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3. Patrol

In this project, PiDog makes a vivid behavior: patrolling.

PiDog will walk forward, if there is an obstacle in front of it, it will stop and bark.

../_images/py_3.gif

Run the Code

cd ~/pidog/examples
sudo python3 3_patrol.py

After running this example, PiDog will wag its tail, scan left and right, and walk forward.

Code

Note

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

#!/usr/bin/env python3
import time
from pidog import Pidog
from preset_actions import bark

t = time.time()
my_dog = Pidog()
my_dog.do_action('stand', speed=80)
my_dog.wait_all_done()
time.sleep(.5)

DANGER_DISTANCE = 15

stand = my_dog.legs_angle_calculation([[0, 80], [0, 80], [30, 75], [30, 75]])

def patrol():
    distance = round(my_dog.ultrasonic.read_distance(), 2)
    print(f"distance: {distance} cm", end="", flush=True)

    # danger
    if distance < DANGER_DISTANCE:
        print("\033[0;31m DANGER !\033[m")
        my_dog.body_stop()
        head_yaw = my_dog.head_current_angles[0]
        # my_dog.rgb_strip.set_mode('boom', 'red', bps=2)
        my_dog.rgb_strip.set_mode('bark', 'red', bps=2)
        my_dog.tail_move([[0]], speed=80)
        my_dog.legs_move([stand], speed=70)
        my_dog.wait_all_done()
        time.sleep(0.5)
        bark(my_dog, [head_yaw, 0, 0])

        while distance < DANGER_DISTANCE:
            distance = round(my_dog.ultrasonic.read_distance(), 2)
            if distance < DANGER_DISTANCE:
                print(f"distance: {distance} cm \033[0;31m DANGER !\033[m")
            else:
                print(f"distance: {distance} cm", end="", flush=True)
            time.sleep(0.01)
    # safe
    else:
        print("")
        my_dog.rgb_strip.set_mode('breath', 'white', bps=0.5)
        my_dog.do_action('forward', step_count=2, speed=98)
        my_dog.do_action('shake_head', step_count=1, speed=80)
        my_dog.do_action('wag_tail', step_count=5, speed=99)


if __name__ == "__main__":
    try:
        while True:
            patrol()
            time.sleep(0.01)
    except KeyboardInterrupt:
        pass
    except Exception as e:
        print(f"\033[31mERROR: {e}\033[m")
    finally:
        my_dog.close()