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

= User guide (git) =

''This documentation tries to follow the developement version of Py4bot. It may or may not be up-to-date.''

For installation instructions, see [InstallationGuide here].

== Usage overview ==

As Py4bot is a framework, you will find here a description of the main things you need to understand to write your own applications.

Together with this page, have a look at the [htdocs:api/index.html complete API].

== Architecture ==

The main parts of the framwork are:

* the robot itself;
* the gait sequencer;
* some remote controllers.

== Geometry definition ==

==== Body/legs geometry ====

[[Image(body_legs.png, nolink)]]

==== Inverse Kinematic for 3 DoF legs ====

[[Image(IK3DoF.png, nolink)]]

==== Inverse Kinematic for 4 DoF leg ====

[[Image(IK4DoF.png, nolink)]]


== Robot ==

== Drivers ==

=== Servos calibration ===

You can use the '''{{{py4bot-gui-servocal.py}}}''' to fine tune your servos calibration, and generate the {{{SERVOS_CALIBRATION}}} dict.

[[Image(py4bot-gui-servocal.png, nolink)]]
== Controllers ==

=== Add a new Frontend ===

== Gaits ==