4. Tail Move

Following are the functions that control PiDog’s tail. This function is similar to 2. Leg Move.

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

  • target_angles : It is a two-dimensional array composed of an array of 1 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.

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

Pidog.is_tail_done()

whether all the tail actions in the buffer to be executed

Pidog.wait_tail_done()

wait for all the tail actions in the buffer to be executed

Pidog.tail_stop()

clear all the tail actions of leg in the buffer, to make tail servo stop

Here are some common usages:

  1. Wag tail for 10 seconds.

from pidog import Pidog
import time

my_dog = Pidog()

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

# keep 10s
time.sleep(10)

my_dog.tail_stop()