/
picocat_v2.py
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/
picocat_v2.py
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from servo import Servo, servo2040
from transition import Transition
from time import sleep
# head = Servo(servo2040.SERVO_1)
#
# head.enable()
# head.to_min()
# print("min:",head.min_value())
# sleep(1)
# head.to_max()
# print("max:",head.max_value())
# sleep(1)
# head.to_mid()
# print("mid:",head.mid_value())
# sleep(1)
# head.disable()
class Limb():
__name = "no_name"
@property
def name(self):
return self.__name
@name.setter
def name(self, value):
self.__name = value
def wiggle(this_servo):
for _ in range (3):
this_servo.value(20)
sleep(0.25)
this_servo.value(-20)
sleep(0.25)
class PicoCat():
__name = "no_name"
legs = []
# Setup the Head and turn it to the mid point
HEAD = Servo(servo2040.SERVO_1)
HEAD.to_mid()
NECK = Servo(servo2040.SERVO_2)
NECK.to_mid()
FRONT_RIGHT_FOOT = Servo(servo2040.SERVO_3)
FRONT_LEFT_FOOT = Servo(servo2040.SERVO_4)
FRONT_LEFT_LEG = Servo(servo2040.SERVO_6)
FRONT_RIGHT_LEG = Servo(servo2040.SERVO_12)
TAIL = Servo(servo2040.SERVO_7)
BACK_RIGHT_LEG = Servo(servo2040.SERVO_8)
BACK_RIGHT_FOOT = Servo(servo2040.SERVO_9)
BACK_LEFT_LEG = Servo(servo2040.SERVO_10)
BACK_LEFT_FOOT = Servo(servo2040.SERVO_11)
def __init__(self):
print('*** Picocat ONLINE ***')
@property
def name(self):
return self.__name
@name.setter
def name(self, value):
self.__name = value
print("Hello, my name is", self.__name)
def nod(self):
self.NECK.value(0)
sleep(0.5)
self.NECK.value(-50)
sleep(0.5)
self.NECK.value(0)
sleep(0.25)
def wag_tail(self, times):
for n in range(times):
self.TAIL.value(50)
sleep(0.25)
self.TAIL.value(-50)
sleep(0.25)
self.TAIL.to_mid()
def look_left(self):
self.HEAD.value(50)
def look_right(self):
self.HEAD.value(-50)
def look_ahead(self):
self.HEAD.value(0)
def stand_up(self):
leg_value = 50
foot_value = 0
self.FRONT_LEFT_FOOT.value(foot_value)
self.FRONT_RIGHT_FOOT.value(foot_value)
self.BACK_LEFT_FOOT.value(foot_value)
self.BACK_RIGHT_FOOT.value(foot_value)
self.FRONT_LEFT_LEG.value(leg_value)
self.FRONT_RIGHT_LEG.value(-leg_value)
self.BACK_LEFT_LEG.value(-leg_value)
self.BACK_RIGHT_LEG.value(leg_value)
sleep(1)
def stand(self):
amount = 50
foot_value = 0
print(self.FRONT_LEFT_FOOT.value())
print(self.FRONT_LEFT_LEG.value())
while self.FRONT_LEFT_FOOT.value()!= foot_value and \
self.FRONT_RIGHT_FOOT.value()!= foot_value and \
self.BACK_LEFT_FOOT.value()!= foot_value and \
self.BACK_RIGHT_FOOT.value()!= foot_value and \
self.FRONT_LEFT_LEG.value()!= amount and \
self.FRONT_RIGHTT_LEG.value()!= amount and \
self.BACK_LEFT_LEG.value()!= amount and \
self.BACK_RIGHT_LEG.value()!= amount:
self.FRONT_LEFT_LEG.value(i)
self.FRONT_RIGHT_LEG.value(-i)
self.BACK_LEFT_LEG.value(-i)
self.BACK_RIGHT_LEG.value(i)
print(self.FRONT_LEFT_FOOT.value())
# amount = 0
if self.FRONT_LEFT_FOOT.value() <= foot_value:
self.FRONT_LEFT_FOOT.value(self.FRONT_LEFT_FOOT.value()-1)
elif self.FRONT_LEFT_FOOT.value() > foot_value:
self.FRONT_LEFT_FOOT.value(self.FRONT_LEFT_FOOT.value()+1)
if self.FRONT_RIGHT_FOOT.value() <= foot_value:
self.FRONT_RIGHT_FOOT.value(self.FRONT_RIGHT_FOOT.value()-1)
elif self.FRONT_RIGHT_FOOT.value > foot_value:
self.FRONT_RIGHT_FOOT.value(self.FRONT_RIGHT_FOOT.value()-1)
if self.BACK_LEFT_FOOT.value() <= foot_value:
self.BACK_LEFT_FOOT.value(self.BACK_LEFT_FOOT.value()+1)
elif self.BACK_LEFT_FOOT.value() > foot_value:
self.BACK_LEFT_FOOT.value(self.BACK_LEFT_FOOT.value()-1)
if self.BACK_RIGHT_FOOT.value() <= foot_value:
self.BACK_RIGHT_FOOT.value(self.BACK_RIGHT_FOOT.value()+1)
elif self.BACK_RIGHT_FOOT.value() > foot_value:
self.BACK_RIGHT_FOOT.value(self.BACK_RIGHT_FOOT.value()-1)
sleep(0.1)
def sit(self):
for i in range(50, 90, 1):
self.FRONT_LEFT_LEG.value(i)
self.FRONT_RIGHT_LEG.value(-i)
self.BACK_LEFT_LEG.value(-i)
self.BACK_RIGHT_LEG.value(i)
self.FRONT_LEFT_FOOT.value(i)
self.FRONT_RIGHT_FOOT.value(-i)
self.BACK_LEFT_FOOT.value(i)
self.BACK_RIGHT_FOOT.value(-i)
sleep(0.1)
cat = PicoCat()
while True:
cat.name = "Pixel"
cat.nod()
cat.look_left()
sleep(0.25)
cat.look_right()
sleep(0.25)
cat.look_ahead()
# cat.stand_up()
cat.wag_tail(10)
# cat.sit()
sleep(1)
# cat.sit()