def find_pivotpi():
'''
Boolean function that returns the presence of at least one PivotPi
Checks all four possible addresses
Returns True or False
'''
debug_print("Detecting PivotPi")
pivotpi_found = False
try:
import pivotpi
possible_addresses = [0x40, 0x41, 0x42, 0x43]
for add in possible_addresses:
try:
p = pivotpi.PivotPi(add)
pivotpi_found = True
except:
pass
except:
pass
return pivotpi_found
from __future__ import print_function
from __future__ import division
from builtins import input
import time # for reference to elapsed time, and for delays
import colorsys # for RGB to HSV conversion
import pivotpi # import the PivotPi drivers
import brickpi3 # import the BrickPi3 drivers
pivotpi = pivotpi.PivotPi(
0x40, 63.54
) # Use PivotPi I2C address 0x40, and set the calibration frequency to 63.54Hz (unique to each PivotPi)
BP = brickpi3.BrickPi3()
COLOR_SENSOR_PORT = BP.PORT_1 # Color sensor on BrickPi sensor port 1
TOUCH_SENSOR_PORT = BP.PORT_2 # Touch sensor on BrickPi sensor port 1
BELT_MOTOR_PORT = BP.PORT_A # Belt motor on BrickPi motor port A
ARM_SERVO = 0 # Arm servo on PivotPi servo channel 1
BP.set_sensor_type(
COLOR_SENSOR_PORT, BP.SENSOR_TYPE.NXT_COLOR_FULL
) # Configure for an NXT color sensor on BrickPi sensor port 1.
BP.set_sensor_type(TOUCH_SENSOR_PORT, BP.SENSOR_TYPE.TOUCH
) # Configure for a touch sensor on BrickPi sensor port 2.
# Tell the arm to be extended or retracted
def Arm(Position):
if Position:
hldr.setFormatter(fmt)
logger = logging.getLogger(__name__)
logger.setLevel(logging.DEBUG)
logger.addHandler(hldr)
logger_trans = logging.getLogger('transitions')
logger_trans.setLevel(logging.INFO)
logger_trans.addHandler(hldr)
queues = {}
config_file = 'config.json'
camera = PiCameraPhotos()
stop_event = td.Event()
pivotpi = pp.PivotPi()
def fsm_runner():
# sub/pub channels in and from the GUI app
subs_channels = ['solver', 'config', 'arms_play']
pubs_channels = ['update']
subs = [
QueuePubSub(queues).subscribe(channel) for channel in subs_channels
]
# config for arms
config = {}
# finite state machine
rubiks = RubiksSolver(pubs_channels[0])
machine = transitions.Machine(model=rubiks,
#! /usr/local/bin/python3
import threading
import pivotpi_servo
import pivotpi
import cyclic_barrier
if __name__ == '__main__':
lgFlg=True
numServos = 2
ppi = pivotpi.PivotPi(addr = 0x40, actual_frequency = 60)
ppilock = threading.Lock()
stopThreadLock = threading.Lock()
# By setting cbName in the Cyclic Barriers we enable logging for those barriers.
# To disable, do not define cbName (You can also set it explicitly to None
minPosCB = cyclic_barrier.CyclicBarrier(numServos, cbName="MinPosCB")
maxPosCB = cyclic_barrier.CyclicBarrier(numServos, cbName="MaxPosCB")
servoNames = {}
servoNames[0] = "Pulse_0"
servoNames[1] = "Pulse_1"
servoNames[2] = "Pulse_2"
minPos = {}
minPos[0] = 0
minPos[1] = 0
minPos[2] = 0
maxPos = {}
maxPos[0] = 120
This is by far the tastiest project we've ever done! In this project we show you how to build a Gingerbread robot using the Raspberry Pi and servos kit, and the Raspberry Pi Servo Controller. The Gingerbread robot is equipped with a camera that checks for faces, and if it sees a face, it does a small dance!
We naturally had to take this a little further, and added facial recognition to the mix: the robot can detect a face using OpenCV and the Raspberry Pi Camera.
'''
# Some of this code is borrowed from: https://pythonprogramming.net/raspberry-pi-camera-opencv-face-detection-tutorial/
import io
import picamera
import cv2
import numpy
import time
import datetime
import pivotpi
try:
pivotpi = pivotpi.PivotPi(0x40, 60)
except:
print("PivotPi not found - quitting")
exit(-1)
def check_for_face():
#Create a memory stream so photos doesn't need to be saved in a file
stream = io.BytesIO()
#Get the picture (low resolution, so it should be quite fast)
#Here you can also specify other parameters (e.g.:rotate the image)
with picamera.PiCamera() as camera:
camera.resolution = (320, 240)
camera.capture(stream, format='jpeg')
pivot = "Pivot" # used for dictionary key in the return value
# Regex: PivotPi followed by one of Angle,Ms,PWM or LED
# followed by one digit from 0 to 7
# followed by at least one digit
# a potential % sign (0 or 1 time)
# with PWM in, in case we eventually choose to support it in Scratch
# regexpivotpi="^PivotPi(Angle|ms|PWM|LED)([1-8])([0-9.]+)([%]?)"
regexpivotpi = "^(Pivot|Pivot\s*LED)\s*([1-8])\s*([0-9.]+|ON|OFF)\s*(%?)$"
compiled_pivotPi = re.compile(regexpivotpi, re.IGNORECASE)
scratch_pivotpi = None
try:
scratch_pivotpi = pivotpi.PivotPi()
print("PivotPi is detected.")
except:
# print("No PivotPi has been found.")
pass
def isPivotPiMsg(msg):
'''
Is the msg supposed to be handled by PivotPi?
Return: Boolean
True if valid for PivotPi
False otherwise
'''
retval = compiled_pivotPi.match(msg)
