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)