def robot_die():
"""
Končaj s programom na robotu. Ustavi motorje.
"""
print('KONEC')
motor_left.stop(stop_action='brake')
motor_right.stop(stop_action='brake')
Sound.play_song((('D4', 'e'), ('C4', 'e'), ('A3', 'h')))
sys.exit(0)
A long time ago
in a galaxy far,
far away...
"""))
Sound.play_song((
('D4', 'e3'),
('D4', 'e3'),
('D4', 'e3'),
('G4', 'h'),
('D5', 'h'),
('C5', 'e3'),
('B4', 'e3'),
('A4', 'e3'),
('G5', 'h'),
('D5', 'q'),
('C5', 'e3'),
('B4', 'e3'),
('A4', 'e3'),
('G5', 'h'),
('D5', 'q'),
('C5', 'e3'),
('B4', 'e3'),
('C5', 'e3'),
('A4', 'h.'),
)).wait()
Sound.play(os.path.join(_HERE, 'snd/r2d2.wav')).wait()
Sound.speak("Luke, I am your father").wait()
class Spik3r:
def __init__(self,
sting_motor_port: str = OUTPUT_D,
go_motor_port: str = OUTPUT_B,
claw_motor_port: str = OUTPUT_A,
touch_sensor_port: str = INPUT_1,
color_sensor_port: str = INPUT_3,
ir_sensor_port: str = INPUT_4,
ir_beacon_channel: int = 1):
self.sting_motor = LargeMotor(address=sting_motor_port)
self.go_motor = LargeMotor(address=go_motor_port)
self.claw_motor = MediumMotor(address=claw_motor_port)
self.ir_sensor = InfraredSensor(address=ir_sensor_port)
self.ir_beacon_channel = ir_beacon_channel
self.beacon = RemoteControl(sensor=self.ir_sensor,
channel=self.ir_beacon_channel)
self.touch_sensor = TouchSensor(address=touch_sensor_port)
self.color_sensor = ColorSensor(address=color_sensor_port)
self.dis = Screen()
self.speaker = Sound()
def sting_by_ir_beacon(self):
while True:
if self.beacon.beacon:
self.sting_motor.run_to_rel_pos(
speed_sp=750,
position=-220,
stop_action=Motor.STOP_ACTION_HOLD)
self.sting_motor.wait_while(Motor.STATE_RUNNING)
self.speaker.play(
wav_file='/home/robot/sound/Blip 3.wav').wait()
self.sting_motor.run_timed(speed_sp=-1000,
time_sp=1000,
stop_action=Motor.STOP_ACTION_HOLD)
self.sting_motor.wait_while(Motor.STATE_RUNNING)
self.sting_motor.run_timed(speed_sp=1000,
time_sp=1000,
stop_action=Motor.STOP_ACTION_HOLD)
self.sting_motor.wait_while(Motor.STATE_RUNNING)
while self.beacon.beacon:
pass
def be_noisy_to_people(self):
while True:
if self.color_sensor.reflected_light_intensity > 30:
for i in range(4):
self.speaker.play_song(
(('D4', 'e3'), ('D4', 'e3'), ('D4', 'e3'), ('G4', 'h'),
('D5', 'h'), ('C5', 'e3'), ('B4', 'e3'), ('A4', 'e3'),
('G5', 'h'), ('D5', 'q'), ('C5', 'e3'), ('B4', 'e3'),
('A4', 'e3'), ('G5', 'h'), ('D5', 'q'), ('C5', 'e3'),
('B4', 'e3'), ('C5', 'e3'), ('A4', 'h.')))
def pinch_if_touched(self):
while True:
if self.touch_sensor.is_pressed:
self.claw_motor.run_timed(speed_sp=500,
time_sp=1000,
stop_action=Motor.STOP_ACTION_HOLD)
self.claw_motor.wait_while(Motor.STATE_RUNNING)
self.claw_motor.run_timed(speed_sp=-500,
time_sp=0.3 * 1000,
stop_action=Motor.STOP_ACTION_HOLD)
self.claw_motor.wait_while(Motor.STATE_RUNNING)
def keep_driving_by_ir_beacon(self):
while True:
if self.beacon.red_up and self.beacon.blue_up:
self.go_motor.run_forever(speed_sp=910)
elif self.beacon.blue_up:
self.go_motor.run_forever(speed_sp=-1000)
else:
self.go_motor.stop(stop_action=Motor.STOP_ACTION_HOLD)
def main(self):
self.dis.image.paste(im=Image.open('/home/robot/image/Evil.bmp'))
self.dis.update()
# FIXME: ValueError: invalid literal for int() with base 10: '' or '9\n9'
# when multiple threads access the same Sensor
Thread(target=self.pinch_if_touched, daemon=True).start()
Thread(target=self.be_noisy_to_people, daemon=True).start()
Thread(target=self.sting_by_ir_beacon, daemon=True).start()
self.keep_driving_by_ir_beacon()
