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2. Leg Move

PiDog’s leg movements are implemented by the following functions.

Pidog.legs_move(target_angles, immediately=True, speed=50)

  • target_angles: It is a two-dimensional array composed of an array of 8 servo angles (referred to as angle group) as elements. These angle groups will be used to control the angles of the 8 foot servos. If multiple angle groups are written, the unexecuted angle groups will be stored in the cache.

  • immediately : When calling the function, set this parameter to True, the cache will be cleared immediately to execute the newly written angle group; if the parameter is set to False, the newly written The incoming angular group is added to the execution queue.

  • speed : The speed at which the angular group is executed.

Some common usages are listed below:

  1. Take action immediately.

from pidog import Pidog
import time

my_dog = Pidog()

# half stand
my_dog.legs_move([[45, 10, -45, -10, 45, 10, -45, -10]], speed=50)

  1. Add some angular groups to the execution queue.

from pidog import Pidog
import time

my_dog = Pidog()

# half stand
my_dog.legs_move([[45, 10, -45, -10, 45, 10, -45, -10]], speed=50)

# multiple actions
my_dog.legs_move([[45, 35, -45, -35, 80, 70, -80, -70],
                    [90, -30, -90, 30, 80, 70, -80, -70],
                    [45, 35, -45, -35, 80, 70, -80, -70]],  immediately=False, speed=30)

  1. Perform repetitions within 10 seconds.

from pidog import Pidog
import time

my_dog = Pidog()

# half stand
my_dog.legs_move([[45, 10, -45, -10, 45, 10, -45, -10]], speed=50)

# pushup preparation
my_dog.legs_move([[45, 35, -45, -35, 80, 70, -80, -70]], immediately=False, speed=20)

# pushup
for _ in range(99):
    my_dog.legs_move([[90, -30, -90, 30, 80, 70, -80, -70],
                        [45, 35, -45, -35, 80, 70, -80, -70]],  immediately=False, speed=30)

# keep 10s
time.sleep(10)

# stop and half stand
my_dog.legs_move([[45, 10, -45, -10, 45, 10, -45, -10]], immediately=True, speed=50)

PiDog’s leg control also has the following functions that can be used together:

Pidog.is_legs_done()

This function is used to determine whether the angle group in the cache has been executed. If yes, return True; otherwise, return False.

Pidog.wait_legs_done()

Suspends the program until the angle groups in the cache have been executed.

Pidog.legs_stop()

Empty the angular group in the cache.