4. Response

In this project, PiDog will interact with you in an interesting way.

If you reach out and grab PiDog’s head from the front, it will bark vigilantly.

But if you reach out from behind it and pet its head, it will enjoy it very much.

Run the Code

cd ~/pidog/examples
sudo python3 4_response.py

After running this example, PiDog’s ultrasonic module will detect whether there is an obstacle ahead, If it detects your hand, it makes the breathing light glow red, takes a step back, and barks.

At the same time, the touch sensor will also work. If the touch sensor is stroked (not just touched), PiDog will shake its head, wag its tail, and show a comfortable look.

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
from pidog import Pidog
from time import sleep
from math import sin
from preset_actions import bark_action

my_dog = Pidog()
sleep(0.1)

def lean_forward():
    my_dog.speak('angry', volume=80)
    bark_action(my_dog)
    sleep(0.2)
    bark_action(my_dog)
    sleep(0.8)
    bark_action(my_dog)

def head_nod(step):
    y = 0
    r = 0
    p = 30
    angs = []
    for i in range(20):
        r = round(10*sin(i*0.314), 2)
        p = round(20*sin(i*0.314) + 10, 2)
        angs.append([y, r, p])

    my_dog.head_move(angs*step, immediately=False, speed=80)

def alert():
    my_dog.do_action('stand', step_count=1, speed=90)
    my_dog.rgb_strip.set_mode('breath', color='pink', bps=1, brightness=0.8)
    while True:
        print(
            f'distance.value: {round(my_dog.ultrasonic.read_distance(), 2)} cm, touch {my_dog.dual_touch.read()}')
        # alert
        if my_dog.ultrasonic.read_distance() < 15 and my_dog.ultrasonic.read_distance() > 1:
            my_dog.head_move([[0, 0, 0]], immediately=True, speed=90)
            my_dog.tail_move([[0]], immediately=True, speed=90)
            my_dog.rgb_strip.set_mode('bark', color='red', bps=2, brightness=0.8)
            my_dog.do_action('backward', step_count=1, speed=98)
            my_dog.wait_all_done()
            lean_forward()
            while len(my_dog.legs_action_buffer) > 0:
                sleep(0.1)
            my_dog.do_action('stand', step_count=1, speed=90)
            sleep(0.5)
        # relax
        if my_dog.dual_touch.read() != 'N':
            if len(my_dog.head_action_buffer) < 2:
                head_nod(1)
                my_dog.do_action('wag_tail', step_count=10, speed=80)
                my_dog.rgb_strip.set_mode('listen', color="#8A2BE2", bps=0.35, brightness=0.8)
        # calm
        else:
            my_dog.rgb_strip.set_mode('breath', color='pink', bps=1, brightness=0.8)
            my_dog.tail_stop()
        sleep(0.2)

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