3. 巡逻

在本项目中，PiDog 将展现一个生动的行为——巡逻。

PiDog 会向前行走，当遇到障碍物时会停止并发出吠叫声。

运行代码

cd ~/pidog/examples
sudo python3 3_patrol.py

运行此示例后，PiDog 会摇尾巴、左右张望并向前移动。

代码

备注

您可以对以下代码进行 修改/重置/复制/运行/停止。但请确保您已进入代码路径（如 pidog\examples）后再进行操作。修改后可直接运行查看效果。

#!/usr/bin/env python3
import time
from pidog import Pidog
from preset_actions import bark

t = time.time()
my_dog = Pidog()
my_dog.do_action('stand', speed=80)
my_dog.wait_all_done()
time.sleep(.5)

DANGER_DISTANCE = 15

stand = my_dog.legs_angle_calculation([[0, 80], [0, 80], [30, 75], [30, 75]])

def patrol():
    distance = round(my_dog.ultrasonic.read_distance(), 2)
    print(f"distance: {distance} cm", end="", flush=True)

    # 危险情况
    if distance < DANGER_DISTANCE:
        print("\033[0;31m DANGER !\033[m")
        my_dog.body_stop()
        head_yaw = my_dog.head_current_angles[0]
        # my_dog.rgb_strip.set_mode('boom', 'red', bps=2)
        my_dog.rgb_strip.set_mode('bark', 'red', bps=2)
        my_dog.tail_move([[0]], speed=80)
        my_dog.legs_move([stand], speed=70)
        my_dog.wait_all_done()
        time.sleep(0.5)
        bark(my_dog, [head_yaw, 0, 0])

        while distance < DANGER_DISTANCE:
            distance = round(my_dog.ultrasonic.read_distance(), 2)
            if distance < DANGER_DISTANCE:
                print(f"distance: {distance} cm \033[0;31m DANGER !\033[m")
            else:
                print(f"distance: {distance} cm", end="", flush=True)
            time.sleep(0.01)
    # 安全情况
    else:
        print("")
        my_dog.rgb_strip.set_mode('breath', 'white', bps=0.5)
        my_dog.do_action('forward', step_count=2, speed=98)
        my_dog.do_action('shake_head', step_count=1, speed=80)
        my_dog.do_action('wag_tail', step_count=5, speed=99)


if __name__ == "__main__":
    try:
        while True:
            patrol()
            time.sleep(0.01)
    except KeyboardInterrupt:
        pass
    except Exception as e:
        print(f"\033[31mERROR: {e}\033[m")
    finally:
        my_dog.close()