A basic stable pose
Now that your biped is built and you know how to program the servos using Python, you can experiment with some basic poses. You'll first create a program that allows you to set individual servos so that you can experiment. Here is the program:
This code includes the Python setAngle function from Chapter 2, Building the Biped. The specifics were taken from the www.pololu.com website, but it simply allows you to set a specific servo to a specific angle.
The next part of the code sets all of the servos to their center location. The final piece of the code, the while 1: code set, simply asks the user for a servo and an angle, and then sends the command to the servo controller.
Once the program is run, you should see your biped standing straight up. If not, you may need to center your servos by adjusting the position of the horns. This is a useful pose, but there are others that are more stable. As an excellent first example, you can change the pose to be more like a Tyrannosaurus...
