Quadruped (Quarky)

Extension Description
Controls the Quadruped motion with Quarky.

Introduction

The extension allows users to control the Quadruped Robot with Quarky.

Predefined Motions

Predefined Actions

Python Functions

The function initializes the quadruped robot object in Python and maps the 8 servos to the specified pins.
Syntax: Quadruped(Front Right Hip = 4, Front Left Hip = 1, Front Right Leg = 8, Front Left Leg = 5, Back Right Hip = 3, Back Left Hip = 2, Back Right Leg = 7, Back Left Leg = 6)
The function calibrates the angles of the servo motors and saves them in the memory of Quarky. Due to some mechanical assembly errors, there may be some misalignment of the servos which can be handled with this block.
Syntax: setoffset(Front Right Hip Offset = 0, Front Left Hip Offset = 0, Front Right Leg Offset = 0, Front Left Leg Offset = 0, Back Right Hip Offset = 0, Back Left Hip Offset = 0, Back Right Leg Offset = 0, Back Left Leg Offset = 0)
The function performs the selected motion for the quadruped. The motion runs for the specified times and at the specified speed.
Syntax: move(motion = “forward”, time period = 1000, cycle = 1)
The function performs the selected action for the quadruped. The action runs for the specified times and at the specified speed.
Syntax: action(action = “dance1”, time period = 1000, cycle = 1)
The function sets the servo motors of the quadruped to the specified angles at the specified speed.
Syntax: moveall(servo angles = [90,90,90,90,90,90,90,90], time = 1000)
The function sets the selected servo motor angle to the specified angle in the specified time. This creates a smooth motion for the servo motor from the current angle to the specified angle.
Syntax: movelimb(servo motor number = 1, angle = 90, time = 1000)
The function set all the servo motors of the quadruped angles to 90.
Syntax: home()
The block sets the oscillator parameters for the selected servo motor.
Syntax: setoscillationparameters(servo motor number = 1, amplitude = 30, offset = 90, time period = 1000, phase difference = 0)
The function executes the oscillator according to stored parameters for the servo motor and the current time.
Syntax: executeoscillator()
The function executes the oscillator according to stored parameters for the servo motor and the current angle specified in the block.
Syntax: executesscillatorat(angle = 90)
The block resets the timer running for the oscillator to 0.
Syntax: resetoscillationtimer()
The function reports the time passed from the reset for the oscillator.
Syntax: oscillationtimer()
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PictoBlox Blocks

The block initializes the quadruped robot and maps the 8 servos to the specified pins.
This block should be included every time you work with the quadruped as this block calibrates the angles of the servo motors and saves it in the memory of Quarky. Due to some mechanical assembly errors, there may be some misalignment of the servos which can be handled with this block.
The block performs the selected motion for the quadruped. The motion runs for the specified times and at the specified speed.
The block performs the selected action for the quadruped. The action runs for the specified times and at the specified speed.
The block sets the servo motors of the quadruped to the specified angles at the specified speed.
The block sets the selected servo motor angle to the specified angle in the specified time. This creates a smooth motion for the servo motor from the current angle to the specified angle.
The block set all the servo motors of the quadruped angles to 90.
The block sets the oscillator parameters for the selected servo motor.
The block resets the oscillator parameter for all the servo motors.
The block executes the oscillator according to stored parameters for the servo motor and the current time.
The block executes the oscillator according to stored parameters for the servo motor and the current angle specified in the block.
The block executes the oscillator for the complete cycle for the specified cycle times. The cycle time is the maximum time period assigned for the oscillator for the individual servo motors.
The block resets the timer running for the oscillator to 0.
The block reports the time passed from the reset for the oscillator.
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Block Coding Examples

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