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')