def reader():
while True:
try:
packet = headset.read()
queue.append(packet)
time.sleep(1)
except:
headset = emotiv.Emotiv(simulation='sample_data')
def init_worker(self, com_emotiv='COM4', com_rotary='COM6'):
"""
ワーカーの初期化
ロータリーエンコーダは別スレッドで動かす
:return: None
"""
self.__emo = emotiv.Emotiv(port=com_emotiv)
self.__rotary = rotaryencoder.RotaryEncoder(port=com_rotary)
self.__rotary.started.connect(self.start_worker)
self.__rotary.signal.connect(self.event_rotary)
self.start_worker()
self.bitalino_measurement.start()
self.countdown(sec=10)
def __init__(self, loc):
QWidget.__init__(self)
self.resize(500, 800)
self.strengths = {}
self._src = emotiv.Emotiv()
def read_func():
results = []
for packet in self._src.read(1):
results.append(getattr(packet, loc)[0])
return numpy.array(results)
self.read = read_func
self.widgets = dict(
zip(rhythms.keys(), map(RhythmWidget, rhythms.keys())))
layout = QVBoxLayout()
for _, widget in self.widgets.items():
layout.addWidget(widget)
self.setLayout(layout)
try:
s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
except socket.error as msg:
s = None
try:
s.bind((HOST, PORT))
s.listen(1)
except socket.error as msg:
s.close()
s = None
if s is None:
print 'Could not open socket'
return
conn, addr = s.accept()
print 'Listening to', addr
try:
headset = emotiv.Emotiv(True, False)
#gevent.spawn(headset.setup)
main()
except Exception, e:
print e
print "Device Time Out or Disconnect . . . Reconnect to Server."
conn.close()
main()
# Original code here: https://gist.github.com/512987
import time
import struct
import socket
import hashlib
import sys
import re
import logging
import threading
import emotiv
from select import select
try:
headset = emotiv.Emotiv()
except:
headset = emotiv.Emotiv(simulation='sample_data')
callbacks = []
queue = []
def reader():
while True:
try:
packet = headset.read()
queue.append(packet)
time.sleep(1)
except:
headset = emotiv.Emotiv(simulation='sample_data')
import emotiv
headset = emotiv.Emotiv()
'''
string_to_num(string)
Converts a string, 'string' into a number that represents its binary notation.
'a' becomes '61' and 'aa' becomes '61 61'
'''
def string_to_num(string):
binary = "" #Binary is an empty string
for char in string: #For each character in the provided 'string'
binary += char_to_bin(
char
) #Append the binary representation string of the character to binary
return int(binary, 2) #Convert the binary into an integer and return.
'''
char_to_bin(char)
Converts a character into its corresponding binary number
'''
def char_to_bin(char):
ascii = ord(
char
) #Convert char into an integer that represents it. 'a' becomes '61'
bin = [] #an empty array to store the binary representation of char
while (
def main():
drone = libardrone.ARDrone()
headset = emotiv.Emotiv()
gevent.spawn(headset.setup)
gevent.sleep(1)
pygame.init()
W, H = 320, 240
screen = pygame.display.set_mode((W, H))
direction = {}
direction['Yaw'] = 0
direction['Pitch'] = 0
yawCounter = 0
pitchCounter = 0
drone.speed = 0.2
drone.takeoff()
isRunning = True
while isRunning:
packet = headset.dequeue()
if (yawCounter > 0) and (packet.gyroX < -5):
yawCounter = 0
elif (yawCounter < 0) and (packet.gyroX > 5):
yawCounter = 0
elif (packet.gyroX > 5):
yawCounter += 1
elif (packet.gyroX < -5):
yawCounter -= 1
elif (packet.gyroX == 0):
yawCounter = 0
if (packet.gyroX > 50):
direction['Yaw'] = 0
yawCounter = 0
elif (packet.gyroX < -50):
direction['Yaw'] = 0
yawCounter = 0
elif (yawCounter > 20) and (direction['Yaw'] == 1):
direction['Yaw'] = 0
yawCounter = 0
elif (yawCounter > 40):
if (direction['Yaw'] == 1):
direction['Yaw'] = 0
else:
direction['Yaw'] = -1
yawCounter = 0
elif (yawCounter < -20) and (direction['Yaw'] == -1):
direction['Yaw'] = 0
yawCounter = 0
elif (yawCounter < -40):
if (direction['Yaw'] == -1):
direction['Yaw'] = 0
else:
direction['Yaw'] = 1
yawCounter = 0
if (pitchCounter > 0) and (packet.gyroY < -3):
pitchCounter = 0
elif (pitchCounter < 0) and (packet.gyroY > 2):
pitchCounter = 0
elif (packet.gyroY > 2):
pitchCounter += 1
elif (packet.gyroY < -3):
pitchCounter -= 1
elif (packet.gyroY == 0):
pitchCounter = 0
if (packet.gyroY > 40):
direction['Pitch'] = 0
pitchCounter = 0
elif (packet.gyroY < -40):
direction['Pitch'] = 0
pitchCounter = 0
elif (pitchCounter > 20) and (direction['Pitch'] == 1):
direction['Pitch'] = 0
pitchCounter = 0
elif (pitchCounter > 30):
if (direction['Pitch'] == 1):
direction['Pitch'] = 0
else:
direction['Pitch'] = -1
pitchCounter = 0
elif (pitchCounter < -20) and (direction['Pitch'] == -1):
direction['Pitch'] = 0
pitchCounter = 0
elif (pitchCounter < -40):
if (direction['Pitch'] == -1):
direction['Pitch'] = 0
else:
direction['Pitch'] = 1
pitchCounter = 0
if (direction['Yaw'] == 0) and (direction['Pitch'] == 0):
drone.hover()
else:
if (direction['Pitch'] == 1):
drone.move_forward()
elif (direction['Pitch'] == -1):
drone.move_backward()
elif (direction['Yaw'] == 1):
drone.turn_right()
elif (direction['Yaw'] == -1):
drone.turn_left()
print "Gyro X: %d Gyro Y: %d" % (packet.gyroX, packet.gyroY)
print "Yaw: %d Pitch: %d" % (direction['Yaw'], direction['Pitch'])
for event in pygame.event.get():
if event.type == pygame.KEYDOWN:
if event.key == pygame.K_SPACE:
drone.land()
isRunning = False
headset.close()
print "Shutting down...",
drone.halt()
print "Success"
import sys
sys.path.insert(0, './Python/CyKit/')
import emotiv
import gevent
import socket
del socket
del sys
if __name__ == "__main__":
headset = emotiv.Emotiv(False, False)
gevent.spawn(headset.setup)
gevent.sleep(1)
try:
while True:
packet = headset.dequeue()
print packet.gyro_x, packet.gyro_y
gevent.sleep(0)
except KeyboardInterrupt:
headset.close()
finally:
headset.close()
def flightMode(normal):
drone = libardrone.ARDrone()
headset = emotiv.Emotiv()
controller = Leap.Controller()
gevent.spawn(headset.setup)
gevent.sleep(1)
pygame.init()
W, H = 320, 240
screen = pygame.display.set_mode((W, H))
direction = {}
direction['Yaw'] = 0
direction['Pitch'] = 0
yawCounter = 0
pitchCounter = 0
isRunning = True
drone.takeoff()
xoffset = -4
while isRunning:
packet = headset.dequeue()
if (yawCounter > 0) and (packet.gyroX < -5+xoffset):
yawCounter = 0
elif(yawCounter < 0) and (packet.gyroX > 5+xoffset):
yawCounter=0
elif(packet.gyroX > 5+xoffset):
yawCounter += 1
elif(packet.gyroX < -5+xoffset):
yawCounter -= 1
elif(packet.gyroX==0+xoffset):
yawCounter=0
if(packet.gyroX > 50+xoffset):
direction['Yaw']=0
yawCounter=0
elif(packet.gyroX < -50+xoffset):
direction['Yaw']=0
yawCounter=0
elif(yawCounter > 20) and (direction['Yaw']==1):
direction['Yaw']=0
yawCounter=0
elif(yawCounter > 40):
if(direction['Yaw']==1):
direction['Yaw']=0
else:
direction['Yaw']=-1
yawCounter=0
elif(yawCounter < -20) and (direction['Yaw']==-1):
direction['Yaw']=0
yawCounter=0
elif(yawCounter < -40):
if(direction['Yaw']==-1):
direction['Yaw']=0
else:
direction['Yaw']=1
yawCounter=0
if(pitchCounter > 0) and (packet.gyroY < -3):
pitchCounter=0
elif(pitchCounter < 0) and (packet.gyroY > 2):
pitchCounter=0
elif(packet.gyroY > 2):
pitchCounter+=1
elif(packet.gyroY < -3):
pitchCounter-=1
elif(packet.gyroY==0):
pitchCounter=0
if(packet.gyroY > 40):
direction['Pitch']=0
pitchCounter=0
elif(packet.gyroY < -40):
direction['Pitch']=0
pitchCounter=0
elif(pitchCounter > 20) and (direction['Pitch']==1):
direction['Pitch']=0
pitchCounter=0
elif(pitchCounter > 30):
if(direction['Pitch']==1):
direction['Pitch']=0
else:
direction['Pitch']=-1
pitchCounter=0
elif(pitchCounter < -20) and (direction['Pitch']==-1):
direction['Pitch']=0
pitchCounter=0
elif(pitchCounter < -40):
if(direction['Pitch']==-1):
direction['Pitch']=0
else:
direction['Pitch']=1
pitchCounter=0
if(direction['Yaw'] == 0) and (direction['Pitch'] == 0):
print "here"
else:
if(direction['Pitch'] == 1):
drone.move_forward()
elif(direction['Pitch'] == -1):
drone.move_backward()
elif(direction['Yaw'] == 1):
drone.turn_right()
elif(direction['Yaw'] == -1):
drone.turn_left()
print "Gyro X: %d Gyro Y: %d" % (packet.gyroX+xoffset, packet.gyroY)
print "Yaw: %d Pitch: %d" % (direction['Yaw'], direction['Pitch'])
frame = controller.frame()
if not frame.hands.is_empty:
hand = frame.hands[0]
fingers = hand.fingers
normal = hand.palm_normal
handdirection = hand.direction
print "Hand pitch: %f degrees, roll: %f degrees, yaw: %f degrees" % (
handdirection.pitch * Leap.RAD_TO_DEG,
normal.roll * Leap.RAD_TO_DEG,
handdirection.yaw * Leap.RAD_TO_DEG+normal.yaw)
if handdirection.yaw * Leap.RAD_TO_DEG > 10+normal.yaw:
drone.move_right()
print "Move right"
elif handdirection.yaw * Leap.RAD_TO_DEG < -10+normal.yaw:
drone.move_left()
print "Move left"
else:
drone.hover()
print "Hover"
elif (direction['Yaw'] == 0) and (direction['Pitch'] == 0) and frame.hands.is_empty:
drone.hover()
print "Hover"
for event in pygame.event.get():
if event.type == pygame.KEYDOWN:
if event.key == pygame.K_SPACE:
drone.land()
isRunning = False
headset.close()
print "Shutting down...",
drone.halt()
print "Success"
