3. Head Move

The control of PiDog’s head servo is implemented by the following functions.

Pidog.head_move(target_yrps, roll_comp=0, pitch_comp=0, immediately=True, speed=50)

  • target_angles : It is a two-dimensional array composed of an array of 3 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.

  • roll_comp : Provides angular compensation on the roll axis.

  • pitch_comp : Provides angle compensation on the pitch axis.

  • 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.

PiDog’s head servo control also has some supporting functions:

Pidog.is_head_done()

Whether all the head actions in the buffer to be executed

Pidog.wait_head_done()

Wait for all the head actions in the buffer to be executed

Pidog.head_stop()

Clear all the head actions of leg in the buffer, to make head servos stop

Here are some common use cases:

  1. Nod five times.

from pidog import Pidog
import time

my_dog = Pidog()

for _ in range(5):
    my_dog.head_move([[0, 0, 30],[0, 0, -30]], speed=80)
    my_dog.wait_head_done()
    time.sleep(0.5)

  1. Shake your head for 10 seconds.

from pidog import Pidog
import time

my_dog = Pidog()

for _ in range(99):
    my_dog.head_move([[30, 0, 0],[-30, 0, 0]], immediately=False, speed=30)

# keep 10s
time.sleep(10)

my_dog.head_move([[0, 0, 0]], immediately=True, speed=80)

  1. Whether sitting or half standing, PiDog keeps its head level when shaking its head.

from pidog import Pidog
import time

my_dog = Pidog()

# action list
shake_head = [[30, 0, 0],[-30, 0, 0]]
half_stand_leg = [[45, 10, -45, -10, 45, 10, -45, -10]]
sit_leg = [[30, 60, -30, -60, 80, -45, -80, 45]]

while True:
    # shake head in half stand
    my_dog.legs_move(half_stand_leg, speed=30)
    for _ in range(5):
        my_dog.head_move(shake_head, pitch_comp=0, speed=50)
    my_dog.wait_head_done()
    time.sleep(0.5)

    # shake head in sit
    my_dog.legs_move(sit_leg, speed=30)
    for _ in range(5):
        my_dog.head_move(shake_head, pitch_comp=-30, speed=50)
    my_dog.wait_head_done()
    time.sleep(0.5)