def flash_cube_lights(self, cube: LightCube, light: Light) -> None:
print("Flashing cube {} lights with {}".format(cube, light))
cube.set_lights(light.flash())
def flash_backpack_lights(self, light: Light) -> None:
print("Flashing backpack lights with {}".format(light))
self._robot.set_all_backpack_lights(light.flash())
def cozmo_program(robot: cozmo.robot.Robot):
# Définir la couleur jaune
light_yellow = Light(Color(name='yellow', rgb=(255, 255, 0)))
light_cyan = Light(Color(name='cyan', rgb=(0, 255, 255)))
# Tourner jusqu'a détecter un visage
lookaround = robot.start_behavior(cozmo.behavior.BehaviorTypes.FindFaces)
face = robot.world.wait_for_observed_face()
lookaround.stop()
# Jouer l'animation du Chien
robot.drive_straight(distance_mm(150), speed_mmps(50)).wait_for_completed()
robot.play_anim_trigger(
cozmo.anim.Triggers.CodeLabDog).wait_for_completed()
# Se connecter aux différents cubes et les faire clignoter en jaune
robot.world.get_light_cube(LightCube1Id).set_lights(light_yellow.flash())
robot.world.get_light_cube(LightCube2Id).set_lights(light_yellow.flash())
robot.world.get_light_cube(LightCube3Id).set_lights(light_yellow.flash())
# Attendre jusqu'a ce qu'un cube soit touché
target = robot.world.wait_for(cozmo.objects.EvtObjectTapped)
cube = robot.world.get_light_cube(target.obj.cube_id)
robot.world.get_light_cube(LightCube1Id).set_lights(light_cyan)
robot.world.get_light_cube(LightCube2Id).set_lights(light_cyan)
robot.world.get_light_cube(LightCube3Id).set_lights(light_cyan)
cube.set_lights(light_yellow)
# Tourner jusqu'a détecter le cube
found = False
lookaround = robot.start_behavior(
cozmo.behavior.BehaviorTypes.LookAroundInPlace)
while found is False:
tcube = robot.world.wait_for_observed_light_cube(
include_existing=False)
found = tcube is cube
lookaround.stop()
# Rammasser le cube
robot.dock_with_cube(cube,
approach_angle=cozmo.util.degrees(180),
num_retries=3).wait_for_completed()
robot.move_lift(0.2)
# Tourner jusqu'a détecter de nouvea le visage précédent
found = False
lookaround = robot.start_behavior(cozmo.behavior.BehaviorTypes.FindFaces)
while found is False:
tface = robot.world.wait_for_observed_face()
found = tface is face
lookaround.stop()
# Se déplacer vers le visage poser le cube
robot.drive_straight(distance_mm(200), speed_mmps(50)).wait_for_completed()
robot.move_lift(-3)
robot.move_lift(0)
robot.drive_straight(distance_mm(-100),
speed_mmps(50)).wait_for_completed()
robot.play_anim_trigger(
cozmo.anim.Triggers.CodeLabDog).wait_for_completed()