[[PageOutline(2-5, Table of Contents, floated)]]

= Tutorial =

First, you need to know that '''Py4bot''' is just a framework, not a ready-to-use software. So it is up to you to write the application matching your robot. But don't worry, it is very easy.

The framework contains all base code to setup a working multi-legs robot. All we have to do is overwrite a few classes, and implement virtual methods. It means that you need to know how to code in Python, and what classes / methods are... If it is not the case, have a look [https://wiki.python.org/moin/BeginnersGuide/NonProgrammers here].

Before we dive into the tutorials, we need to install '''Py4bot''', as described in the [[InstallationGuide]]. It is strongly suggested to install from git, so we can keep it up-to-date very easily.

Once it is done, we don't need to edit/modify the source code anymore; we will write our own code in a dedicated directory.

== Vocabulary ==

First, lets define a few words. I tried to use commonly used vocabulary, and hope I did understand them correctly. Feel free to contact me if you find mistakes.

 * IK: Inverse Kinematic

== List of tutorials ==

 * [[Tutorial1FirstRobot|Tutorial 1: First robot]]
 * [[Tutorial2UsingThe3DSimulator|Tutorial 2: Using the 3D simulator]]
 * [[Tutorial3ServosCalibration|Tutorial 3: Servos calibration]]
 * [[Tutorial4AddGamepadSupport|Tutorial 4: Add gamepad support]]

== Tutorial 4: Add gamepad support ==

''Files for this tutorial are available in [https://framagit.org/fma38/Py4bot/tree/master/py4bot/examples/tutorial_4 py4bot/examples/tutorial_4/].''

Here, we will see how to create a custom input frontend for a new gamepad.

Again, we create a new empty dir in our home dir:

{{{
$ mkdir tutorial_4
$ cd tutorial_4
}}}

''TODO''

== Conclusion ==

Thanks for reading these tutorials! There are many additional things to do, and final implementation may change, according to feedback/suggestions I will get. But the core is there. Again, the goal of this framework is to provide a high level tool to build complete and powerfull applications to control multi-legs robots.

Have a look at [https://framagit.org/fma38/Py4bot/tree/master/py4bot/examples/cronos py4bot/examples/cronos/], which contains the code for my 4DoF hexapod, and closely follows Py4bot devs.