def __init__(self, xmlfile, datadir, spawnpos, world): super(XMLTruck, self).__init__(xmlfile, datadir, spawnpos, world) p = self.parser # For readability... self.hitchConstraint = None self.hitchedTrailer = None # ===== Sound ===== self.sound = SoundController(p.getEngineRpmIdle(), p.getEngineRpmMax() * 1./4., p.getEngineRpmMax() * 2./4., p.getEngineRpmMax() * 3./4.) # ===== Steering ===== self.physMaxAngle = p.getSteeringAngleMax() # The absolute maximum angle possible self.maxAngle = self.physMaxAngle # The maximum steering angle at the current speed (speed-sensitive) self.rate = p.getSteeringRate() self.curAngle = 0.0 self._steerDir = 0 # -1, 0, 1: Sets the direction of steering # ===== Select a drivetrain ===== if p.getDrivetrainType() == "automatic": #self.drivetrain = AutomaticDt(self.vehicle, self.parser) self.drivetrain = Drivetrain(self.vehicle, self.parser) else: print "[WRN] The selected drivetrain type is unknown, choosing automatic!" self.drivetrain = AutomaticDt(self.vehicle, self.parser)
def __init__(self):
threading.Thread.__init__(self)
self.running = False
self.soundCtrlr = SoundController()
self.initVideo()
self.whereIsEveryoneFlag = False
self.iSeeSomeoneFlag = False
self.failure = False
self.record = False
def __init__(self):
self.currentProgram = 'menu' # Current main loop
WIDTH, HEIGHT = 720,406 # Output video quality
self.clock = pygame.time.Clock()
self.timerController = TimerController()
self.renderer = Renderer(WIDTH, HEIGHT)
self.imageLoader = ImageLoader()
self.soundController = SoundController('bgMusic.ogg',[('cutSpell',0.1),('lightingSpell',0.1),('explosionSpell',0.1)],0.05)
self.mouseController = MouseController()
self.menu = Menu(self.imageLoader.imageStorage['menu'],self)
self.player = Player((WIDTH, HEIGHT),self.imageLoader.imageStorage["player"],[(0,2),(2,5),(5,8),(8,11),(11,14),(14,22),(22,37)])
self.spellController = SpellController(self.mouseController,self.imageLoader.imageStorage,self.renderer, self.player,self.soundController)
self.amountBars = AmountBars(self.player, None, self.imageLoader.imageStorage['bars'],(WIDTH//2,HEIGHT//2))
self.boss = None
self.level = None
self.playerMovement = None
def iSeeSomeone(self):
if(self.iSeeSomeoneFlag == False):
SoundController.whistle(self.soundCtrlr)
self.whereIsEveryoneFlag = False
self.iSeeSomeoneFlag = True
import sys
sys.path.append('./classes')
from SoundController import SoundController
from time import sleep
sound = SoundController()
sound.start(SoundController.FILES['MARCH'])
sleep(5)
sound.stop()
def initializeSoundController(self):
self.soundCtrlr = SoundController()
self.soundCtrlr.start()
class R2PY:
def __init__(self):
# if you want to switch to hardware PWM, remember:
# GPIO12(Board 32) & GPIO18(Board 12) share a setting as do GPIO13(Board 33) & GPIO19(Board 35)
# NOTE: all gpio pin numbers are BCM
self.gpioPin_SabertoothS1 = 18
self.gpioPin_SabertoothS2 = 12
self.gpioPin_Syren10 = 13
# board pins 16 (BCM 23) and 18 (BCM 24) initialize to LOW at boot
self.gpioPin_2_leg_mode = 23
self.gpioPin_3_leg_mode = 24
self.pi = pigpio.pi()
self.pi.set_mode(self.gpioPin_2_leg_mode, pigpio.OUTPUT)
self.pi.write(self.gpioPin_2_leg_mode, 0)
self.pi.set_mode(self.gpioPin_3_leg_mode, pigpio.OUTPUT)
self.pi.write(self.gpioPin_3_leg_mode, 0)
self.pi.set_mode(self.gpioPin_Syren10, pigpio.OUTPUT)
self.pi.set_PWM_frequency(self.gpioPin_Syren10, 50)
self.pi.set_servo_pulsewidth(self.gpioPin_Syren10, 0)
# to find the usb port of the sabertooth run this: cd /dev
# and ls to see the list of usb ports, then plug in your usb to the sabertooth and ls again to see the new port
self.saber = Sabertooth('/dev/ttyACM0',
baudrate=115200,
address=128,
timeout=0.1)
self.initializeXboxController()
self.initializeSoundController()
self.initializePeekabooController()
self.running = True
def initializePeekabooController(self):
self.peekabooCtrlr = PeekabooController()
self.peekabooCtrlr.start()
def initializeSoundController(self):
self.soundCtrlr = SoundController()
self.soundCtrlr.start()
def initializeXboxController(self):
try:
# setup controller values
self.xValueLeft = 0
self.yValueLeft = 0
self.xValueRight = 0
self.yValueRight = 0
self.dpadValue = (0, 0)
self.lbValue = 0
self.xboxCtrlr = XboxController(deadzone=0.3,
scale=1,
invertYAxis=True)
# setup call backs
self.xboxCtrlr.setupControlCallback(
self.xboxCtrlr.XboxControls.LTHUMBX, self.leftThumbX)
self.xboxCtrlr.setupControlCallback(
self.xboxCtrlr.XboxControls.LTHUMBY, self.leftThumbY)
self.xboxCtrlr.setupControlCallback(
self.xboxCtrlr.XboxControls.RTHUMBX, self.rightThumbX)
self.xboxCtrlr.setupControlCallback(
self.xboxCtrlr.XboxControls.RTHUMBY, self.rightThumbY)
# self.xboxCtrlr.setupControlCallback(self.xboxCtrlr.XboxControls.LTRIGGER, self.leftTrigger) #triggers don't work
# self.xboxCtrlr.setupControlCallback(self.xboxCtrlr.XboxControls.RTRIGGER, self.rightTrigger) #triggers don't work
self.xboxCtrlr.setupControlCallback(
self.xboxCtrlr.XboxControls.DPAD, self.dpadButton)
self.xboxCtrlr.setupControlCallback(
self.xboxCtrlr.XboxControls.BACK, self.backButton)
self.xboxCtrlr.setupControlCallback(self.xboxCtrlr.XboxControls.A,
self.aButton)
self.xboxCtrlr.setupControlCallback(self.xboxCtrlr.XboxControls.B,
self.bButton)
self.xboxCtrlr.setupControlCallback(self.xboxCtrlr.XboxControls.X,
self.xButton)
self.xboxCtrlr.setupControlCallback(self.xboxCtrlr.XboxControls.Y,
self.yButton)
self.xboxCtrlr.setupControlCallback(self.xboxCtrlr.XboxControls.LB,
self.lbButton)
# start the controller
self.xboxCtrlr.start()
except:
print("ERROR: could not connect to Xbox controller")
def steering(self, x, y):
# assumes the initial (x,y) coordinates are in the -1.0/+1.0 range
print("x = {}".format(x))
print("y = {}".format(y))
# convert to polar
r = math.hypot(x, y)
t = math.atan2(y, x)
# rotate by 45 degrees
t += math.pi / 4
# back to cartesian
left = r * math.cos(t)
right = r * math.sin(t)
# rescale the new coords
left = left * math.sqrt(2)
right = right * math.sqrt(2)
# clamp to -1/+1
left = max(-1, min(left, 1))
right = max(-1, min(right, 1))
print("left = {}".format(left))
print("right = {}".format(right))
# rotate 90 degrees counterclockwise back
returnLeft = right * -1
returnRight = left
print("returnLeft = {}".format(returnLeft))
print("returnRight = {}".format(returnRight))
return returnLeft, returnRight
def translate(self, value, leftMin, leftMax, rightMin, rightMax):
# figure out how 'wide' each range is
leftSpan = leftMax - leftMin
rightSpan = rightMax - rightMin
# convert the left range into a 0-1 range (float)
valueScaled = float(value - leftMin) / float(leftSpan)
# convert the 0-1 range into a value in the right range.
return rightMin + (valueScaled * rightSpan)
# call back functions for left thumb stick
def leftThumbX(self, xValue):
self.xValueLeft = xValue
self.updateFeet()
def xValueLeftValue(self):
return self.xValueLeft
def leftThumbY(self, yValue):
self.yValueLeft = yValue
self.updateFeet()
# call back functions for right thumb stick
def rightThumbX(self, xValue):
self.xValueRight = xValue
self.updateDome()
def xValueRightValue(self):
return self.xValueRight
def rightThumbY(self, yValue):
self.yValueRight = yValue
self.updateDome()
def dpadButton(self, value):
print("dpadButton = {}".format(value))
self.dpadValue = value
self.transitionLegs()
def lbButton(self, value):
print("lbButton = {}".format(value))
self.lbValue = value
def backButton(self, value):
print("backButton = {}".format(value))
self.stop()
def aButton(self, value):
print("aButton = {}".format(value))
if ((value == 1) & (self.lbValue == 1)):
PeekabooController.toggleRecord()
if value == 1:
self.annoyed()
def xButton(self, value):
print("xButton = {}".format(value))
if value == 1:
self.worried()
if (self.lbValue == 1):
self.peekabooCtrlr.resume()
def bButton(self, value):
print("bButton = {}".format(value))
if value == 1:
self.whistle()
if (self.lbValue == 1):
self.peekabooCtrlr.stop()
def yButton(self, value):
print("yButton = {}".format(value))
if value == 1:
self.scream()
# behavioral functions
def annoyed(self):
print("sound annoyed")
SoundController.annoyed(self.soundCtrlr)
def worried(self):
print("sound worried")
SoundController.worried(self.soundCtrlr)
def whistle(self):
print("sound whistle")
SoundController.whistle(self.soundCtrlr)
def scream(self):
print("sound scream")
SoundController.scream(self.soundCtrlr)
def transitionLegs(self):
# up
if ((self.dpadValue == (0, -1)) & (self.lbValue == 1)):
print("3 legged mode started")
self.pi.write(self.gpioPin_3_leg_mode, 1)
sleep(0.1)
self.pi.write(self.gpioPin_3_leg_mode, 0)
# down
elif ((self.dpadValue == (0, 1)) & (self.lbValue == 1)):
print("2 legged mode started")
self.pi.write(self.gpioPin_2_leg_mode, 1)
sleep(0.1)
self.pi.write(self.gpioPin_2_leg_mode, 0)
def updateDome(self):
# debug
print("xValueRight {}".format(self.xValueRight))
print("yValueRight {}".format(self.yValueRight))
# x,y values coming from XboxController are rotated 90 degrees,
# so rotate 90 degrees counterclockwise back (x,y) = (-y, x)
x1 = self.yValueRight * -1
y1 = self.xValueRight
# debug
print("x1 {}".format(x1))
print("y1 {}".format(x1))
# i.e. if i push left, motor should be spinning left
# if i push right, motor should be spinning right
# assuming RC, then you need to generate pulses about 50 times per second
# where the actual width of the pulse controls the speed of the motors,
# with a pulse width of about 1500 is stopped
# and somewhere around 1000 is full reverse and 2000 is full forward.
dutyCycleSyren10 = self.translate(x1, -1, 1, 1000, 2000)
# debug
print("---------------------")
print("dutyCycleSyren10 {}".format(dutyCycleSyren10))
print("---------------------")
self.pi.set_servo_pulsewidth(self.gpioPin_Syren10, dutyCycleSyren10)
def updateFeet(self):
# debug
print("xValueLeft {}".format(self.xValueLeft))
print("yValueLeft {}".format(self.yValueLeft))
# i.e. if i push left, left motor should be spinning backwards, right motor forwards
# if i push right, left motor should be spinning forwards, right motor backwards
left, right = self.steering(self.xValueLeft, self.yValueLeft)
dutyCycleS1 = self.translate(left, -1, 1, -100, 100)
dutyCycleS2 = self.translate(right, -1, 1, -100, 100)
# debug
print("---------------------")
print("dutyCycleS1 {}".format(dutyCycleS1))
print("dutyCycleS2 {}".format(dutyCycleS2))
print("---------------------")
# drive(number, speed)
# number: 1-2
# speed: -100 - 100
self.saber.drive(1, dutyCycleS1)
self.saber.drive(2, dutyCycleS2)
def stop(self):
self.pi.set_servo_pulsewidth(self.gpioPin_Syren10, 0)
saber.stop()
self.xboxCtrlr.stop()
self.peekabooCtrlr.stop()
self.peekabooCtrlr.stopVideo()
self.running = False
def scream(self):
print("sound scream")
SoundController.scream(self.soundCtrlr)
def whistle(self):
print("sound whistle")
SoundController.whistle(self.soundCtrlr)
def worried(self):
print("sound worried")
SoundController.worried(self.soundCtrlr)
def annoyed(self):
print("sound annoyed")
SoundController.annoyed(self.soundCtrlr)
class XMLTruck(XMLVehicle):
def __init__(self, xmlfile, datadir, spawnpos, world):
super(XMLTruck, self).__init__(xmlfile, datadir, spawnpos, world)
p = self.parser # For readability...
self.hitchConstraint = None
self.hitchedTrailer = None
# ===== Sound =====
self.sound = SoundController(p.getEngineRpmIdle(),
p.getEngineRpmMax() * 1./4.,
p.getEngineRpmMax() * 2./4.,
p.getEngineRpmMax() * 3./4.)
# ===== Steering =====
self.physMaxAngle = p.getSteeringAngleMax() # The absolute maximum angle possible
self.maxAngle = self.physMaxAngle # The maximum steering angle at the current speed (speed-sensitive)
self.rate = p.getSteeringRate()
self.curAngle = 0.0
self._steerDir = 0 # -1, 0, 1: Sets the direction of steering
# ===== Select a drivetrain =====
if p.getDrivetrainType() == "automatic":
#self.drivetrain = AutomaticDt(self.vehicle, self.parser)
self.drivetrain = Drivetrain(self.vehicle, self.parser)
else:
print "[WRN] The selected drivetrain type is unknown, choosing automatic!"
self.drivetrain = AutomaticDt(self.vehicle, self.parser)
def setGas(self, gas):
if gas <= 1. and gas >= 0.:
self.drivetrain.setGas(gas)
else:
print "Truck.py:setGas(gas) out of range! (0 < x < 1)"
def setBrake(self, brake):
if brake <= 1. and brake >= 0.:
self.drivetrain.setBrake(brake)
else:
print "Truck.py:setBrake(brake) out of range! (0 < x < 1)"
def getGbState(self):
return self.drivetrain.getGbState()
def shiftDrive(self):
self.drivetrain.shiftDrive()
def shiftNeutral(self):
self.drivetrain.shiftNeutral()
def shiftReverse(self):
self.drivetrain.shiftReverse()
def shiftPark(self):
self.drivetrain.shiftPark()
def steer(self, direction):
if direction >= -1 and direction <= 1:
self._steerDir = direction
else:
print "[WRN] XMLTruck:steer(): Invalid direction parameter."
def _steer(self):
# We are speed sensitive
speed = self.vehicle.getCurrentSpeedKmHour()
if speed > 0 and speed < 90:
self.maxAngle = (-.5) * speed + 45 # Graph this on WolframAlpha to make it obvious :)
elif speed > 90:
self.maxAngle = 1.0
if self._steerDir == 1 and self.curAngle < self.maxAngle:
if self.curAngle < 0:
self.curAngle += 2.0 * self.rate
else:
self.curAngle += self.rate
elif self._steerDir == -1 and self.curAngle > self.maxAngle * -1:
if self.curAngle > 0:
self.curAngle -= 2.0 * self.rate
else:
self.curAngle -= self.rate
else: # self._steerDir == 0
# steer straight
if self.curAngle > self.rate:
self.curAngle -= 2.0 * self.rate
elif self.curAngle < self.rate * -1.0:
self.curAngle += 2.0 * self.rate
else:
self.curAngle = 0.0
def update(self, dt):
super(XMLTruck, self).update(dt)
self._steer()
self.drivetrain.update(dt)
self._applyAirDrag()
self._makeSound()
if not self.hitchedTrailer == None:
self.hitchedTrailer.update(dt, self.curAngle)
for axle in range(0, self.parser.getAxleCount()):
if self.parser.isAxleSteerable(axle):
self.vehicle.setSteeringValue(self.curAngle * self.parser.getAxleSteeringFactor(axle), 2 * axle)
self.vehicle.setSteeringValue(self.curAngle * self.parser.getAxleSteeringFactor(axle), 2 * axle + 1)
def _applyAirDrag(self):
# air density 0.0012 g/cm3 (at sea level and 20 °C)
# cw-Value: 0.8 for a "truck", 0.5 for a modern 40 ton "with aero-kit" (see wikipedia), choosing 0.4 for now.
# force = (density * cw * A * vel) / 2
force = 0.0012 * 0.4 \
* (self.parser.getDimensions()[0] * self.parser.getDimensions()[1]) \
* (self.getSpeed() / 3.6) \
/ 2
# Its a braking force, after all
force *= -1.
relFVector = self.components[0].getBodyNp().getRelativeVector(render, Point3(0, force, 0))
self.components[0].getBodyNp().node().applyCentralForce(relFVector);
def _makeSound(self):
self.sound.playEngineSound(self.getRpm(), self.drivetrain.getGasPedal())
def getRpm(self):
return self.drivetrain.getRpm()
def getGear(self):
return self.drivetrain.getGear()
def reset(self):
for meshId in range(0, self.parser.getMeshCount()):
self.components[meshId].setR(0)
if meshId == 0:
self.components[meshId].setPos(self.components[meshId].getPos() + Vec3(0, 0, 1.5))
else:
parentComp = self.components[self.parser.getMeshParent(meshId)]
self.components[meshId].getBodyNp().setPos(self.components[meshId].getBodyNp().getPos()
+ self.parser.getMeshOffset(meshId)
+ Vec3(0, 0, 1.5))
if not self.hitchedTrailer == None:
self.hitchedTrailer.getChassis().setPos(self.hitchedTrailer.getChassis().getPos() + (0,0,1.5))
self.hitchedTrailer.getChassis().setR(0)
def control(self, conIndex, direction):
if not direction in [-1, 0, 1]:
raise ValueError("direction is none of [-1, 0, 1]")
if conIndex == 0:
if direction in [-1, 1]:
self.constraints[conIndex].getConstraint().enableAngularMotor(True, .4 * direction, 10000000.)
elif direction == 0:
self.constraints[conIndex].getConstraint().enableAngularMotor(True, .0, 1000000.)
else:
print "[WRN] XMLTruck:control0(direction): Direction is none of [1., 0., -1.]"
def couple(self, vehicles):
""" Checks if another vehicle is within 1 unit (meter) range of our hitch. If yes, it will be connected to us. """
if self.hitchConstraint == None:
ourHitchAbsolute = Util.getAbsolutePos(self.getTrailerHitchPoint(), self.getChassis().getBodyNp())
for vehicle in vehicles:
otherHitchAbsolute = Util.getAbsolutePos(vehicle.getTrailerHitchPoint(), vehicle.getChassis().getBodyNp())
if not self == vehicle and vehicle.getType() == "trailer" \
and Util.getDistance(ourHitchAbsolute, otherHitchAbsolute) <= 1:
self.hitchConstraint = self.createCouplingJoint(self.getTrailerHitchPoint(),
vehicle.getTrailerHitchPoint(), vehicle.getChassis().getBodyNp().node())
self.hitchedTrailer = vehicle
else:
self.world.removeConstraint(self.hitchConstraint)
self.hitchConstraint = None
self.hitchedTrailer = None
def createCouplingJoint(self, ourHitch, otherHitch, otherChassisNode):
#BulletConeTwistConstraint (BulletRigidBodyNode const node_a, BulletRigidBodyNode const node_b,
# TransformState const frame_a, TransformState const frame_b)
ourFrame = TransformState.makePosHpr(ourHitch, Vec3(0,0,0))
otherFrame = TransformState.makePosHpr(otherHitch, Vec3(0,0,0))
hitchConstraint = BulletConeTwistConstraint(self.getChassis().getBodyNp().node(), otherChassisNode, ourFrame, otherFrame)
hitchConstraint.setLimit(170, 40, 30)
self.world.attachConstraint(hitchConstraint)
return hitchConstraint
sys.path.append('../')
from sabines_utils import hsv2rgb
from threading import Timer
expander = SX1509(0x3E)
expander.reset(False)
engineLED = RGBLED(expander, [0, 1, 2, 3], False)
engineLEDLeft = RGBLED(expander, [3, 4, 5, 6], False)
engineLEDRight = RGBLED(expander, [6, 7, 8, 9], False)
bridgeLED = RGBLED(expander, [9, 10, 11, 12], False)
wiimote = WiiMote(None)
wiimote.init()
sound = SoundController()
animating = False
hue = 0
def engineRed():
engineLED.setColor([255, 0, 0])
engineLEDLeft.setColor([255, 0, 0])
engineLEDRight.setColor([255, 0, 0])
engineLEDRight.setColor([255, 0, 0])
sound.start(SoundController.FILES['RESISTANCE'])
wiimote.on(wiimote.WIIMOTE_KEYS['A'], engineRed)
def engineOff():
global animating
