# 6. Be Picked UpΒΆ

Try lifting your PiDog from the ground, PiDog will feel like it can fly, and it will cheer in a superman pose.

Run the Code

```cd ~/pidog/examples
sudo python3 6_be_picked_up.py
```

After the program runs, the 6-DOF IMU Module will always calculate the acceleration in the vertical direction. If PiDog is calculated to be in a state of weightlessness, PiDog assumes a superman pose and cheers. Otherwise, consider PiDog to be on flat ground and make a standing pose.

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

my_dog = Pidog()
sleep(0.1)

def fly():
my_dog.rgb_strip.set_mode('boom', color='red', bps=3)
my_dog.legs.servo_move([45, -45, 90, -80, 90, 90, -90, -90], speed=60)
my_dog.do_action('wag_tail', step_count=10, speed=100)
my_dog.speak('woohoo', volume=80)
my_dog.wait_legs_done()
sleep(1)

def stand():
my_dog.rgb_strip.set_mode('breath', color='green', bps=1)
my_dog.do_action('stand', speed=60)
my_dog.wait_legs_done()
sleep(1)

def be_picked_up():
isUp = False
upflag = False
downflag = False

stand()

while True:
ax = my_dog.accData[0]
print('ax: %s, is up: %s' % (ax, isUp))

# gravity : 1G = -16384
if ax < -18000: # if down, acceleration is in the same direction as gravity, ax < -1G
my_dog.body_stop()
if upflag == False:
upflag = True
if downflag == True:
isUp = False
downflag = False
stand()

if ax > -13000: # if up, acceleration is the opposite of gravity, ax will > -1G
my_dog.body_stop()
if upflag == True:
isUp = True
upflag = False
fly()
if downflag == False:
downflag = True

sleep(0.02)

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