Guide: State Machine - Toby-eaaa/Mini_Pupper_eaaa GitHub Wiki
The Pupper has 3 states:
- Idle or deactivated. The Face is black with yellow eyes.
- Activated, ready to move. The face is yellow with black eyes.
- Trot mode. The Pupper is walking on the spot.
To keep track of the state between programs, a function can be added to run_robot that saves the state in a txt file. This file can be accessed by other programs to see what state the Pupper is in at the moment.
In run_robot: Function to save "x" as a state to State.txt:
def write_state_to_txt(x):
file1 = open("State.txt", "w")
file1.write(x)
file1.close()
The function is called:
write_state_to_txt("0")
In sequencer_with_state a function is made to read the txt file:
def read_from_txt():
file1 = open("/home/ubuntu/Robotics/QuadrupedRobot/StanfordQuadruped/State.txt", "r")
StringTemp = file1.read()
file1.close()
return StringTemp
The function is called:
state = read_from_txt()