swimming(speed)
    pushup(speed)
    handwork(speed)
    twist(speed)

    sleep(0.05)

if __name__ == "__main__":
    main()