def main():
tts = ALProxy("ALTextToSpeech", "10.0.0.7", 9559)
tts.say("It's time to get testing!")
motions = CustomMotions()
motions.standUp()
tts.say("Hello")
motions.wave()
motions.sitDown()
def main():
tts = ALProxy("ALTextToSpeech", "10.0.0.7", 9559)
tts.say("It's time to get testing!")
motions = CustomMotions()
motions.standUp()
tts.say("Now where oh where is mark 80?")
motions.detectMarkWalkStraight(80)
tts.say("Here it is.")
tts.say("Now it's time to rest.")
motions.sitDown()
def main():
tts = ALProxy("ALTextToSpeech", "10.0.0.7", 9559)
motions = CustomMotions()
tts.say("Time for a little stretch of the legs.")
motions.standUp()
motions.sitDown()
def connect(self, IP_PR="10.0.0.7", port_PR=9559):
self.speechProxy = ALProxy("ALTextToSpeech", IP_PR, port_PR)
self.autonomousLifeProxy = ALProxy("ALAutonomousLife",
IP_PR, port_PR)
# IP and port overridden in case they change
self.motions = CustomMotions(IP_PR, port_PR)
class PhaseThreeRoutine(Routine.Routine):
'''
Tour demo phase 3
'''
def __init__(self):
'''
Constructor
'''
self.numberSteps = 16
# __init__
def connect(self, IP_PR="10.0.0.7", port_PR=9559):
self.speechProxy = ALProxy("ALTextToSpeech", IP_PR, port_PR)
self.autonomousLifeProxy = ALProxy("ALAutonomousLife",
IP_PR, port_PR)
# IP and port overridden in case they change
self.motions = CustomMotions(IP_PR, port_PR)
#connect
def perform(self):
self.autonomousLifeProxy.setState("disabled")
self.motions.sitDown()
self.motions.standUp()
self.speechProxy.say("I'm looking for the student guide"
" carrying mark 114.")
if not self.motions.lookAroundForMark(
114, maxAttemptsPR=float('inf')):
self.fail()
self.speechProxy.say("I've seen it. Time to welcome our visitors.")
time.sleep(1)
self.motions.wave(True)
self.speechProxy.say("Hello, I'm Robbie. I'm a NAO robot."
"I'm designed and manufactured by the"
" Aldebaran company in France, but all"
" of my present behaviors have been"
" programmed as part of a Senior"
" Software Engineering project.")
time.sleep(1)
self.speechProxy.say("There's very little I can do without the"
" programs made by the students here at"
" Montana Tech; programming me is not easy,"
" but these students have been well-equipped"
" by their education here to deal with"
" complex problems.")
time.sleep(1)
self.speechProxy.say("I hope you have a pleasant and "
"informative visit here at Montana Tech.")
time.sleep(1)
self.speechProxy.say("Unfortunately, I can't stay with you longer "
"as I must return to my post. Have a nice day.")
#run
def fail(self):
self.speechProxy.say("I couldn't find the mark.")
self.motions.sitDown()
self.running = False
#fail
#end PhaseThreeRoutine.py
class PhaseFourAndFiveRoutine(Routine.Routine):
'''
Tour demo phases 4 and 5
'''
def __init__(self):
'''
Constructor
'''
self.numberSteps = 7
# __init__
def connect(self, IP_PR="10.0.0.7", port_PR=9559):
self.speechProxy = ALProxy("ALTextToSpeech", IP_PR, port_PR)
self.autonomousLifeProxy = ALProxy("ALAutonomousLife", IP_PR, port_PR)
# IP and port overridden in case they change
self.motions = CustomMotions(IP_PR, port_PR)
#connect
def perform(self):
self.autonomousLifeProxy.setState("disabled")
self.motions.sitDown()
self.speechProxy.say("I've got to go back now.")
self.motions.standUp()
self.speechProxy.say("Going to stretch my legs a little"\
" to get a feel for the carpet")
self.motions.turnLeft(.2)
self.motions.turnRight(.2)
self.motions.turnAround()
self.speechProxy.say(
"I must now find the mark to get back into the office.")
if not self.motions.lookAroundForMark(64):
self.fail()
self.speechProxy.say("Ah! I see it.")
markSeenAngle = self.motions.getLookAngle()
self.motions.turnLeft(markSeenAngle)
if not self.motions.detectMarkAndMoveTo(64, stoppingDistancePR=.35):
self.fail()
self.speechProxy.say("I will now return to my post. Mark 68 marks it.")
if not self.motions.lookAroundForMark(68):
self.fail()
self.speechProxy.say("Ah! I see the mark.")
markSeenAngle = self.motions.getLookAngle()
self.motions.turnLeft(markSeenAngle)
if not self.motions.detectMarkAndMoveTo(68, stoppingDistancePR=.2):
self.fail()
self.motions.turnAround()
self.motions.sitDown()
#run
def fail(self):
self.speechProxy.say("I couldn't find the mark.")
self.motions.sitDown()
self.running = False
#fail
#end PhaseFourAndFiveRoutine.py
class PhaseOneAndTwoRoutine(Routine.Routine):
'''
Tour demo phases 1 and 2
'''
def __init__(self):
'''
Constructor
'''
self.numberSteps = 14
# __init__
def connect(self, IP_PR="10.0.0.7", port_PR=9559):
self.speechProxy = ALProxy("ALTextToSpeech", IP_PR, port_PR)
self.autonomousLifeProxy = ALProxy("ALAutonomousLife", IP_PR, port_PR)
# IP and port overridden in case they change
self.motions = CustomMotions(IP_PR, port_PR)
#connect
def perform(self):
self.autonomousLifeProxy.setState("disabled")
self.motions.sitDown()
self.speechProxy.say("Thank you for waking me,"\
" I have a job to do.")
self.motions.standUp()
self.speechProxy.say("Going to stretch my legs a little"\
" to get a feel for the carpet")
self.motions.turnLeft(.2)
self.motions.turnRight(.2)
self.speechProxy.say("I must now find the mark on the railing.")
if not self.motions.lookAroundForMark(107):
self.fail()
self.speechProxy.say("Ah! I see the railing mark.")
markSeenAngle = self.motions.getLookAngle()
self.motions.turnLeft(markSeenAngle)
if not self.motions.detectMarkAndMoveTo(107, 1):
self.fail()
self.motions.sitDown()
#run
def fail(self):
self.speechProxy.say("I couldn't find the mark.")
self.motions.sitDown()
self.running = False
def main():
tts = ALProxy("ALTextToSpeech", "10.0.0.7", 9559)
motions = CustomMotions()
motions.standUp()
tts.say("Let's make sure I can turn.")
motions.turnLeft(45)
motions.turnRight(45)
motions.turnAround("left")
motions.turnAround("right")
motions.sitDown()
def main():
tts = ALProxy("ALTextToSpeech", "10.0.0.7", 9559)
motions = CustomMotions()
motions.standUp()
motions.lookTo(60)
tts.say("To the left to the left.")
motions.turnToLookAngle()
tts.say("And back.")
motions.turnRight(60)
motions.sitDown()