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Startdatei für Crawly

Um den Bewegungsablauf für Crawly anders als in der Bibliothek zu machen, können auch hier die entsprechenden Klassen überschrieben werden.

from time import sleep, sleep_ms
from robotlibrary.crawly import Crawly
from robotlibrary.crawly_leg import Leg
from robotlibrary.crawly_joint import Joint
from robotlibrary import config_crawly as conf
from robotlibrary.servo import Servo
################################## Your class definition
class MyCrawly(Crawly):
    def __init__(self):
        self.legs = {
            "front_right" : MyLeg(4, True, True, "front right"),
            "rear_right" : MyLeg(6, True, False, "rear right"),
            "rear_left" : MyLeg(0, False, False, "rear left"),
            "front_left" : MyLeg(2, False, True, "front left")
            }
        
    def galumph(self):
            for l in self.legs.values():
                l.leg_fully_up()
            sleep_ms(150)
            for l in self.legs.values():
                l.leg_fully_forward()
            sleep_ms(150)
            for l in self.legs.values():
                l.leg_fully_down()
            sleep_ms(150)
            for l in self.legs.values():
                l.leg_fully_backward()
            sleep_ms(150)
            
class MyLeg(Leg):
    def __init__(self, pin, right, front, name):
        if right and front: 
            self.shoulder = MyJoint(conf.SHOULDER_FRONT, name, False, False, pin)
        if right and not front:
            self.shoulder = MyJoint(conf.SHOULDER_REAR, name, False, False, pin)
        if not right and front:
            self.shoulder = MyJoint(conf.SHOULDER_FRONT, name, True, False, pin)
        if not right and not front:
            self.shoulder = MyJoint(conf.SHOULDER_REAR, name, True, False, pin)
        self.knee = MyJoint(conf.KNEE, name, False, True, pin+1)
        
class MyJoint(Joint):
    def __init__(self, j_type, name, left_side, inverted, pin):
        self.name = name
        self.j_type = j_type
        min_duty = conf.SERVO_MIN_DUTY
        max_duty = conf.SERVO_MAX_DUTY
        self.left_side = left_side
        if j_type == conf.SHOULDER_FRONT:
            self.__min_angle = conf.SHOULDER_FRONT_MIN_ANGLE
            self.__max_angle = conf.SHOULDER_FRONT_MAX_ANGLE
        elif j_type == conf.SHOULDER_REAR:
            self.__min_angle = conf.SHOULDER_REAR_MIN_ANGLE
            self.__max_angle = conf.SHOULDER_REAR_MAX_ANGLE
        elif j_type == conf.KNEE:
            self.__min_angle = conf.KNEE_MIN_ANGLE
            self.__max_angle = conf.KNEE_MAX_ANGLE
            # min_duty = conf.SERVO_MIN_DUTY_TYPE2 # Comment out if the duty cycle is different from the shoulder servo's duty cycle.
            # max_duty = conf.SERVO_MAX_DUTY_TYPE2 # Comment out if the duty cycle is different from the shoulder servo's duty cycle.
        self.servo = Servo(pin, inverted, min_duty, max_duty)
        
        
################################# End of class definition
    
def move_program():
    crawly.move_to_start_pos()
    for i in range(10):
        crawly.galumph()

def main():      
    move_program()
    
        
################################# Initialize the robot and start the program.
crawly = MyCrawly() 
if __name__ == "__main__":
    # execute only if run as a script
    try:
        main()
    except KeyboardInterrupt:
        print("The robot was stopped by the user.")
    finally:
        crawly.park()

Hier wurden schon alle drei Hauptklassen des Crawly-Roboters überschrieben. Die anderen Methoden in den Klassen können bei Bedarf auch überschrieben werden.

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