class ButtonController():
def __init__(self,win):
self.root = win
self.tango = Controller()
self.body = default_pos
self.headturn = default_pos
self.headtilt = default_pos
self.motors = 0
self.turn = 0
self.tango.setAccel(motors, default_accel)
self.tango.setAccel(full_turn,default_accel)
for i in range(1,6):
self.tango.setTarget(i,default_pos)
def t1(self): # Head Tilt
self.tango.setTarget(h_tilt, 7000)
self.tango.setTarget(h_tilt, 5000)
self.tango.setTarget(h_tilt, 6000)
def t2(): # Head Turn
self.tango.setTarget(h_turn, 7000)
self.tango.setTarget(h_turn, 5000)
self.tango.setTarget(h_turn, 6000)
def t3(): # Torso Turn
self.tango.setTarget(body, 7000)
self.tango.setTarget(body, 5000)
self.tango.setTarget(body, 6000)
def t4(): # Forward (7000) for 1.5s
self.tango.setTarget(motors, 7000)
time.sleep(1.5)
self.tango.setTarget(motors, 6000)
def t5(): # Backwards(5000) for 1.5s
self.tango.setTarget(motors, 5000)
time.sleep(1.5)
self.tango.setTarget(motors, 6000)
def t6(): # Turn clockwise
self.tango.setTarget(full_turn, 7000)
time.sleep(0.1)
def t7(): # Turn counter-clockwise
self.tango.setTarget(full_turn, 7000)
time.sleep(0.1)
class Korby():
## initialize a Korby object with an instance of the Maestro controller
## init to work with cam's code
def __init__(self, win):
## init to work with alex's code
# def __init__(self):
self.root = win
self.x = Controller()
## set body, head, wheels to middle/not moving
def reset(self):
self.x.setTarget(0, 6000)
self.x.setTarget(1, 6000)
self.x.setTarget(2, 6000)
self.x.setTarget(3, 6000)
self.x.setTarget(4, 6000)
self.x.setTarget(6, 4500) #right shoulder up and down
self.x.setTarget(7, 7000) #right shoulder in and out
self.x.setTarget(8, 5000) #right elbow
self.x.setTarget(9, 4500) #right wrist up and down
self.x.setTarget(10, 6000) #right wrist left and right
self.x.setTarget(11, 1000) #right hand open and close
self.x.setTarget(12, 5500) #left shoulder up and down
self.x.setTarget(13, 7500) #left shoulder in and out
self.x.setTarget(14, 6000) #left elbow
self.x.setTarget(15, 5500) #left wrist up and down
self.x.setTarget(16, 6000) #left wrist left and right
self.x.setTarget(17, 6000) #left hand open and close
def runArms(self):
self.x.setTarget(6, 9000)
self.x.setTarget(8, 9000)
time.sleep(float(1))
self.x.setTarget(10, 8000)
time.sleep(float(0.5))
self.x.setTarget(10, 4000)
time.sleep(float(0.5))
self.x.setTarget(10, 6000)
time.sleep(float(0.7))
self.reset()
def fightArm(self):
#self.x.setTarget(0, 4000)
#self.x.setTarget(3, 7000)
self.x.setAccel(6, 5)
self.x.setAccel(7, 5)
self.x.setAccel(8, 5)
self.x.setTarget(6, 9000)
self.x.setTarget(8, 9000)
self.x.setTarget(7, 9000)
time.sleep(float(1.3))
self.x.setAccel(6, 255)
self.x.setAccel(7, 255)
self.x.setAccel(8, 255)
time.sleep(float(0.5))
self.x.setTarget(7, 7000)
self.x.setTarget(8, 4000)
time.sleep(float(0.1))
self.x.setTarget(6, 8000)
## set body, head, wheels to middle/not moving
def middle(self, key):
self.x.setTarget(0, 6000)
self.x.setTarget(1, 6000)
self.x.setTarget(2, 6000)
self.x.setTarget(3, 6000)
self.x.setTarget(4, 6000)
self.x.setTarget(6, 4500) #right shoulder up and down
self.x.setTarget(7, 7000) #right shoulder in and out
self.x.setTarget(8, 7000) #right elbow
self.x.setTarget(9, 4500) #right wrist up and down
self.x.setTarget(10, 6000) #right wrist left and right
self.x.setTarget(11, 6000) #right hand open and close
self.x.setTarget(12, 5500) #left shoulder up and down
self.x.setTarget(13, 7500) #left shoulder in and out
self.x.setTarget(14, 4000) #left elbow
self.x.setTarget(15, 5500) #left wrist up and down
self.x.setTarget(16, 6000) #left wrist left and right
self.x.setTarget(17, 6000) #left hand open and close
## move body to the left a little
def moveBodyLeft(self, key):
change = 900
position = x.getPosition(0)
if position < 8000:
self.x.setTarget(0, position + change)
## move body to the right a little
def moveBodyRight(self, key):
change = 900
position = self.x.getPosition(0)
if position > 3000:
self.x.setTarget(0, position - change)
def moveBody(self, position):
print('body at Korb position is', position)
self.x.setTarget(0, position)
def nodHead(self, position):
self.x.setTarget(4, position)
def turnHead(self, position):
self.x.setTarget(3, position)
## move head to the right a little
def moveHeadRight(self, key):
change = 900
position = self.x.getPosition(3)
if position > 2500:
self.x.setTarget(3, position - change)
## move head to the left a little
def moveHeadLeft(self, key):
change = 900
position = self.x.getPosition(3)
if position < 8000:
self.x.setTarget(3, position + change)
## move head up a little
def moveHeadUp(self, key):
change = 900
position = self.x.getPosition(4)
if position < 8000:
self.x.setTarget(4, position + change)
## move head down a little
def moveHeadDown(self, key):
change = 900
position = self.x.getPosition(4)
if position > 2800:
self.x.setTarget(4, position - change)
def moveWheels(self, speed):
self.x.setTarget(1, speed)
def turnWheels(self, speed):
self.x.setTarget(2, speed)
## change wheels to move forward faster
def moveForward(self, key):
change = 300
position = self.x.getPosition(1)
if position > 4800:
self.x.setTarget(1, position - change)
## change wheels to move backward faster
def moveBackward(self, key):
change = 300
position = self.x.getPosition(1)
if position < 7200:
self.x.setTarget(1, position + change)
## change wheels to turn left
def turnLeft(self, key):
position = self.x.getPosition(2)
if position == 6000:
self.x.setTarget(2, 7000)
elif position == 5000:
self.x.setTarget(2, 6000)
## change wheels to turn right
def turnRight(self, key):
position = self.x.getPosition(2)
if position == 6000:
self.x.setTarget(2, 5000)
elif position == 7000:
self.x.setTarget(2, 6000)
## stop wheels
def stop(self, key):
self.x.setTarget(1, 6000)
self.x.setTarget(2, 6000)
def endProgram(self, key):
sys.exit()
# 0 <- body
# 1 <- wheel
# 2 <- wheel
# 3 <- head left/right
# 4 <- head up/down
# forward 2400 - 1800
# reverse 6300 - 7100
x.setTarget(1, 6000)
x.setTarget(2, 6000)
x.setSpeed(1, 30)
x.setSpeed(2, 30)
x.setAccel(1, 150)
low_range = 4000
high_range = 5000
def take_instr(direction):
global low_range
global high_range
if direction == '8':
curr_pos = x.getPosition(4)
x.setTarget(4, curr_pos + 800)
elif direction == '2':
curr_pos = x.getPosition(4)
x.setTarget(4, curr_pos - 800)
class Move:
def __init__(self):
self.servo = Controller()
#self.root = tk.Tk()
os.system('xset r off')
#set targets to neutral
for i in range(17):
self.servo.setTarget(i, neutral)
self.servo.setSpeed(i, 0)
self.servo.setAccel(i, 60)
self.servo.setAccel(drive_target, 6)
#move head up
def w_pressed(self):
global head_angle
if head_angle < 9000:
head_angle += 1500
self.servo.setTarget(head_target, head_angle)
#move head down
def s_pressed(self):
global head_angle
if head_angle > 3000:
head_angle -= 1500
self.servo.setTarget(head_target, head_angle)
#move neck left
def a_pressed(self):
global neck_angle
if neck_angle < 9000:
neck_angle += 1500
self.servo.setTarget(neck_target, neck_angle)
#move neck right
def d_pressed(self):
global neck_angle
if neck_angle > 3000:
neck_angle -= 1500
self.servo.setTarget(neck_target, neck_angle)
#body turn left
def q_pressed(self):
self.servo.setTarget(body_target, 8600)
def q_released(self):
self.servo.setTarget(body_target, neutral)
#body turn right
def e_pressed(self):
self.servo.setTarget(body_target, 3400)
def e_released(self):
self.servo.setTarget(body_target, neutral)
#drive forward
def one_forward(self, seconds):
self.servo.setTarget(drive_target, one_forward)
time.sleep(seconds)
self.servo.setTarget(drive_target, neutral)
#drive backwards
def one_backward(self, seconds):
self.servo.setTarget(drive_target, one_backward)
time.sleep(seconds)
self.servo.setTarget(drive_target, neutral)
#turn left
def turn_left(self, seconds):
self.servo.setTarget(turn_target, 7000)
time.sleep(seconds)
self.servo.setTarget(turn_target, neutral)
#turn right
def turn_right(self, seconds):
self.servo.setTarget(turn_target, 5000)
time.sleep(seconds)
self.servo.setTarget(turn_target, neutral)
def fight(self):
self.servo.setTarget(head_target, head_angle)
self.servo.setTarget(6, 3000)
self.servo.setTarget(12, 3000)
time.sleep(.5)
self.servo.setTarget(head_target, neutral)
self.servo.setTarget(head_target, 3000)
self.servo.setTarget(6, 8000)
self.servo.setTarget(12, 8000)
time.sleep(.5)
self.servo.setTarget(head_target, neutral)
self.servo.setTarget(head_target, head_angle)
self.servo.setTarget(6, 3000)
self.servo.setTarget(12, 3000)
time.sleep(.5)
self.servo.setTarget(head_target, neutral)
self.servo.setTarget(head_target, 3000)
self.servo.setTarget(6, 8000)
self.servo.setTarget(12, 8000)
time.sleep(.5)
self.servo.setTarget(head_target, neutral)
self.servo.setTarget(head_target, head_angle)
self.servo.setTarget(6, neutral)
self.servo.setTarget(12, neutral)
def recharge(self):
self.servo.setTarget(neck_target, head_angle)
self.servo.setTarget(9, 3000)
self.servo.setTarget(16, 3000)
time.sleep(.5)
self.servo.setTarget(neck_target, neutral)
self.servo.setTarget(neck_target, 3000)
self.servo.setTarget(9, 8000)
self.servo.setTarget(16, 8000)
time.sleep(.5)
self.servo.setTarget(neck_target, neutral)
self.servo.setTarget(neck_target, head_angle)
self.servo.setTarget(9, 3000)
self.servo.setTarget(16, 3000)
time.sleep(.5)
self.servo.setTarget(neck_target, neutral)
self.servo.setTarget(neck_target, 3000)
self.servo.setTarget(9, 8000)
self.servo.setTarget(16, 8000)
time.sleep(.5)
self.servo.setTarget(neck_target, neutral)
self.servo.setTarget(neck_target, head_angle)
self.servo.setTarget(9, neutral)
self.servo.setTarget(16, neutral)
#set all servos/motors to neutral
def space_pressed(self):
for i in range(5):
self.servo.setTarget(i, neutral)
def executeMotion(self, mid, direction, seconds):
#HEAD
if mid == 1:
#if up
if direction == 1:
#move head up
self.w_pressed()
else:
#move head down
self.s_pressed()
#NECK
elif mid == 2:
if direction == 1:
#neck turn left
self.a_pressed()
else:
#neck turn right
self.d_pressed()
#BODY
elif mid == 3:
if direction == 1:
#body turn left
self.q_pressed()
else:
#body turn right
self.e_pressed()
#DRIVE
elif mid == 4:
if direction == 1:
#drive forward
self.one_forward(seconds)
else:
#drive backward
self.one_backward(seconds)
#TURN
elif mid == 5:
if direction == 1:
self.turn_left(seconds)
else:
self.turn_right(seconds)
#PAUSE
elif mid == 6:
time.sleep(seconds)
from Maestro import Controller
from tkinter import *
import time
import os
import socket
import threading
import random
# Maestro instantiation
controller = Controller()
for chan in range(len(controller.Targets)):
controller.setTarget(chan, 6000)
controller.setAccel(0, 10)
controller.setAccel(1, 10)
controller.setAccel(2, 30)
controller.setAccel(3, 20)
controller.setAccel(4, 20)
controller.setAccel(6, 20)
controller.setAccel(7, 20)
controller.setAccel(8, 20)
controller.setAccel(9, 20)
controller.setAccel(10, 20)
controller.setAccel(11, 20)
os.system('xset r off')
# Global Variables
port = 7777
# Socket setup
sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
sock.close()
from Maestro import Controller
from tkinter import *
import time
import os
import socket
import threading
# Maestro instantiation
controller = Controller()
for chan in range(len(controller.Targets)):
controller.setTarget(chan, 6000)
controller.setAccel(0, 10)
controller.setAccel(1, 10)
controller.setAccel(2, 30)
controller.setAccel(3, 20)
controller.setAccel(3, 20)
os.system('xset r off')
# Global Variables
xpos = 0
ypos = 0
actions = []
actions_inv = []
pic_size = 40
port = 7777
# Main Tk window instantiation
root = Tk()
root.title('Robot Control GUI')
# Socket setup
class Mover:
def __init__(self):
# Maestro instantiation
self.controller = Controller()
for chan in range(len(self.controller.Targets)):
self.controller.setTarget(chan, 6000)
self.controller.setAccel(0, 10)
self.controller.setAccel(1, 10)
self.controller.setAccel(2, 30)
self.controller.setAccel(3, 20)
self.controller.setAccel(3, 20)
os.system('xset r off')
def move(self, prevOrientation, newOrientation):
if (prevOrientation == newOrientation):
self.controller.setTarget(1, 5000)
time.sleep(.5)
self.controller.setTarget(1, 6000)
elif (self.getAxis(prevOrientation) != self.getAxis(prevOrientation)):
# TODO turn 180 and move forward
pass
else:
leftRight = self.getLeftRight(prevOrientation, newOrientation)
if (leftRight == "left"):
# TODO turn 90 left and move forward
pass
else:
# TODO turn 90 right and move forward
pass
# get axis of a direction
def getAxis(self, direction):
if (direction == "north" or direction == "south"):
return "ns"
else:
return "ew"
# should robot turn right or left?
def getLeftRight(self, prevDirection, nextDirection):
directions = {"north": 0, "east": 1, "south": 2, "west": 3}
if (prevDirection != "north"):
if (prevDirection > nextDirection):
return "left"
# prevDirection == "north"
else:
if (nextDirection == "east"):
return "right"
else:
return "left"
if (prevDirection != "west"):
if (prevDirection < nextDirection):
return "right"
# prevDirection == "west"
else:
if (nextDirection == "north"):
return "right"
else:
return "left"