def Run(command):
#api.Walk(True)
#print("Running...")
#move foward
if (command == 1):
api.PlayAction(15)
print('Sit')
command = 0
#api.WalkMove(0)
#api.Walk(True)
#api.WalkMove(20)
#move back
elif (command == 0):
api.PlayAction(8)
print('Stand up')
command = 1
#print("supposed to move backwards")
#move right
elif (command == 8):
api.WalkMove(0)
api.WalkTurn(20)
#move left
elif (command == 9):
api.WalkMove(0)
api.WalkTurn(-20)
elif (command == 5):
api.WalkMove(0)
Run(command)
def Run(command):
thresh = 5
while (True):
if (command == 1):
api.PlayAction(52)
buzzer = Buzzer()
buzzer.play(4)
print('Plank')
command = 0
thresh = 5
elif (command == 0):
api.PlayAction(55)
print('Crawl')
cry = random.randint(1, thresh)
thresh -= 1
print(cry)
if (cry == 1):
command = 2
print('Cry')
FB = api.passAccelData(1)
print(FB)
if (FB > 440 or FB < 350):
command = 4
elif (command == 2):
FB = api.passAccelData(1)
print('crying: ')
print(FB)
buzzer = Buzzer()
buzzer.play(1)
if (FB > 420 or FB < 360):
command = 3
elif (command == 3):
api.PlayAction(52)
FB = api.passAccelData(1)
buzzer = Buzzer()
buzzer.play(2)
while (FB > 420 or FB < 360):
buzzer = Buzzer()
buzzer.play(3)
FB = api.passAccelData(1)
print(FB)
command = 1
elif (command == 4):
for i in range(0, 10):
buzzer = Buzzer()
buzzer.play(1)
print('Sorry...')
command = 3
def emotion_ready(self):
if api.Initialize():
print("Initialized")
api.PlayAction(3)
time.sleep(3)
else:
print("Initialization failed")
sys.exit(1)
def posture_emotion(self, emotion_class, emotion_level):
api_map = {'happy1': 3, 'sad1': 3, 'fear1': 3, 'anger1': 3, 'surprise1': 3, 'happy3': 4, 'happy2': 5, 'anger2': 6, 'anger3': 7, 'fear3': 11,
'fear2': 12, 'surprise2': 13, 'surprise3': 14, 'sad2': 17, 'sad3': 18}
emotion_level = emotion_level+1
if emotion_level > 1:
api.PlayAction(api_map[emotion_class + repr(emotion_level)])
else:
print("There are only two levels, use 1, or 2")
def show_emotion(self, emotion_class, emotion_level):
api_map = {'happy1': 3, 'sad1': 3, 'fear1': 3, 'anger1': 3, 'surprise1': 3, 'happy3': 4, 'happy2': 5, 'anger2': 6, 'anger3': 7, 'fear3': 11,
'fear2': 12, 'surprise2': 13, 'surprise3': 14, 'sad2': 17, 'sad3': 18}
emotionDisplay.main(emotion_class, emotion_level)
if emotion_level > 1:
sound.sound_activate(emotion_class, emotion_level)
api.PlayAction(api_map[emotion_class + repr(emotion_level)])
def Main():
command = 1
#api.ServoShutdown()
try:
if api.Initialize():
print("Initalized")
command = 1
else:
print("Intialization failed")
#api.ServoShutdown()
api.PlayAction(8)
print('Stand up')
#value = int(input("Turn head to"))
#api.SetMotorValue(20, value)
Run(command)
except (KeyboardInterrupt):
api.ServoShutdown()
sys.exit()
except ():
api.ServoShutdown()
sys.exit()
def Run(X,Y,Distance):
global Walk, sit, HeadMoved,i,j
#api.Walk(True)
print("Running...")
command = 0
z=5
# declaring servos limmits
#headRightLim=667
#headLeftLim=364
#headUpLim=612
#headDownLim=433
headRightLim=600
headLeftLim=420
headUpLim=612
headDownLim=433
pan = api.GetMotorValue(19)
tilt= api.GetMotorValue(20)
# check when to call the walk functions
if ((pan<headRightLim) and (pan>headLeftLim)):
print "head move"
elif (pan>headRightLim):
# call walk to the left till you reach pan = 512 (need while loop)
# while (pan != 512):
print "walk to the left"
elif (pan<headLeftLim):
# call walk to the right till you reach pan = 512 (need while loop)
# while (pan != 512):
print "walk to the left"
if (abs(X)>=100): p=9
elif (abs(X)<100 and abs(X) >70): p = 7
elif (abs(X)<= 70 and abs(X)> 50): p= 5
else: p=2
if (abs(Y)>=100): j=5
elif (abs(Y)<100 and abs(Y) >70): j = 4
elif (abs(Y)<= 70 and abs(Y)> 50): j= 3
else: j=2
print ('p = ',p, 'j= ',j)
if HeadMoved == 0:
i= int(round(X/10))
if (X>50) and (667 > pan):
for I in range(1,z):
api.SetMotorValue(19,pan+p)
elif (X<-50) and (364 < pan):
for I in range(1,abs(z)):
api.SetMotorValue(19,pan-p)
if (Y>50) and ( 612 > tilt):
for I in range(1,z):
api.SetMotorValue(20,tilt+j)
elif (Y<-50) and (433 < tilt):
for I in range(1,abs(z)):
api.SetMotorValue(20,tilt-j)
print Distance
if (Distance < 150) and (Walk == False):
api.Walk(True)
speed = int((150-Distance)/2)
if speed > 10: speed = 10
print ('Speed = ',speed)
api.WalkMove(speed)
Walk = True
sit = 0
HeadMoved = 1
print('Walk=======>')
elif(Distance > 150) and (Walk == True) :
#api.WalkMove(2)
#api.Walk(False)
Walk=False
if (sit == 0):
api.Walk(False)
api.PlayAction(15)
sit = 1
print ( 'Sitting+++++++++')
if (Walk == True):
if (X>50):
api.WalkTurn(p)
#api.WalkMove(Distance)
print('Trun Right')
elif (X<-50):
api.WalkTurn(-p)
print('Trun Left')
else :
api.WalkTurn(0)
print ('No Trun')
print("pan",pan)
print("tilt",tilt)