5. Rest

PiDog will doze off on the ground, and when it hears sounds around it, it will stand up in confusion to see who woke it up.

Run the Code

cd ~/pidog/examples
sudo python3 5_rest.py

After the program runs, PiDog will get down on the ground, shake its head and tail as if dozing off. At the same time, its sound direction sensor module is working. If PiDog hears noise, it will stand up, look around, and then make a confused look. Then it’ll doze off again.

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 preset_actions import shake_head

my_dog = Pidog()
sleep(0.1)

def loop_around(amplitude=60, interval=0.5, speed=100):
    my_dog.head_move([[amplitude,0,0]], immediately=True, speed=speed)
    my_dog.wait_all_done()
    sleep(interval)
    my_dog.head_move([[-amplitude,0,0]], immediately=True, speed=speed)
    my_dog.wait_all_done()
    sleep(interval)
    my_dog.head_move([[0,0,0]], immediately=True, speed=speed)
    my_dog.wait_all_done()

def is_sound():
    if my_dog.ears.isdetected():
        direction = my_dog.ears.read()
        if direction != 0:
            return True
        else:
            return False
    else:
        return False

def rest():
    my_dog.wait_all_done()
    my_dog.do_action('lie', speed=50)
    my_dog.wait_all_done()

    while True:
        # Sleeping
        my_dog.rgb_strip.set_mode('breath', 'pink', bps=0.3)
        my_dog.head_move([[0,0,-40]], immediately=True, speed=5)
        my_dog.do_action('doze_off', speed=92)
        # Cleanup sound detection
        sleep(1)
        is_sound()

        # keep sleeping
        while is_sound() is False:
            my_dog.do_action('doze_off', speed=92)
            sleep(0.2)

        # If heard anything, wake up
        # Set light to yellow and stand up
        my_dog.rgb_strip.set_mode('boom', 'yellow', bps=1)
        my_dog.body_stop()
        my_dog.do_action('stand', speed=90)
        my_dog.head_move([[0, 0, 0]], immediately=True, speed=80)
        my_dog.wait_all_done()
        # Look arround
        loop_around(60, 1, 60)
        sleep(0.5)
        # tilt head and being confused
        my_dog.speak('confused_3', volume=80)
        my_dog.do_action('tilting_head_left', speed=80)
        my_dog.wait_all_done()
        sleep(1.2)
        my_dog.head_move([[0, 0, -10]], immediately=True, speed=80)
        my_dog.wait_all_done()
        sleep(0.4)
        # Shake head , mean to ignore it
        shake_head(my_dog)
        sleep(0.2)

        # Lay down again
        my_dog.rgb_strip.set_mode('breath', 'pink', bps=1)
        my_dog.do_action('lie', speed=50)
        my_dog.wait_all_done()
        sleep(1)


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