a

walk.py

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+import threading
+import time
+from adafruit_servokit import ServoKit
+
+# Initialize ServoKit
+kit = ServoKit(channels=16)
+
+# Constants for delay
+DELAY = 1
+
+# Angle configuration for each servo
+SERVO_ANGLES = {
+    0: (0, 180, 90),
+    1: (0, 180, 90),
+    2: (0, 180, 90),
+    3: (0, 180, 90),
+    4: (0, 180, 90),
+    5: (0, 180, 90),
+    6: (0, 180, 90),
+    7: (0, 130, 65),
+    8: (0, 180, 90),
+    9: (180, 0, 90),
+    10: (130, 0, 65),
+    11: (180, 0, 90)
+}
+
+# Movement functions
+def move_leg(servo1, servo2):
+    """Moves a pair of servos synchronously and prints their positions."""
+    front1, back1, neutral1 = SERVO_ANGLES[servo1]
+    front2, back2, neutral2 = SERVO_ANGLES[servo2]
+
+    kit.servo[servo1].angle = front1
+    kit.servo[servo2].angle = front2
+    print(f"Servos {servo1} and {servo2} set to FRONT angles: {front1}, {front2}")
+    time.sleep(DELAY)
+
+    kit.servo[servo1].angle = back1
+    print(f"Servo {servo1} set to BACK angle: {back1}")
+    time.sleep(DELAY)
+
+    kit.servo[servo2].angle = back2
+    print(f"Servo {servo2} set to BACK angle: {back2}")
+    time.sleep(DELAY)
+
+    kit.servo[servo1].angle = neutral1
+    print(f"Servo {servo1} set to NEUTRAL angle: {neutral1}")
+
+    kit.servo[servo2].angle = neutral2
+    print(f"Servo {servo2} set to NEUTRAL angle: {neutral2}")
+
+def left_leg_0():
+    move_leg(0, 6)
+
+def left_leg_1():
+    move_leg(1, 7)
+
+def left_leg_2():
+    move_leg(2, 8)
+
+def right_leg_3():
+    move_leg(3, 9)
+
+def right_leg_4():
+    move_leg(4, 10)
+
+def right_leg_5():
+    move_leg(5, 11)
+
+# List of leg movements
+def group_1():
+    threads = [
+        threading.Thread(target=left_leg_0),
+        threading.Thread(target=left_leg_2),
+        threading.Thread(target=right_leg_4),
+    ]
+    for thread in threads:
+        thread.start()
+    for thread in threads:
+        thread.join()
+
+def group_2():
+    threads = [
+        threading.Thread(target=left_leg_1),
+        threading.Thread(target=right_leg_3),
+        threading.Thread(target=right_leg_5),
+    ]
+    for thread in threads:
+        thread.start()
+    for thread in threads:
+        thread.join()
+
+# Main loop
+if __name__ == "__main__":
+    while True:
+        print("Executing Group 1 movements...")
+        group_1()
+        time.sleep(DELAY)
+
+        print("Executing Group 2 movements...")
+        group_2()
+        time.sleep(DELAY)