a

walk2.py

@@ -0,0 +1,138 @@
+import threading
+import time
+from adafruit_servokit import ServoKit  # type: ignore
+from pynput import keyboard
+
+# Initialize ServoKit
+kit = ServoKit(channels=16)
+
+# Constants for delay
+DELAY = 0.25
+
+# Default Servo Angles
+DEFAULT_SERVO_ANGLES = {
+    0: (0, 110, 70),
+    1: (0, 110, 70),
+    2: (0, 110, 70),
+    3: (0, 110, 70),
+    4: (0, 110, 70),
+    5: (0, 110, 70),
+    6: (10, 110, 90),
+    7: (10, 120, 65),
+    8: (70, 170, 90),
+    9: (170, 70, 90),
+    10: (120, 10, 65),
+    11: (110, 10, 90),
+}
+
+# Movement functions
+def move_leg(servo1, servo2, servo_angles):
+    """Moves a pair of servos synchronously and prints their positions."""
+    up, down, neutral1 = servo_angles[servo1]
+    front, back, neutral2 = servo_angles[servo2]
+
+    kit.servo[servo1].angle = up
+    time.sleep(DELAY)
+    kit.servo[servo2].angle = front
+    print(f"Servos {servo1} and {servo2} set to UP and FRONT angles: {up}, {front}")
+    time.sleep(DELAY)
+
+    kit.servo[servo1].angle = down
+    print(f"Servo {servo1} set to DOWN angle: {down}")
+    time.sleep(DELAY)
+
+    kit.servo[servo2].angle = back
+    print(f"Servo {servo2} set to BACK angle: {back}")
+    time.sleep(DELAY)
+
+    kit.servo[servo1].angle = up
+    print(f"Servo {servo1} set to UP angle: {up}")
+    time.sleep(DELAY)
+
+    kit.servo[servo2].angle = neutral2
+    print(f"Servo {servo2} set to NEUTRAL angle: {neutral2}")
+    time.sleep(DELAY)
+
+    kit.servo[servo1].angle = neutral1
+    print(f"Servo {servo1} set to NEUTRAL angle: {neutral1}")
+
+# Leg movement functions
+def left_leg_0(servo_angles):
+    move_leg(0, 6, servo_angles)
+
+def left_leg_1(servo_angles):
+    move_leg(1, 7, servo_angles)
+
+def left_leg_2(servo_angles):
+    move_leg(2, 8, servo_angles)
+
+def right_leg_3(servo_angles):
+    move_leg(3, 9, servo_angles)
+
+def right_leg_4(servo_angles):
+    move_leg(4, 10, servo_angles)
+
+def right_leg_5(servo_angles):
+    move_leg(5, 11, servo_angles)
+
+# Group movement functions
+def group_1(servo_angles):
+    threads = [
+        threading.Thread(target=left_leg_0, args=(servo_angles,)),
+        threading.Thread(target=left_leg_2, args=(servo_angles,)),
+        threading.Thread(target=right_leg_4, args=(servo_angles,)),
+    ]
+    for thread in threads:
+        thread.start()
+    for thread in threads:
+        thread.join()
+
+def group_2(servo_angles):
+    threads = [
+        threading.Thread(target=left_leg_1, args=(servo_angles,)),
+        threading.Thread(target=right_leg_3, args=(servo_angles,)),
+        threading.Thread(target=right_leg_5, args=(servo_angles,)),
+    ]
+    for thread in threads:
+        thread.start()
+    for thread in threads:
+        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
+
+# 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()
+
+    while True:
+        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