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.. _py_record:

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**

.. raw:: html

    <run></run>

.. code-block::

    cd /home/pi/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**

.. code-block:: python

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

    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])
    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 PiSloth!
        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 :ref:`py_posture`. Added recording and replay functions.

The recording function is implemented by the following code.

.. code-block:: python

    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 <https://docs.python.org/3/library/copy.html>`_ function, otherwise the ``new_step`` will not get a new array object when appending.


The replay function is implemented by the following code.

.. code-block:: python

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