def move_thread():
global step_set
stand_stu = 1
while 1:
if not steadyMode:
if direction_command == 'forward' and turn_command == 'no':
if SmoothMode:
move.dove(step_set, 35, 0.001, DPI, 'no')
step_set += 1
if step_set == 5:
step_set = 1
continue
else:
move.move(step_set, 35, 'no')
time.sleep(0.1)
step_set += 1
if step_set == 5:
step_set = 1
continue
elif direction_command == 'backward' and turn_command == 'no':
if SmoothMode:
move.dove(step_set, -35, 0.001, DPI, 'no')
step_set += 1
if step_set == 5:
step_set = 1
continue
else:
move.move(step_set, -35, 'no')
time.sleep(0.1)
step_set += 1
if step_set == 5:
step_set = 1
continue
else:
pass
if turn_command != 'no':
if SmoothMode:
move.dove(step_set, 35, 0.001, DPI, turn_command)
step_set += 1
if step_set == 5:
step_set = 1
continue
else:
move.move(step_set, 35, turn_command)
time.sleep(0.1)
step_set += 1
if step_set == 5:
step_set = 1
continue
else:
pass
if turn_command == 'no' and direction_command == 'stand':
move.stand()
step_set = 1
pass
else:
move.steady_X()
move.steady()
def move_thread():
global step_set
stand_stu = 1
while 1:
if not steadyMode:
if direction_command == 'forward' and turn_command == 'no':
stand_stu = 0
move.dove_move_tripod(step_set, 150, 'forward')
step_set += 1
if step_set == 9:
step_set = 1
continue
elif direction_command == 'backward' and turn_command == 'no':
stand_stu = 0
move.dove_move_tripod(step_set, 150, 'backward')
step_set += 1
if step_set == 9:
step_set = 1
continue
else:
pass
if turn_command != 'no':
stand_stu = 0
move.dove_move_diagonal(step_set, 150, turn_command)
step_set += 1
if step_set == 9:
step_set = 1
continue
else:
pass
if turn_command == 'no' and direction_command == 'stand':
if stand_stu == 0:
move.robot_stand(150)
step_set = 1
stand_stu = 1
else:
time.sleep(0.01)
pass
pass
else:
pass
move.robot_X(150, 100)
move.steady()