91 lines
2.2 KiB
Python
91 lines
2.2 KiB
Python
import threading
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import time
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from adafruit_servokit import ServoKit # type: ignore
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kit = ServoKit(channels=16)
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#leg = int(input("leg"))
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def left2():
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kit.servo[2].angle = 0
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kit.servo[8].angle = 0
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time.sleep(1)
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kit.servo[2].angle = 110
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time.sleep(1)
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kit.servo[8].angle = 110
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time.sleep(1)
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kit.servo[2].angle = 0
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def left1():
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kit.servo[1].angle = 0
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kit.servo[7].angle = 0
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time.sleep(1)
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kit.servo[1].angle = 110
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time.sleep(1)
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kit.servo[7].angle = 110
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time.sleep(1)
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kit.servo[1].angle = 0
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def left0():
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kit.servo[0].angle = 0
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kit.servo[6].angle = 0
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time.sleep(1)
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kit.servo[0].angle = 110
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time.sleep(1)
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kit.servo[6].angle = 110
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time.sleep(1)
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kit.servo[0].angle = 0
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def right5():
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kit.servo[5].angle = 0
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kit.servo[11].angle = 110
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time.sleep(1)
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kit.servo[5].angle = 110
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time.sleep(1)
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kit.servo[11].angle = 0
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time.sleep(1)
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kit.servo[5].angle = 0
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def right4():
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kit.servo[4].angle = 0
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kit.servo[10].angle = 110
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time.sleep(1)
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kit.servo[4].angle = 110
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time.sleep(1)
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kit.servo[10].angle = 0
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time.sleep(1)
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kit.servo[4].angle = 0
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def right3():
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kit.servo[3].angle = 0
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kit.servo[9].angle = 110
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time.sleep(1)
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kit.servo[3].angle = 110
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time.sleep(1)
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kit.servo[9].angle = 0
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time.sleep(1)
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kit.servo[3].angle = 0
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#leg0 = threading.Thread(target=left0, args=())
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#leg1 = threading.Thread(target=left1, args=())
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#leg2 = threading.Thread(target=left2, args=())
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#leg3 = threading.Thread(target=right3, args=())
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#leg4 = threading.Thread(target=right4, args=())
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#leg5 = threading.Thread(target=right5, args=())
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while True:
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leg0 = threading.Thread(target=left0, args=())
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leg1 = threading.Thread(target=left1, args=())
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leg2 = threading.Thread(target=left2, args=())
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leg3 = threading.Thread(target=right3, args=())
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leg4 = threading.Thread(target=right4, args=())
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leg5 = threading.Thread(target=right5, args=())
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leg0.start()
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leg2.start()
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leg4.start()
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leg0.join()
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leg2.join()
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leg4.join()
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time.sleep(1)
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leg1.start()
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leg3.start()
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leg5.start()
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leg1.join()
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leg3.join()
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leg5.join()
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