def get(self, hub_id, hci=MY_BTCTRLR_HCI):
print("Turn on MoveHub")
movehub = MoveHub(hub_id, 'Auto', hci)
movehub.start()
print("MoveHub ready!")
self.movehub = movehub
return self.movehub
def init_hub(self):
retval = {}
self.my_movehub = MoveHub(self.mac_addr, self.mode, self.hci)
try:
self.my_movehub.start()
except:
err_msg = sys.exc_info()[0]
logger.error("Could not INIT movehub({},{},{}). Error:{}".format(
self.mac_addr, self.mode, self.hci, err_msg))
retval['errStr'] = str(err_msg)
self.try_stop_movehub()
return retval
def init_lego():
retval = {}
my_movehub = MoveHub(MY_MOVEHUB_ADD, MY_MOVEHUB_MODE, MY_BTCTRLR_HCI)
retval['movehub'] = my_movehub
try:
my_movehub.start()
except:
retval['errStr'] = str(sys.exc_info()[0])
retval['movehub'] = None
try_stop_movehub(my_movehub)
return retval
class Boost:
def __init__(self, mac_addr, mode='Auto', hci="hci0"):
self.mac_addr = mac_addr
self.mode = mode
self.hci = hci
def init_hub(self):
retval = {}
self.my_movehub = MoveHub(self.mac_addr, self.mode, self.hci)
try:
self.my_movehub.start()
except:
err_msg = sys.exc_info()[0]
logger.error("Could not INIT movehub({},{},{}). Error:{}".format(
self.mac_addr, self.mode, self.hci, err_msg))
retval['errStr'] = str(err_msg)
self.try_stop_movehub()
return retval
def try_stop_movehub(self):
if (self.my_movehub is not None):
try:
logger.error("Stopping movehub({},{},{})".format(
self.mac_addr, self.mode, self.hci))
self.my_movehub.stop()
except:
err_msg = sys.exc_info()[0]
logger.error(
"Could not STOP movehub({},{},{}). Error:{}".format(
self.mac_addr, self.mode, self.hci, err_msg))
def try_move_hub(self, motor, time_ms, dutycycle_pct):
retval = {}
try:
self.my_movehub.run_motor_for_time(motor, time_ms, dutycycle_pct)
except:
err_msg = sys.exc_info()[0]
logger.error("Could not MOVE movehub({},{},{}). Error:{}".format(
self.mac_addr, self.mode, self.hci, err_msg))
#-- if(say_error):
#-- say("Error while trying to move lego. {}".format(
#-- sys.exc_info()[0]))
retval['errStr'] = str(err_msg)
return retval
def go_forward_command(self):
self.try_move_hub(MOTOR_AB, 2000, 100)
def go_back_command(self):
self.try_move_hub(MOTOR_AB, 2000, -100)
#!/usr/bin/env python3
from pyb00st.movehub import MoveHub
from pyb00st.constants import *
from time import sleep
import os
MY_MOVEHUB_ADD = os.environ.get('MYMOVEHUB')
MY_BTCTRLR_HCI = 'hci0'
mymovehub = MoveHub(MY_MOVEHUB_ADD, 'BlueZ', MY_BTCTRLR_HCI)
try:
mymovehub.start()
mymovehub.subscribe_all()
mymovehub.listen_hubtilt(MODE_HUBTILT_BASIC)
while True:
print('Is connected: ', mymovehub.is_connected())
sleep(1)
finally:
mymovehub.stop()
#!/usr/bin/env python3
from pyb00st.movehub import MoveHub
from pyb00st.constants import *
from time import sleep
MY_MOVEHUB_ADD = '00:16:53:A4:CD:7E'
MY_BTCTRLR_HCI = 'hci0'
mymovehub = MoveHub(MY_MOVEHUB_ADD, 'BlueZ', MY_BTCTRLR_HCI)
try:
mymovehub.start()
mymovehub.subscribe_all()
mymovehub.listen_wedo_tilt(PORT_C, MODE_WEDOTILT_ANGLE)
while True:
sleep(0.2)
print(mymovehub.last_wedo2tilt_C_roll, mymovehub.last_wedo2tilt_C_pitch)
finally:
mymovehub.stop()
#
# This example needs the color sensor at PORT C
# and same sort of car with wheels on PORT A and B
# video: https://youtu.be/8XWXnisMeAY
#
from pyb00st.movehub import MoveHub
from pyb00st.constants import *
from time import sleep
MY_MOVEHUB_ADD = '00:16:53:A4:CD:7E'
MY_BTCTRLR_HCI = 'hci0'
mymovehub = MoveHub(MY_MOVEHUB_ADD, 'BlueZ', MY_BTCTRLR_HCI)
mymovehub.subscribe_all()
mymovehub.listen_colordist_sensor(PORT_C)
while True:
color = mymovehub.last_color_C
if color in COLOR_SENSOR_COLORS:
if color == 'BLUE':
mymovehub.run_motors_for_time(MOTOR_A, 500, -100, -100)
sleep(0.5)
elif color == 'WHITE':
mymovehub.run_motor_for_time(MOTOR_A, 500, -100)
sleep(0.5)
elif color == 'YELLOW':
mymovehub.run_motor_for_time(MOTOR_B, 500, -100)
sleep(0.5)
for device in devices:
if device.name == MY_GAMEPAD_NAME:
my_gamepad = evdev.InputDevice(device.fn)
gamepad_found = True
if not gamepad_found:
print('\'{}\' not found'.format(MY_GAMEPAD_NAME))
exit()
else:
print('Gamepad found')
#
# Connect to BOOST Move Hub
#
mymovehub = MoveHub(MY_MOVEHUB_ADD, 'Auto', MY_BTCTRLR_HCI)
try:
mymovehub.start()
mymovehub.subscribe_all()
mymovehub.listen_colordist_sensor(PORT_C)
mymovehub.listen_button()
sensors_thread = SensorsThread()
sensors_thread.setDaemon(True)
sensors_thread.start()
motors_thread = MotorsThread()
motors_thread.setDaemon(True)
motors_thread.start()
#!/usr/bin/env python3
from pyb00st.movehub import MoveHub
from pyb00st.constants import *
from time import sleep
MY_MOVEHUB_ADD = '00:16:53:A4:CD:7E'
MY_BTCTRLR_HCI = 'hci0'
mymovehub = MoveHub(MY_MOVEHUB_ADD, 'BlueZ', MY_BTCTRLR_HCI)
try:
mymovehub.start()
mymovehub.subscribe_all()
mymovehub.listen_button()
while True:
sleep(0.2)
if mymovehub.last_button == BUTTON_PRESSED:
print('PRESSED')
elif mymovehub.last_button == BUTTON_RELEASED:
print('RELEASED')
else:
print('')
finally:
mymovehub.stop()
def init_movehub():
mh = MoveHub(MY_MOVEHUB_ADD, 'BlueZ', MY_BTCTRLR_HCI)
mh.start()
mh.subscribe_all()
mh.listen_hubtilt(MODE_HUBTILT_BASIC)
mh.listen_colordist_sensor(PORT_D)
mh.listen_angle_sensor(PORT_C)
if mh.is_connected():
print(('Is connected: ', mh.is_connected()))
return mh
def hub():
return MoveHub(MY_MOVEHUB_ADD, 'BlueZ', MY_BTCTRLR_HCI)
from utopia2output import *
from time import sleep
from pyb00st.movehub import MoveHub
from pyb00st.constants import *
mymovehub = MoveHub('00:16:53:a5:6f:8a', 'Auto', 'hci0')
try:
mymovehub.start()
mymovehub.subscribe_all()
mymovehub.listen_angle_sensor(PORT_C)
mymovehub.listen_angle_sensor(PORT_A)
mymovehub.listen_angle_sensor(PORT_B)
except:
print('Cannot connect to Boost.')
# define our action functions
def head(objID):
start_angle_c = mymovehub.last_angle_C
print('move head')
try:
mymovehub.run_motor_for_angle(MOTOR_C, 90, -20)
sleep(1)
mymovehub.run_motor_for_angle(MOTOR_C, 270, 20)
sleep(2)
mymovehub.run_motor_for_angle(MOTOR_C, 180, -50)
sleep(2)
mymovehub.run_motor_for_angle(MOTOR_C, 100, 10)
sleep(2)
#!/usr/bin/env python3
from pyb00st.movehub import MoveHub
from pyb00st.constants import *
from time import sleep
import os
MY_MOVEHUB_ADD = os.environ.get('MYMOVEHUB')
MY_BTCTRLR_HCI = 'hci0'
mymovehub = MoveHub(MY_MOVEHUB_ADD, 'BlueZ', MY_BTCTRLR_HCI)
#mymovehub = MoveHub(MY_MOVEHUB_ADD, 'BlueGiga', '')
#mymovehub = MoveHub(MY_MOVEHUB_ADD, 'Auto', MY_BTCTRLR_HCI)
try:
mymovehub.start()
print(mymovehub.backend)
mymovehub.subscribe_all()
mymovehub.listen_hubtilt(MODE_HUBTILT_BASIC)
while True:
sleep(0.2)
if mymovehub.last_hubtilt in TILT_BASIC_VALUES:
print(TILT_BASIC_TEXT[mymovehub.last_hubtilt])
finally:
mymovehub.stop()
#!/usr/bin/env python3
from pyb00st.movehub import MoveHub
from pyb00st.constants import *
from time import sleep
mymovehub = MoveHub('00:16:53:AA:9F:76', 'BlueGiga', '')
try:
mymovehub.start()
print(mymovehub.get_name())
for i in range(20):
# turn motor A ON for 1000 ms at 100% duty cycle in both directions
mymovehub.run_motor_for_time(MOTOR_A, 1000, 100)
sleep(1)
mymovehub.run_motor_for_time(MOTOR_A, 1000, -100)
sleep(1)
finally:
mymovehub.stop()
#!/usr/bin/env python3
from pyb00st.movehub import MoveHub
from pyb00st.constants import *
from time import sleep
import os
MY_MOVEHUB_ADD = os.environ.get('MYMOVEHUB')
MY_BTCTRLR_HCI = 'hci0'
mymovehub = MoveHub(MY_MOVEHUB_ADD, 'BlueZ', MY_BTCTRLR_HCI)
try:
mymovehub.start()
mymovehub.subscribe_all()
mymovehub.listen_wedo_distance(PORT_D, MODE_WEDODIST_DISTANCE)
while True:
sleep(0.2)
print(mymovehub.last_wedo2distance_D)
finally:
mymovehub.stop()
#!/usr/bin/env python3
from pyb00st.movehub import MoveHub
from pyb00st.constants import *
from time import sleep
import os
MY_MOVEHUB_ADD = os.environ.get('MYMOVEHUB')
MY_BTCTRLR_HCI = 'hci0'
mymovehub = MoveHub(MY_MOVEHUB_ADD, 'BlueZ', MY_BTCTRLR_HCI)
try:
mymovehub.start()
mymovehub.subscribe_all()
mymovehub.listen_angle_sensor(PORT_D)
mymovehub.listen_colordist_sensor(PORT_C)
while True:
sleep(0.2)
print('Motor D: {} Color: {}'.format(mymovehub.last_angle_D,
mymovehub.last_color_C))
finally:
mymovehub.stop()
#!/usr/bin/python3
from utopia2output import *
from time import sleep
from pyb00st.movehub import MoveHub
from pyb00st.constants import *
mymovehub = MoveHub('00:16:53:A5:03:67', 'Auto', 'hci0')
mymovehub.start()
while True:
try:
mymovehub.connect()
except Exception as e:
print(e)
print('Cannot connect to Boost, trying again..')
else:
break
# define our action functions
def head(objID):
print('move head')
try:
mymovehub.run_motor_for_angle(MOTOR_D, 70, 20)
sleep(2)
mymovehub.run_motor_for_angle(MOTOR_D, 140, -10)
sleep(1)
mymovehub.run_motor_for_angle(MOTOR_D, 70, 20)
except:
print('Cannot connect to Boost.')
(self._set_working(False), callback()))
elif status == CLOSED and self.get_status() == OPEN:
logger.debug("closing thumb turn")
self._set_working(True)
self.motor_actor.close(lambda:
(self._set_working(False), callback()))
def get_status(self):
"""サムターンの状態を取得する"""
color = self.hub_actor.get_color().get()
return to_status_from_color(color)
print('turn the power on of the movehub in 10 seconds')
sleep(1)
hub = MoveHub(address=None, backend='Auto')
hub.start(timeout=1, retry=10)
hub.subscribe_all()
def sigint_handler(sig, stack):
hub.stop()
signal.signal(signal.SIGINT, sigint_handler)
sleep(1)
hub_actor_ref = HubActor.start(hub)
hub_actor_proxy = hub_actor_ref.proxy()
key_motor_actor_ref = KeyMotorActor.start(hub_actor_proxy)
#!/usr/bin/env python3
from pyb00st.movehub import MoveHub
from pyb00st.constants import *
from time import sleep
import os
MY_MOVEHUB_ADD = os.environ.get('MYMOVEHUB')
MY_BTCTRLR_HCI = 'hci0'
mymovehub = MoveHub(MY_MOVEHUB_ADD, 'BlueZ', MY_BTCTRLR_HCI)
try:
mymovehub.start()
# turn WeDo motor on port C ON for 500 ms at 100% duty cycle in both directions
# then stop
mymovehub.motor_wedo(PORT_C, 100)
sleep(0.5)
mymovehub.motor_wedo(PORT_C, -100)
sleep(0.5)
mymovehub.motor_wedo(PORT_C, 0)
finally:
mymovehub.stop()
#!/usr/bin/env python3
from pyb00st.movehub import MoveHub
from pyb00st.constants import *
from time import sleep
MY_MOVEHUB_ADD = '00:16:53:A4:CD:7E'
MY_BTCTRLR_HCI = 'hci0'
mymovehub = MoveHub(MY_MOVEHUB_ADD, 'BlueZ', MY_BTCTRLR_HCI)
try:
mymovehub.start()
# turn motor A ON for 1000 ms at 100% duty cycle in both directions
mymovehub.run_motor_for_time(MOTOR_A, 1000, 100)
sleep(1)
mymovehub.run_motor_for_time(MOTOR_A, 1000, -100)
sleep(1)
sleep(0.5)
# rotate motor 90 degrees at 100% duty cycle in both directions
mymovehub.run_motor_for_angle(MOTOR_A, 90, 100)
sleep(0.5)
mymovehub.run_motor_for_angle(MOTOR_A, 90, -100)
sleep(0.5)
# turn pair AB ON for 1000 ms at 100% duty cycle in both direction
