def __init__(self):
defaultPlayer.Player.__init__(self)
self.leftMotion = motion.Motion("./players/perso_2/right",
self,
speed=0.1,
invert=True)
self.rightMotion = motion.Motion("./players/perso_2/right",
self,
speed=0.1)
self.upMotion = motion.Motion("./players/perso_2/fly", self, speed=0.4)
self.downMotion = motion.Motion("./players/perso_2/down", self, yi=5)
self.SAMotion = motion.Motion("./players/perso_2/attaque",
self,
speed=0.2)
self.downMotion.setRollEnabled(False)
def create_motions(parts_cell, mode):
list_list_motion = []
bRough = 0
for part in parts_cell:
list_motion = []
for elem in part:
npoints_traj = elem.npoints_traj
if mode == "radiation":
size_motion = npoints_traj * 3 - 1
else:
size_motion = npoints_traj
if elem.type == und_type: # structure.type == "undulator"
#size_motion = size_motion*elem.field_file_rep - (elem.field_file_rep - 1)*(2-bRough)
size_motion = size_motion
if elem.field_map:
size_motion = size_motion * elem.field_map.field_file_rep - (
elem.field_map.field_file_rep - 1) * (2 - bRough)
motion = mtn.Motion(N=size_motion)
#print "length memory motion:", len(motion.memory_motion)
motion.bRough = 0
motion.mode = mode
motion.type_element = elem.type
list_motion.append(motion)
list_list_motion.append(list_motion)
return list_list_motion
def __init__(self):
defaultPlayer.Player.__init__(self)
self.leftMotion = motion.Motion("./players/perso_3/thanos_deplacement",
self,
speed=0.1,
invert=True)
self.rightMotion = motion.Motion(
"./players/perso_3/thanos_deplacement", self, speed=0.1)
self.upMotion = motion.Motion("./players/perso_3/thanos_saut",
self,
speed=0.4)
self.downMotion = motion.Motion("./players/perso_3/thanos_repos",
self,
yi=5)
self.SAMotion = motion.Motion("./players/perso_3/thanos_attaque1",
self,
speed=0.2)
self.downMotion.setRollEnabled(False)
def __init__(self):
self.evt = event.Event()
self.motion = motion.Motion() #actuator class
self.sonic = sonic_sensor.SonicSensor()
self.camera = camera.Camera() #sencer class
self.uploader = uploader.Uploader() #sencer class
self.motion.evt += self.camera.execute
self.motion.evt += self.uploader.execute
self.sonic.evt += self.camera.execute
self.sonic.evt += self.uploader.execute
def write_floor(self, cursor, zone_label, zone_attr):
if zone_label not in zone_attr.floors:
return
floor_motion = motion.Motion(True)
floor_motion.pos = list(cursor)
block_offset = [0, 0, 0]
draw_obj = DrawObject(floor_motion, zone_attr.floors[zone_label],
DrawObject.FLOOR)
floor_bounds = [Bounds(0, 1), Bounds(0, 1), Bounds(-0.05, 0.05)]
map_obj = map_object.MapObject(floor_motion, floor_bounds,
block_offset, draw_obj)
block = self.blocks[tuple(cursor)]
block.coords = tuple(cursor)
block.objects.append(map_obj)
def _setup_camera(self):
import picamera
import motion
self._camera = picamera.PiCamera(framerate=_FRAMERATE,
resolution=_RESOLUTION)
self._camera.led = False
self._camera.rotation = _ROTATE
self._motion_recording = None
self._motion_channel = 1
self._motion_recording_flag = False
self._motion_detector = motion.Motion(self._camera)
self._motion_recording = picamera.PiCameraCircularIO(
self._camera,
splitter_port=self._motion_channel,
seconds=_MOTION_RECORDING_TIME)
def __init__(self):
# indication led
config = configparser.ConfigParser()
config.read("../carty.ini")
self.indication_led = int(config["MAIN"]["INDICATION_LED"])
gpio.setmode(gpio.BCM)
gpio.setup(self.indication_led, gpio.OUT)
gpio.output(self.indication_led, gpio.LOW)
# hardware modules
self.motion = motion.Motion()
self.lights = lights.Lights()
# mode
self.mode = Mode.realtime
self.cached_commands = []
self.command_time = 0
self.prev_command = ""
def __init__(self, ip="127.0.0.1", port=9559):
connection_url = "tcp://" + ip + ":" + str(port)
print("Connecting to nao-qi at {0} ...".format(connection_url))
self.app = qi.Application(["--qi-url=" + connection_url])
self.app.start()
self.session = self.app.session
self.audio = audio.Audio(self.session)
self.vision = vision.Vision(self.session)
self.touch = touch.Touch(self.session)
self.motion = motion.Motion(self.session)
self.behavior = behavior.Behavior(self.session)
self.tablet = tablet.Tablet(self.session)
self.audio.set_callback(self.send) # Set send fallback
self.vision.set_callback(self.send) # Set send fallback
self.touch.set_callback(self.send) # Set send fallback
self.motion.set_callback(self.send) # Set send fallback
self.behavior.set_callback(self.send) # Set send fallback
def write_wall(self, cursor, zone_label, zone_attr, wall_type):
if zone_label not in zone_attr.outer:
return
offset_map = {
'u': [0, 0, 0],
'l': [0, 0, 0],
'd': [0, 1, 0],
'r': [1, 0, 0],
}
bounds_map = {
'u': [Bounds(0, 1), Bounds(0, 0),
Bounds(0, 1)],
'l': [Bounds(0, 0), Bounds(0, 1),
Bounds(0, 1)],
'd': [Bounds(0, 1), Bounds(0, 0),
Bounds(0, 1)],
'r': [Bounds(0, 0), Bounds(0, 1),
Bounds(0, 1)],
}
wall_motion = motion.Motion(True)
block_offset = offset_map[wall_type]
wall_motion.pos = [a + b for a, b in zip(block_offset, list(cursor))]
draw_obj = None
if wall_type is 'u' or wall_type is 'd':
draw_obj = DrawObject(wall_motion, zone_attr.outer[zone_label],
DrawObject.X)
if wall_type is 'l' or wall_type is 'r':
draw_obj = DrawObject(wall_motion, zone_attr.outer[zone_label],
DrawObject.Y)
map_obj = map_object.MapObject(wall_motion, bounds_map[wall_type],
block_offset, draw_obj)
block = self.blocks[tuple(cursor)]
block.coords = tuple(cursor)
block.objects.append(map_obj)
import time
from flask import Flask, render_template
import motion
from ultrasonic import Ultrasonic
app = Flask(__name__)
ctrl = motion.Motion()
sensor = Ultrasonic(trig_pin=29, echo_pin=31)
def index():
return render_template("index.html")
def forward():
print "Onward!"
ctrl.forward(100)
time.sleep(1)
ctrl.stop()
return "Onward!"
def backward():
print "Backwards!"
ctrl.backward(100)
time.sleep(1)
ctrl.stop()
return "Backwards!"
def left():
print "Left"
ctrl.left(75)
time.sleep(1)
ctrl.stop()
def provide_sensor_motion(self):
_motion = motion.Motion(self.provide_driver_default())
_motion.add_pipeline("movement",
self.provide_pipeline_motion_movement_1())
return _motion
def __init__(self):
self.motion = motion.Motion()
def _lightBlink(colour):
hub.light.blink(colour, [200, 200])
print(pybricks.version)
hub = TechnicHub()
sensor = ColorDistanceSensor(Port.A)
colour.initColoursForSensor(sensor)
controller = ColorDistanceSensor(Port.B)
leftMotor = Motor(Port.C, Direction.COUNTERCLOCKWISE, gears=[12, 20])
rightMotor = Motor(Port.D, gears=[12, 20])
driveBase = DriveBase(leftMotor, rightMotor, 49.7, 98.1)
motion = motion.Motion(sensor, driveBase)
terrain = navigation.Terrain()
try:
print("Battery is %smV" % hub.battery.voltage())
_lightBlink(PBColor.WHITE)
_waitForController()
_lightOff()
home = motion.position.copy()
while True:
try:
motion.seek()
print("Found!")
found = motion.identify()
print("Identified: " + str(found))
_lightBlink(found)
def __init__(self):
self.evt = event.Event()
self.motion = motion.Motion() #sencor class
self.shoot = shoot.Shoot() #actuator class
self.upload = upload.Upload() #actuator class
self.led = led.led()
