a

walk2.py

@@ -1,7 +1,8 @@
 import threading
 import time
+import sys
+import select
 from adafruit_servokit import ServoKit  # type: ignore
-from pynput import keyboard
 
 # Initialize ServoKit
 kit = ServoKit(channels=16)
@@ -99,40 +100,36 @@ def group_2(servo_angles):
         thread.join()
 
 # Main loop control
-running = False  # Control flag
-
-def on_press(key):
-    global running
-    try:
-        if key.char == 'w':
-            running = True
-    except AttributeError:
-        pass
-
-def on_release(key):
-    global running
-    if key == keyboard.Key.esc:
-        return False  # Stop listener
-    try:
-        if key.char == 'w':
-            running = False
-    except AttributeError:
-        pass
+def is_input_available():
+    """Check if input is available without blocking."""
+    return select.select([sys.stdin], [], [], 0)[0]
 
 # Main execution
 if __name__ == "__main__":
-    print("Press 'w' to execute movements. Press 'Esc' to exit.")
-    listener = keyboard.Listener(on_press=on_press, on_release=on_release)
-    listener.start()
+    print("Press 'w' to execute movements. Press 'q' to quit.")
 
-    while True:
-        if running:
-            print("Executing Group 1 movements...")
-            group_1(DEFAULT_SERVO_ANGLES)
-            time.sleep(DELAY)
+    running = False
+    try:
+        while True:
+            if is_input_available():
+                input_char = sys.stdin.read(1).strip()
+                if input_char == 'w':
+                    running = True
+                elif input_char == 'q':
+                    print("Exiting...")
+                    break
+                else:
+                    running = False
 
-            print("Executing Group 2 movements...")
-            group_2(DEFAULT_SERVO_ANGLES)
-            time.sleep(DELAY)
-        else:
-            time.sleep(0.1)  # Idle loop
+            if running:
+                print("Executing Group 1 movements...")
+                group_1(DEFAULT_SERVO_ANGLES)
+                time.sleep(DELAY)
+
+                print("Executing Group 2 movements...")
+                group_2(DEFAULT_SERVO_ANGLES)
+                time.sleep(DELAY)
+            else:
+                time.sleep(0.1)  # Idle loop
+    except KeyboardInterrupt:
+        print("\nProgram terminated.")