# Callback function for when a report message is received
# Example is free-fall or over-current detected
def report_callback(report_info):
print(f"report_callback {report_info}")
# Start Marty
# This code can be blocking because we're going to be getting messages
# via the callbacks.
# We also set the subscribe rate to 1Hz (normally its 10Hz) to reduce the
# number of callbacks we get with published information
my_marty = Marty("wifi", "192.168.0.42", blocking=True, subscribeRateHz=1)
# Register callbacks
my_marty.register_publish_callback(publish_callback)
my_marty.register_report_callback(report_callback)
# Move Marty's eyes
my_marty.eyes(100)
my_marty.eyes(0)
# Walk a little
for i in range(5):
my_marty.walk(1)
time.sleep(10)
# Disconnect from Marty
my_marty.close()
This uses the blocking: False option so martypy queues up the
movements and sounds and then goes on to show the posiiotn of
marty as it moves
'''
# See README.md for instructions on how to run this
# Import Marty from the martypy library and the time library
from martypy import Marty
import time
# Connect to a Marty and# use the variable my_marty to refer to that Marty
# This assumes you are connecting via WiFi - check the documentation for other options
# You will need to set the ip_address variable with the IP address of your Marty
connection_method = "wifi"
ip_address = "192.168.86.18"
my_marty = Marty(connection_method, ip_address, blocking=False)
# Ask Marty to walk
my_marty.walk(20)
my_marty.dance()
time.sleep(1)
# Do something while marty is walking
while my_marty.is_moving():
print(f"Marty's left leg is at {my_marty.get_joints()[0]['pos']}")
time.sleep(0.5)
# Disconnect from Marty
my_marty.close()