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 ​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

• Tutorial 1: First robot
• Tutorial 2: Using the 3D simulator
• Tutorial 3: Servos calibration
• Tutorial 4: Add gamepad support

Tutorial 4: Add gamepad support

Files for this tutorial are available in ​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 ​py4bot/examples/cronos/, which contains the code for my 4DoF hexapod, and closely follows Py4bot devs.