User Manual

74
●We control the robot to move forward, move backward, turn left, turn right, switch between fast and slow gait,
and maintain self-balance in move.py. When the webserver, py receives the forward command
"command_input", it will call the commandInput() function in move.py. When the commandInput() function
receives an instruction, it starts a thread, calls the corresponding action, and executes a fast gait by default,
such as forward moving, backward moving, left turn, and right turn:
def move_thread():
global step_set
stand_stu = 1
if not steadyMode:
'''
#The default value of steadyMode is equal to True when the initial value is 0, and then else is
not executed. When executing the self-balancing action, setting the initial value of steadyMode to 1
, which is if not steadyMode: equal to False, then it will execute else.
'''
if direction_command == 'forward' and turn_command == 'no':
if SmoothMode:
'''
#The default value of SmoothMode is equal to False when the initial value is 0, and it w
ill execute else; when switching to slow gait, setting the initial value to 1, you will get if Smoot
hMode: equal to True, then it will execute dove ().
'''
dove(step_set,35,0.001,DPI,'no') # slow gait of moving forward
step_set += 1
if step_set == 5:
step_set = 1
else:
move(step_set, 35, 'no') # fast gait of moving forward
time.sleep(0.1)
step_set += 1
if step_set == 5:
step_set = 1
elif direction_command == 'backward' and turn_command == 'no':
if SmoothMode:
dove(step_set,-35,0.001,DPI,'no') #slow gait of moving backward
step_set += 1
if step_set == 5:
step_set = 1
else:
move(step_set, -35, 'no') # fast gait of moving backward
time.sleep(0.1)
step_set += 1
if step_set == 5: