SunFounder PiDog Kit, Release 1.0
2.3.5 Stop All Actions
After the previous chapters, you can find that the servo control of PiDog is divided into three threads. This allows
PiDog’s head and body to move at the same time, even with two lines of code.
Here are a few functions that work with the three servo threads:
Pidog
.
wait_all_done()
Wait for all the actions in the leg actions buffer, head buffer and tail buffer to be executed
Pidog
.
body_stop()
Stop all the actions of legs, head and tail
Pidog
.
stop_and_lie()
Stop all the actions of legs, head and tail, then reset to “lie” pose
Pidog
.
close()
Stop all the actions, reset to “lie” pose, and close all the threads, usually used when exiting a program
Here are some common usages:
from
pidog
import
Pidog
import
time
my_dog
=
Pidog()
try
:
# pushup prepare
my_dog
.
legs_move([[
45
,
35
,
-
45
,
-
35
,
80
,
70
,
-
80
,
-
70
]], speed
=
30
)
my_dog
.
head_move([[
0
,
0
,
0
]], pitch_comp
=-
10
, speed
=
80
)
my_dog
.
wait_all_done()
# wait all the actions to be done
time
.
sleep(
0.5
)
# pushup
leg_pushup_action
=
[
[
90
,
-
30
,
-
90
,
30
,
80
,
70
,
-
80
,
-
70
],
[
45
,
35
,
-
45
,
-
35
,
80
,
70
,
-
80
,
-
70
],
]
head_pushup_action
=
[
[
0
,
0
,
-
30
],
[
0
,
0
,
20
],
]
# fill action buffers
for
_
in
range
(
50
):
my_dog
.
legs_move(leg_pushup_action, immediately
=
False
, speed
=
50
)
my_dog
.
head_move(head_pushup_action, pitch_comp
=-
10
, immediately
=
False
,
˓
→
speed
=
50
)
# show buffer length
(f
"legs buffer length (start): {len(my_dog.legs_action_buffer)}"
)
# keep 5 second & show buffer length
time
.
sleep(
5
)
(continues on next page)
80
Chapter 2. Play with Python
Summary of Contents for PiDog
Page 1: ...SunFounder PiDog Kit Release 1 0 sunfounder Jan 09 2023 ...
Page 2: ......
Page 4: ...ii ...
Page 6: ...SunFounder PiDog Kit Release 1 0 Content 2 CONTENTS ...
Page 8: ...SunFounder PiDog Kit Release 1 0 4 Chapter 1 Component List and Assembly Instructions ...
Page 15: ...SunFounder PiDog Kit Release 1 0 Step 7 Click the WRITE button 2 1 Quick Guide on Python 11 ...
Page 92: ...SunFounder PiDog Kit Release 1 0 88 Chapter 2 Play with Python ...
Page 108: ...SunFounder PiDog Kit Release 1 0 104 Chapter 4 Appendix ...
