/
rsbot_interface.py
290 lines (214 loc) · 9.37 KB
/
rsbot_interface.py
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from Adafruit_MotorHAT import Adafruit_MotorHAT, Adafruit_DCMotor
from robot_util import times
import time
import atexit
import json
import _thread
import vibrate
import robot_util
commandArgs = None
turningSpeedActuallyUsed = 255
#drivingSpeedAcutallyUsed = 255
straightDelay = 0.6
movementSystemActive = False
pingPongNumActive = 0
freePongActive = False
mh = Adafruit_MotorHAT(addr=0x60)
def getMotorHAT():
global mh
return mh
# occationally do this reinitialization in case it has stopped working
#if random.randint(0, 50) == 0:
# print()
# print("******** GETTING MOTOR HAT OBJECT AGAIN ********")
# print()
# mh = Adafruit_MotorHAT(addr=0x60)
#return mh
import random
def runMotor(motorIndex, direction):
global mh
mh = getMotorHAT()
motor = mh.getMotor(motorIndex+1)
if direction == 1:
motor.setSpeed(drivingSpeed)
motor.run(Adafruit_MotorHAT.FORWARD)
if direction == -1:
motor.setSpeed(drivingSpeed)
motor.run(Adafruit_MotorHAT.BACKWARD)
if direction == 0.5:
motor.setSpeed(128)
motor.run(Adafruit_MotorHAT.FORWARD)
if direction == -0.5:
motor.setSpeed(128)
motor.run(Adafruit_MotorHAT.BACKWARD)
def init(cArgs, forwardDefinition, leftDefinition, pEnabled):
global mh
global commandArgs
global drivingSpeed
global speed1
global left
global right
global forward
global backward
global motorA
global motorB
global pingPongEnabled
global mhPingPong
pingPongEnabled = pEnabled
forward = forwardDefinition
backward = times(forward, -1)
left = leftDefinition
right = times(left, -1)
print("directions", forward, backward, left, right)
commandArgs = cArgs
drivingSpeed = commandArgs.straight_speed
speed1 = drivingSpeed
_thread.start_new_thread(demoShots, ())
atexit.register(turnOffMotors)
motorA = mh.getMotor(1)
motorB = mh.getMotor(2)
atexit.register(turnOffMotors)
if pingPongEnabled:
mhPingPong = Adafruit_MotorHAT(addr=0x61)
def turnOffMotors():
global mh
mh = getMotorHAT()
mh.getMotor(1).run(Adafruit_MotorHAT.RELEASE)
mh.getMotor(2).run(Adafruit_MotorHAT.RELEASE)
mh.getMotor(3).run(Adafruit_MotorHAT.RELEASE)
mh.getMotor(4).run(Adafruit_MotorHAT.RELEASE)
def demoShots():
while True:
time.sleep(3600)
#handleCommand('FIRE')
#todo: should be called process command
def handleCommand(command, keyPosition, price=0):
global movementSystemActive
global pingPongNumActive
global freePongActive
if keyPosition != "down":
return
d = 255
motorA.setSpeed(speed1)
motorB.setSpeed(speed1)
robot_util.handleSoundCommand(command, keyPosition, price)
if command == 'F':
if movementSystemActive:
print("skip")
else:
drivingSpeed = d
for motorIndex in range(4):
runMotor(motorIndex, forward[motorIndex])
movementSystemActive = True
time.sleep(straightDelay)
turnOffMotors()
movementSystemActive = False
if command == 'B':
if movementSystemActive:
print("skip")
else:
drivingSpeed = d
for motorIndex in range(4):
runMotor(motorIndex, backward[motorIndex])
movementSystemActive = True
time.sleep(straightDelay)
turnOffMotors()
movementSystemActive = False
if command == 'L':
if movementSystemActive:
print("skip")
else:
drivingSpeed = turningSpeedActuallyUsed
for motorIndex in range(4):
runMotor(motorIndex, left[motorIndex])
movementSystemActive = True
print("starting")
time.sleep(commandArgs.turn_delay)
print("finished")
turnOffMotors()
movementSystemActive = False
if command == 'R':
if movementSystemActive:
print("skip")
else:
drivingSpeed = turningSpeedActuallyUsed
for motorIndex in range(4):
runMotor(motorIndex, right[motorIndex])
movementSystemActive = True
time.sleep(commandArgs.turn_delay)
turnOffMotors()
movementSystemActive = False
if command == 'U':
#mhArm.getMotor(1).setSpeed(127)
#mhArm.getMotor(1).run(Adafruit_MotorHAT.BACKWARD)
incrementArmServo(1, 10)
time.sleep(0.05)
if command == 'D':
#mhArm.getMotor(1).setSpeed(127)
#mhArm.getMotor(1).run(Adafruit_MotorHAT.FORWARD)
incrementArmServo(1, -10)
time.sleep(0.05)
if command == 'O':
#mhArm.getMotor(2).setSpeed(127)
#mhArm.getMotor(2).run(Adafruit_MotorHAT.BACKWARD)
incrementArmServo(2, -10)
time.sleep(0.05)
if command == 'C':
#mhArm.getMotor(2).setSpeed(127)
#mhArm.getMotor(2).run(Adafruit_MotorHAT.FORWARD)
incrementArmServo(2, 10)
time.sleep(0.05)
if command == 'FIRE':
print("processing fire")
if pingPongEnabled:
print("fire was enabled")
pingPongNumActive += 1
print("ping pong number active", pingPongNumActive)
pingPongMotor = mhPingPong.getMotor(1)
pingPongMotor.setSpeed(255)
pingPongMotor.run(Adafruit_MotorHAT.FORWARD)
time.sleep(3.1)
pingPongNumActive -= 1
print("ping pong number active", pingPongNumActive)
# if nobody has the cannon active anymore, release
if pingPongNumActive == 0:
pingPongMotor.run(Adafruit_MotorHAT.RELEASE)
else:
print("ping pong not enabled")
if command == 'FREE_FIRE':
return
print("processing fire")
if not freePongActive:
freePongActive = True
print("free pong fire was enabled")
pingPongMotor = mhPingPong.getMotor(1)
pingPongMotor.setSpeed(255)
pingPongMotor.run(Adafruit_MotorHAT.FORWARD)
time.sleep(2.8)
print("free ping pong", freePongActive)
pingPongMotor.run(Adafruit_MotorHAT.RELEASE)
time.sleep(180)
freePongActive = False
else:
print("ping pong not enabled")
if command == 'FIRE_ALL':
print("processing fire")
if pingPongEnabled:
print("fire was enabled")
pingPongNumActive += 1
print("ping pong number active", pingPongNumActive)
pingPongMotor = mhPingPong.getMotor(1)
pingPongMotor.setSpeed(255)
pingPongMotor.run(Adafruit_MotorHAT.FORWARD)
time.sleep(50)
pingPongNumActive -= 1
print("ping pong number active", pingPongNumActive)
# if nobody has the cannon active anymore, release
if pingPongNumActive == 0:
pingPongMotor.run(Adafruit_MotorHAT.RELEASE)
else:
print("ping pong not enabled")
if command == 'VIBRATE':
vibrate.vibrate(mh, forward)
# routing
#{"F": forward, "B": back, "L": left, "R": right}