def limbTest(legs, count): for leg in legs: for i in range(0, count): g.runServoAngle(mappedPin[leg], mappedLowerAngle[leg], True) time.sleep(1) g.runServoAngle(mappedPin[leg], mappedUpperAngle[leg], True) time.sleep(1)
def lowerLimbTest(count=10): for i in range(0, count): g.runServoAngle(mappedPin['frontRightLower'], mappedLowerAngle['frontRightLower'], True) g.runServoAngle(mappedPin['rearRightLower'], mappedLowerAngle['rearRightLower'], True) g.runServoAngle(mappedPin['frontLeftLower'], mappedLowerAngle['frontLeftLower'], True) g.runServoAngle(mappedPin['rearLeftLower'], mappedLowerAngle['rearLeftLower'], True) time.sleep_ms(1000) g.runServoAngle(mappedPin['frontRightLower'], mappedUpperAngle['frontRightLower'], True) g.runServoAngle(mappedPin['rearRightLower'], mappedUpperAngle['rearRightLower'], True) g.runServoAngle(mappedPin['frontLeftLower'], mappedUpperAngle['frontLeftLower'], True) g.runServoAngle(mappedPin['rearLeftLower'], mappedUpperAngle['rearLeftLower'], True) time.sleep_ms(1000) g.runServoAngle(mappedPin['frontRightLower'], mappedLowerAngle['frontRightLower'], True) g.runServoAngle(mappedPin['rearRightLower'], mappedLowerAngle['rearRightLower'], True) g.runServoAngle(mappedPin['frontLeftLower'], mappedLowerAngle['frontLeftLower'], True) g.runServoAngle(mappedPin['rearLeftLower'], mappedLowerAngle['rearLeftLower'], True)
def dogStand(): g.runServoAngle(mappedPin['fru'], 35, True) g.runServoAngle(mappedPin['rru'], 35, True) g.runServoAngle(mappedPin['flu'], 165, True) g.runServoAngle(mappedPin['rlu'], 165, True) g.runServoAngle(mappedPin['frl'], 130, True) g.runServoAngle(mappedPin['rrl'], 110, True) g.runServoAngle(mappedPin['fll'], 65, True) g.runServoAngle(mappedPin['rll'], 65, True)
def resetServos(): g.runServoAngle(mappedPin['frontRightLower'], mappedLowerAngle['frontRightLower'], True) g.runServoAngle(mappedPin['rearRightLower'], mappedLowerAngle['rearRightLower'], True) g.runServoAngle(mappedPin['frontLeftLower'], mappedLowerAngle['frontLeftLower'], True) g.runServoAngle(mappedPin['rearLeftLower'], mappedLowerAngle['rearLeftLower'], True) g.runServoAngle(mappedPin['frontRightUpper'], mappedLowerAngle['frontRightUpper'], True) g.runServoAngle(mappedPin['rearRightUpper'], mappedLowerAngle['rearRightUpper'], True) g.runServoAngle(mappedPin['frontLeftUpper'], mappedLowerAngle['frontLeftUpper'], True) g.runServoAngle(mappedPin['rearLeftUpper'], mappedLowerAngle['rearLeftUpper'], True)
def dogStance(count=10): g.runServoAngle(mappedPin['frontRightUpper'], mappedUpperAngle['frontRightUpper'], True) g.runServoAngle(mappedPin['rearRightUpper'], mappedUpperAngle['rearRightUpper'], True) g.runServoAngle(mappedPin['frontLeftUpper'], mappedUpperAngle['frontLeftUpper'], True) g.runServoAngle(mappedPin['rearLeftUpper'], mappedUpperAngle['rearLeftUpper'], True) for i in range(0, count): g.runServoAngle(mappedPin['frontRightLower'], mappedLowerAngle['frontRightLower'], True) g.runServoAngle(mappedPin['rearRightLower'], mappedLowerAngle['rearRightLower'], True) g.runServoAngle(mappedPin['frontLeftLower'], mappedLowerAngle['frontLeftLower'], True) g.runServoAngle(mappedPin['rearLeftLower'], mappedLowerAngle['rearLeftLower'], True) time.sleep_ms(1000) g.runServoAngle(mappedPin['frontRightLower'], mappedUpperAngle['frontRightLower'], True) g.runServoAngle(mappedPin['rearRightLower'], mappedUpperAngle['rearRightLower'], True) g.runServoAngle(mappedPin['frontLeftLower'], mappedUpperAngle['frontLeftLower'], True) g.runServoAngle(mappedPin['rearLeftLower'], mappedUpperAngle['rearLeftLower'], True) time.sleep_ms(1000)
pwm.brakeAllMotors() # brakeAllMotors delPWM() # delPWM #-------------- importGPIO() # importGPIO gpio.runServo(0, duty=10, override=False, freq=50) # runServo&0,10,0,50 gpio.runServoAngle(0, angle=180, override=False, freq=50) # runServoAngle&0,180,0,50 gpio.releaseServo(0) # releaseServo&0 gpio.readPin(0) # readPin&0$ gpio.readPinPUP(0) # readPinPUP&0$ gpio.writePin(0,(1)) # writePin&0,1 gpio.togglePin(0)