# 4. PC Software&Programming

## 4.1 PC Software Introduction

This section mainly introduces the SpiderPi PC software, which can help you quickly understand how to use it.

First connect to VNC remote desktop and double-click "**SpiderPi**" to start it. (Click "**Execute**" in the pop-up window ).

<img class="common_img" src="../_static/media/8/1.1/image1.png" />

<img class="common_img" src="../_static/media/8/1.1/image2.png"  />

The main interface of the SpiderPi PC software in "**English**" mode consists of four areas, as shown below:

<img class="common_img" src="../_static/media/8/1.1/image3.png"  />

**① Servo operation area**

Drag the corresponding servo to adjust the servo position:

| **Icon** | **Function** |
|:--:|:--:|
| <img src="../_static/media/8/1.1/image4.png" style="width:100px" /> | ID number.Take NO.9 servo as example. |
| <img src="../_static/media/8/1.1/image4.1.png" style="width:100px" /> | Adjust servo position from 0 to 1000. |
| <img src="../_static/media/8/1.1/image4.2.png" style="width:100px" /> | Adjust servo deviation from -125 to 125. |

**② Action data list**

Action list display the running time and servo data of the current action.

<img class="common_img" src="../_static/media/8/1.1/image5.png"  />


| **Icon** |                                                       Function                                                        |
|:--:|:---------------------------------------------------------------------------------------------------------------------:|
| <img src="../_static/media/8/1.1/image6.png" style="width:80px" /> |                                                   Action group NO.                                                    |
| <img src="../_static/media/8/1.1/image7.png" style="width:80px" /> |                                              Running time of the action.                                              |
| <img src="../_static/media/8/1.1/image8.png" style="width:80px" /> | Action data of the corresponding servo.  <img src="../_static/media/8/1.1/image9.png" style="width:60px" />to revise. |

**③ Action group setting**

| **Icon** | **Function** |
|:--:|:--:|
| <img src="../_static/media/8/1.1/image10.png" style="width:150px" /> | Action running duration time, click the icon in the value, can be modified. Note: the "**Update Action**" button is needed to take effect. In addition, the value range of the time is 20-9999. |
| <img src="../_static/media/8/1.1/image11.png" style="width:150px" /> | The total running time of all the actions in an group action to complete run. |
| <img src="../_static/media/8/1.1/image12.png" style="width:100px" /> | Click to add the new action. |
| <img src="../_static/media/8/1.1/image13.png" style="width:100px" /> | Delete action is delete the selected action in the list. |
| <img src="../_static/media/8/1.1/image14.png" style="width:100px" /> | Update the selected action. |
| <img src="../_static/media/8/1.1/image15.png" style="width:100px" /> | Insert the new action on the action list. Action time(ms). |
| <img src="../_static/media/8/1.1/image16.png" style="width:100px" /> | Move up the selected action. |
| <img src="../_static/media/8/1.1/image17.png" style="width:100px" /> | Move down the selected action. |
| <img src="../_static/media/8/1.1/image18.png" style="width:100px" /> | Click to run all the actions on the edited list once. |
| <img src="../_static/media/8/1.1/image19.png" style="width:100px" /> | If "**Loop**" is ticked, SpiderPi will repeat the action. |
| <img src="../_static/media/8/1.1/image20.png" style="width:100px" /> | Click to open and select the provided action groups. |
| <img src="../_static/media/8/1.1/image21.png" style="width:100px" /> | Save the current actions in the action list into the computer. |
| <img src="../_static/media/8/1.1/image22.png" style="width:100px" /> | Click to integrate provided action group. Choose one action group, click integrate and then choose another one. |
| <img src="../_static/media/8/1.1/image23.png" style="width:100px" /> | Display the saved action groups. |
| <img src="../_static/media/8/1.1/image24.png" style="width:100px" /> | Delete the current action group file. |
| <img src="../_static/media/8/1.1/image25.png" style="width:100px" /> | (Be careful!)Deleted all the action group files. |
| <img src="../_static/media/8/1.1/image26.png" style="width:100px" /> | Run the selected action group once. |
| <img src="../_static/media/8/1.1/image27.png" style="width:100px" /> | Stop running the action group. |

④ Servo deviation setting area

| Icon | Function |
|:--:|:--:|
| <img src="../_static/media/8/1.1/image28.png" style="width:100px" /> | Click to read the save the servo deviation. |
| <img src="../_static/media/8/1.1/image29.png" style="width:100px" /> | Click to download the deviation adjustment in the PC software. |
| <img src="../_static/media/8/1.1/image30.png" style="width:100px" /> | Click to return all the servos the middle position(500). |

## 4.2 Call Action Group

### 4.2.1 Goal

This section focuses on how to call the built-in action group via SpiderPi PC software.

### 4.2.2 Call Action Group

(1) Power on the robot.

<img class="common_img" src="../_static/media/8/2.1/image1.png"  />

(2) Click <img src="../_static/media/8/2.1/image2.png" style="width:40px" />，Select "**Execute**" to open the PC software.

<img class="common_img" src="../_static/media/8/3.1/image3.png"  />

(3) Click "**Open action file**" to open the action group file located in the same directory as this lesson.

<img class="common_img" src="../_static/media/8/2.1/image4.png" style="width:640px;" />

<img class="common_img" src="../_static/media/8/2.1/image5.png" style="width:640px;"/>

(4) The action data list will display the opened action group.

<img class="common_img" src="../_static/media/8/2.1/image12.png" style="width:640px;" />

(5) Click "**Run**" .

<img class="common_img" src="../_static/media/8/2.1/image6.png" style="width:640px;" />

(6) You can click the dropdown button of the action group, and select the action group to be run. Then, click "**Run action group**".

<img class="common_img" src="../_static/media/8/2.1/image7.png" style="width:640px;" />

<img class="common_img" src="../_static/media/8/2.1/image8.png" style="width:640px;" />

<img class="common_img" src="../_static/media/8/2.1/image9.png" style="width:640px;" />

<p id="anchor_4_3"></p>

## 4.3 Action Group Programming

### 4.3.1 Project Outcome

Create an action group consisting of 10 actions to allow the SpiderPi to "**Wave**".

### 4.3.2 Complete Program

**(1) Action Programming**

① After starting, program SpiderPi to stand in the low stance. Click "**Open action group file**" button and<img src="../_static/media/8/3.1/image1.png" style="width:40px" />to update the action value to the servo control area.

<img class="common_img" src="../_static/media/8/3.1/image2.png"  />

② Program SpiderPi to rise the right No.1 leg. Please adjust according to the below servo data and click "**Add action**" button to add the action data. Do not forget to add each single action into the list. 

<img class="common_img" src="../_static/media/8/3.1/image3.png"  />

③ For the better performance, set the No.3 action as the preparation. Modify the time to 200ms and add the step 2 again.

<img class="common_img" src="../_static/media/8/3.1/image4.png"  />

<img class="common_img" src="../_static/media/8/3.1/image5.png"  />

④ Modify the time back to 500ms and wave the raised leg, which requires to advise the ID:16 servo.

<img class="common_img" src="../_static/media/8/3.1/image8.png" />

⑤ Rotate the raised right leg to left which is to adjust the ID:16 servo again.

<img class="common_img" src="../_static/media/8/3.1/image9.png" />

⑥ Program the raised leg to turn as the No.6 action. Just copy the previous action. Move the mouse to the 4th action, then click to update the action value, click "**Add Action**" again.

<img class="common_img" src="../_static/media/8/3.1/image6.png"  />

<img class="common_img" src="../_static/media/8/3.1/image7.png"  />

⑦ No.7 action we let the right leg rotate to the left, and the method of step 6 can be taken to copy the No. 5 action. 

⑧ No. 8 moves back to the status when the right leg is just raised, that is, copy 2 action. (Reference Step 6) 

⑨ No. 9 action we use to transition, modify the time to 200ms, and add the action of step 8 again.

<img class="common_img" src="../_static/media/8/3.1/image10.png"  />

⑩ The last action allows the robot to return to a low posture, copy the No.1 action. (Reference Step 6) 

The full numerical parameters of the action group are shown in the following table: (red is a value that needs to be adjusted) 

<img  class="common_img" src="../_static/media/8/3.1/111.png"  />

**(2) Save Action group** 

After programming, please save the action group for future debugging. Click "**Save action file**", choose the path "/home/pi/SpiderPi/ActionGroups", name it (suck as"**greet**") and then click "**Save**" button.

<img class="common_img" src="../_static/media/8/3.1/image12.png"  />

## 4.4 Integrate Action Groups

### 4.4.1 Project Outcome

Integrate the provided basic actions to become a new action group. This section takes the integrate **"Wave"** and **"stepping"** action as an example.

### 4.4.2 Complete Program

① Connect VNC and open SpiderPi PC software.

② Click "**Integrate file**", choose and double click **"wave.d6a**" to open.(And "/home/pi/SpiderPi/ActionGroups" file)

<img class="common_img" src="../_static/media/8/4.1/image2.png"  />

③ Then the action list displays the detailed parameter of action group.

<img class="common_img" src="../_static/media/8/4.1/image3.png"  />

④ Click "**Integrate file**" again, choose "**stepping.d6a**" and double click to select it.

<img class="common_img" src="../_static/media/8/4.1/image4.png"  />

⑤ Click "**Run**" to execute the new integrated actions online.

<img class="common_img" src="../_static/media/8/4.1/image5.png" />

⑥ Click "**Save action file**" button and enter new action group name (such as "**wave and stepping**" ) to save the new integrated action group for the future debugging.

<img class="common_img" src="../_static/media/8/4.1/image6.png"  />

## 4.5 App Custom Calling

### 4.5.1 Goal

Execute the action group file in [4.3 Action Group Programming](#anchor_4_3)  using the custom function in the app. Let's demonstrate on executing the "**greeting**" action.

**5.2 Getting Ready**

(1) After connecting VNC, open the file manager on the system desktop.

<img class="common_img" src="../_static/media/8/5.1/image1.png"  />

(2) Access the path `/home/pi/spiderpi`. Find the file "ActionGroupDict.py", and open it with the "**Text Editor**".

<img class="common_img" src="../_static/media/8/5.1/image2.png"  />

(3) Copy the line where the action 22 is located. 

<img class="common_img" src="../_static/media/8/5.1/image3.png"  />

(4) Paste the code on a new line. Set the number as 45 and name it as "**greet**". Please refer to the names of the action group files in `/home/pi/spiderpi/ActionGroups`.

<img class="common_img" src="../_static/media/8/5.1/image4.png"  />

:::{Note}
Please avoid using numbers that have been defined or the number 255. Keep the action group name consistent with the names in the storage directory (/home/pi/TonyPi/action_groups).
:::

(5) Press "**Ctrl+S**" to save and exit.

(6) Run the command to reboot the Raspberry Pi. (This step must be performed.)

```bash
sudo reboot
```

### 4.5.2 Operation Steps

(1) Open the app, and connect to the robot. Enter the "**Robot Control**" interface.

<img src="../_static/media/8/5.1/image5.png"  />

(2) Click the "**Action**" button. Then, click "**Custom actions**" in the pop-up window.

<img src="../_static/media/8/5.1/image6.png"  />

(3) Fill in the saved action group name and the number. Click "**OK**" to save.

The name can be customized. The number should be the same as the filled one in ActionGroupDict.py.

<img src="../_static/media/8/5.1/image7.png" />

(4) After adding, click "**Action -\> Custom action -\> Wave**" to execute the action.

<img src="../_static/media/8/5.1/image6.png" />

<img src="../_static/media/8/5.1/image8.png" />

(5) If you want to modify or delete an action, long-press the action name and select the corresponding operation.

<img src="../_static/media/8/5.1/image9.png" />