# Author: Mr. Chanapai Chuadchum

# Project name: Robotic hand control function

# Latest update: time 11:44/date 6/11/2018

import math # Math function for the kinematic calculation

import scipy # function for the mat calculation using

from nanpy import (ArduinoApi,SerialManager)

import serial #for the sensor input function for the snsory control

from nanpy import Servo # imort servo function

import time

import pyttsx # For the speech synthesys function speaking function enable

import sklearn

import csv # csv data communication

import progressbar # Progress bar

import speech_recognition as sr

engine = pyttsx.init()

#voices = engine.getProperty('voices')

#for voice in voices:

# engine.setProperty('voice',voice.id)

# print voice.id

# Servo input function

servo = Servo(2) # Finger 1

servo2 = Servo(3) # Finger 2

servo3 = Servo(4) # Finger 3

servo4 = Servo(5) # Finger 4

servo5 = Servo(6) # Finger 5

servo6 = Servo(9) # Finger 6

try:

Handfinger = SerialManager('/dev/ttyACM0',115200) # Hand serial checker and hand shake connection

Handcontrol = ArduinoApi(connection=Handfinger)

engine.say("Hardware serial connected 100 percent")

engine.runAndWait()

for i in progressbar.progressbar(range(100)):

time.sleep(0.02)

except:

print("Connection error please check the serial communication")

try:

Sensorserial = serial.Serial("/dev/ttyUSB0",115200) # Serial communication for the sensors serial

engine.say("Sensors serial connected 100 percent")

engine.runAndWait()

for i in progressbar.progressbar(range(100)):

time.sleep(0.02)

except:

print("Sensors serial failure please check the sensors serial port")

def Finger1_force_sensor(fsr1): # Force senssor reading from the fsr 1

ForceFing1 = (fsr1/4095)*100 # Force finger 1 out function for the force sensor 1

return ForceFing1 #return finger1 force

def Finger2_force_sensor(fsr2): # Force sensor reading from the fsr 2

ForceFing2 = (fsr2/4095)*100 # Force finger 2 out function for the force sensor 2

return ForceFing2 #return finger2 force

def Finger3_force_sensor(fsr3): # Force sensor reading from the fsr 3

ForceFing3 = (fsr3/4095)*100 # Force finger 3 out function for the force sensor 3

return ForceFing3

#>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>

while True:

#delimeter split the data from the serial communication system

try:

Sensory = Sensorserial.readline()

Sensory.split(",")

Sensorydata = Sensory.split(",") # Splitting the sensors

Sensor1_feild_sense = Sensorydata[0]

Sensor2_feild_sense = Sensorydata[1]

Sensor3_feild_sense = Sensorydata[2]

Sensor4_feild_sense = Sensorydata[3]

Sensor5_feild_sense = Sensorydata[4]

Sensor6_feild_sense = Sensorydata[5]

# Raw data from the MCU ESP32 or any type of 32 bit mcu for higher resolution sense

print('Sensor1:'+Sensor1_feild_sense)

print('Sensor2:'+Sensor2_feild_sense)

print('Sensor3:'+Sensor3_feild_sense)

print('Sensor4:'+Sensor4_feild_sense)

print('Sensor5:'+Sensor5_feild_sense)

print('Sensor6:'+Sensor6_feild_sense)

Mem1 = {","} # Memory short time change per event control

Mem1.add(int(Sensor1_feild_sense))

Mem1.add(int(Sensor2_feild_sense))

Mem1.add(int(Sensor3_feild_sense))

Mem1.add(int(Sensor4_feild_sense))

Mem1.add(int(Sensor5_feild_sense))

Mem1.add(int(Sensor6_feild_sense))

print(Mem1)

print("Number of sensor"+ str(int(len(Mem1))-1)) # Len will detected and calculate the joint number to running 1 time for the detection

#stop_listening = r.listen_in_background(m,callback)

# Sensor1 condition working control application

if int(Sensor1_feild_sense) >= 600:

#if 4095 in Mem1 == "True":

engine.say('I feel touch ')

engine.runAndWait()

for move in [45,90]:

servo.write(move)

servo2.write(move+20)

servo3.write(move+30)

servo4.write(90-move)

servo5.write(move+10)

servo6.write(move)

print("finger1 Angle:"+ str(move))

time.sleep(0.1)

else:

print("Sensor1 feild sense waiting status......."+ "[" +str(Sensor1_feild_sense) + "]")

print("Sensor2 feild sense waiting status......."+ "[" +str(Sensor2_feild_sense) + "]")

print("Sensor3 feild sense waiting status......."+ "[" +str(Sensor3_feild_sense) + "]")

print("Sensor4 feild sense waiting status......."+ "[" +str(Sensor4_feild_sense) + "]")

print("Sensor5 feild sense waiting status......."+ "[" +str(Sensor5_feild_sense) + "]")

print("Sensor6 feild sense waiting status......."+ "[" +str(Sensor6_feild_sense) + "]")

except:

print("Error sensoryfunction")