def walk_backward(steps=1):
for i in range(0, steps):
for leg in range(0, 6):
# Set Foot
setposition(leg, knee_elevation = joint_centers[2][leg], power = 1000)
# Raise leg
setposition(leg, hip_elevation = joint_centers[1][leg]+200, power = 1000)
sleep(.2)
# Rotate backward
setposition(leg, hip_rotation = joint_centers[0][leg]-200, power = 1000)
sleep(.3)
## Leg down
setposition(leg, hip_elevation = joint_centers[1][leg], power = 500)
sleep(.5)
# rotate back
for leg in range(0, 6):
setposition(leg, hip_rotation = joint_centers[0][leg]+200, power = 500)
return template('apiresponse', content='success')
def stand():
try:
if not started:
for leg in range(0, 6):
setposition(leg, hip_rotation = joint_centers[0][leg],
hip_elevation = joint_centers[1][leg],
knee_elevation = joint_centers[2][leg],
power = 500)
else:
for leg in range(0, 6):
setpower(leg, 0, 0, 0)
except Exception as inst:
global started
started = False
print(inst)
started = not started
sleep(1)
return template('apiresponse', content='success')
