a

old_stuff/thr3.py

@@ -0,0 +1,88 @@
+import threading
+import time
+from adafruit_servokit import ServoKit
+
+# Initialize ServoKit
+kit = ServoKit(channels=16)
+
+# Constants for angles
+ANGLE_START = 0
+ANGLE_MIDDLE = 110
+ANGLE_NEUTRAL = 55
+
+# Constants for delay
+DELAY = 1
+
+# Movement functions
+def move_leg(servo1, servo2):
+    """Moves a pair of servos synchronously and prints their positions."""
+    kit.servo[servo1].angle = ANGLE_START
+    kit.servo[servo2].angle = ANGLE_START
+    print(f"Servos {servo1} and {servo2} set to ANGLE_START: {ANGLE_START}")
+    time.sleep(DELAY)
+
+    kit.servo[servo1].angle = ANGLE_MIDDLE
+    print(f"Servo {servo1} set to ANGLE_MIDDLE: {ANGLE_MIDDLE}")
+    time.sleep(DELAY)
+
+    kit.servo[servo2].angle = ANGLE_MIDDLE
+    print(f"Servo {servo2} set to ANGLE_MIDDLE: {ANGLE_MIDDLE}")
+    time.sleep(DELAY)
+
+    kit.servo[servo1].angle = ANGLE_NEUTRAL
+    print(f"Servo {servo1} set to ANGLE_NEUTRAL: {ANGLE_NEUTRAL}")
+
+    kit.servo[servo2].angle = ANGLE_NEUTRAL
+    print(f"Servo {servo2} set to ANGLE_NEUTRAL: {ANGLE_NEUTRAL}")
+
+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)