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.. _py_posture:

Adjust Posture
=====================

In this example, we use the keyboard to control the PiCrawler foot by foot and assume the desired posture.

You can press the space bar to print out the current coordinate values. These coordinate values come in handy when you create unique actions for PiCrawler.

.. image:: img/1cood.A.png

**Run the Code**

.. raw:: html

    <run></run>

.. code-block::

    cd /home/pi/picrawler/examples
    sudo python3 do_single_leg.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 ``esc`` to exit.


**Code**

.. code-block:: python

    from picrawler import Picrawler
    from time import sleep
    import readchar

    crawler = Picrawler([10,11,12,4,5,6,1,2,3,7,8,9]) 
    speed = 80


    manual = '''
    -------- PiCrawler Controller --------- 
        .......          .......
        <=|   2   |┌-┌┐┌┐-┐|   1   |=>
        ``````` ├      ┤ ```````
        ....... ├      ┤ .......
        <=|   3   |└------┘|   4   |=>
        ```````          ```````
        1: Select right front leg
        2: Select left front leg
        3: Select left rear leg
        4: Select right rear leg
        W: Y++          R: Z++             
        A: X--          F: Z--
        S: Y--
        D: X++          Esc: Quit
    '''
    legs_list = ['right front', 'left front', 'left rear', 'right rear']

    def main():  
        leg = 0
        speed = 80
        step = 2
        print(manual)
        crawler.do_step('stand',speed)
        sleep(0.2)
        coordinate=crawler.current_step_all_leg_value()  

        def show_info():
            print("\033[H\033[J",end='')  # clear terminal windows
            print(manual)   
            print('%s : %s'%(leg+1, legs_list[leg])) 
            print('coordinate: %s'%(coordinate))  
        
        show_info()

        while True:
            # readkey
            key = readchar.readkey()
            key = key.lower()
            # select the leg 
            if key in ('1234'):
                leg = int(key) - 1
                show_info()
            # move
            elif key in ('wsadrf'):         
                if 'w' == key:
                    coordinate[leg][1]=coordinate[leg][1] + step    
                elif 's' == key:
                    coordinate[leg][1]=coordinate[leg][1] - step           
                elif 'a' == key:
                    coordinate[leg][0]=coordinate[leg][0] - step         
                elif 'd' == key:
                    coordinate[leg][0]=coordinate[leg][0] + step   
                elif 'r' == key:
                    coordinate[leg][2]=coordinate[leg][2] + step         
                elif 'f' == key:
                    coordinate[leg][2]=coordinate[leg][2] - step 

                crawler.do_single_leg(leg,coordinate[leg],speed) 
                sleep(0.1)  
                # coordinate=crawler.current_step_all_leg_value()
                show_info()
            # quit 
            elif key == readchar.key.CTRL_C or key in readchar.key.ESCAPE_SEQUENCES:
                print("\n Quit")  
                break    

            sleep(0.05)
                
    
    if __name__ == "__main__":
        main()


* ``current_step_all_leg_value()`` : Returns the coordinate values of all legs.
* ``do_single_leg(leg,coordinate,speed)`` : Modify the coordinate value of a certain leg individually.