class Bot:
def __init__(self):
self.bot = Controller() # servo controller for the Tango bot
# accelerate allows the gradual acceleration of the Tango bot, ensuring it does not fall over
def accelerate(self, port, target, t):
pos = self.position(port) # find the current speed of the wheels
dist = target - pos # how far we have to accelerate
direction = -1 if dist < 0 else 1 # the direction of acceleration
# incrementally set the speed of the wheels to the target speed
for _ in range(abs(dist)):
pos += 1 * direction
self.bot.setTarget(port, pos)
time.sleep(t)
# bendTurn allows the Tango bot to turn or bend at one of its' joints
def bendTurn(self, port, target):
self.bot.setTarget(port, target)
def position(self, port):
return self.bot.getPosition(port)
def wait(time):
time.sleep(time)
def __init__(self):
self.tango = Controller()
print(self.tango)
self.body = 6000
self.headTurn = 6000
self.headTilt = 6000
self.motors = 6000
self.turn = 6000
def __init__(self):
self.pololu_serial_communication = ''
pololu_communication_port = ''
for port in comports():
if port[2].find('VID:PID=1ffb:0089') > -1:
pololu_communication_port = port[0]
try:
self.pololu_serial_communication = Controller(pololu_communication_port)
except Exception:
raise PololuSerialConnectionFailed()
class RPS:
def __init__(self, port='dummy'):
#define some targets
self.OPEN = 7900
self.CLOSED = 4900
self.port = port
self.open_controller(self.port)
#straighten all the fingers
self.paper()
#make a fist
self.rock()
def rock(self,delay=0.01):
#make a fist
self.rps_controller.setTarget(0,self.CLOSED+300)
self.rps_controller.setTarget(1,self.CLOSED)
self.rps_controller.setTarget(3,self.CLOSED-200)
time.sleep(delay)
def paper(self,delay=0.01):
#make an open palm
self.rps_controller.setTarget(0,self.OPEN)
self.rps_controller.setTarget(1,self.OPEN)
self.rps_controller.setTarget(3,self.OPEN)
time.sleep(delay)
def scissors(self,delay=0.01):
#make scissors
self.rps_controller.setTarget(0,self.OPEN)
self.rps_controller.setTarget(1,self.OPEN)
self.rps_controller.setTarget(3,self.CLOSED-200)
time.sleep(delay)
def open_controller(self,port):
if port=="dummy":
self.rps_controller = dummyController()
else:
self.rps_controller = Controller(ttyStr=port)
def close_controller(self):
self.rps_controller.close()
def open_controller(self,port):
if port=="dummy":
self.rps_controller = dummyController()
else:
self.rps_controller = Controller(ttyStr=port)
from maestro import Controller
import time
c0 = Controller()
for i in range(18):
c0.setSpeed(i, 60)
c0.setAccel(i, 30)
RIGHT_SHOULDER_UD = 6
RIGHT_SHOULDER_LR = 7
RIGHT_ELBOW = 8
RIGHT_WRIST_UD = 9
RIGHT_WRIST_ROTATE = 10
RIGHT_HAND = 11
LEFT_SHOULDER_UD = 12
LEFT_SHOULDER_LR = 13
LEFT_ELBOW = 14
LEFT_WRIST_UD = 15
LEFT_WRIST_ROTATE = 16
LEFT_HAND = 17
MIN = 3000
MID = 6000
MAX = 9000
def open_close(n):
for i in range(n):
c0.setTarget(RIGHT_HAND, MIN)
class KeyControl():
def __init__(self, win):
self.root = win
self.tango = Controller()
print(self.tango)
self.body = 6000
self.headTurn = 6000
self.headTilt = 6000
self.motors = 6000
self.turn = 6000
def arrow(self, key):
print(key.keycode)
# Forward
if int(key.keycode) in keys_dict["up"]:
self.motors -= move_increment
if (self.motors <= 1000):
self.motors = 1000
print("Forward")
print(self.motors)
self.tango.setTarget(MOTORS_FORWARD, self.motors)
# Backward
if key.keycode in keys_dict["down"]:
self.motors += move_increment
if (self.motors >= 8000):
self.motors = 8000
print("Backward")
print(self.motors)
self.tango.setTarget(MOTORS_FORWARD, self.motors)
# Left
if key.keycode in keys_dict["left"]:
self.turn += turn_increment
if (self.turn > 8000):
self.turn = 8000
print("Left")
print(self.turn)
self.tango.setTarget(MOTORS_TURN, self.turn)
# Right
if key.keycode in keys_dict["right"]:
self.turn -= turn_increment
if (self.turn < 1000):
self.turn = 1000
print("Right")
print(self.turn)
self.tango.setTarget(MOTORS_TURN, self.turn)
# Stop
if key.keycode in keys_dict["stop"]:
print("Stop")
self.motors = 6000
self.turn = 6000
self.tango.setTarget(MOTORS_FORWARD, self.motors)
self.tango.setTarget(MOTORS_TURN, self.turn)
# Turn-stop
if key.keycode in keys_dict["turn-stop"]:
print("Turn-stop")
self.turn = 6000
self.tango.setTarget(MOTORS_TURN, self.turn)
# Waist left
if key.keycode in keys_dict["waist-left"]:
self.body += waist_increment
if (self.body > 8000):
self.body = 8000
print(self.body)
self.tango.setTarget(WAIST_TURN, self.body)
# Waist right
if key.keycode in keys_dict["waist-right"]:
self.body -= waist_increment
if (self.body < 1000):
self.body = 1000
print(self.body)
self.tango.setTarget(WAIST_TURN, self.body)
# Waist center
if key.keycode in keys_dict["waist-center"]:
self.body = 6000
print(self.motors)
self.tango.setTarget(WAIST_TURN, self.body)
# Head left
if key.keycode in keys_dict["head-left"]:
self.headTurn += head_increment
if self.headTurn > 8000:
self.headTurn = 8000
print(self.headTurn)
self.tango.setTarget(HEAD_TURN, self.headTurn)
# Head right
if key.keycode in keys_dict["head-right"]:
self.headTurn -= head_increment
if self.headTurn < 1000:
self.headTurn = 1000
print(self.headTurn)
self.tango.setTarget(HEAD_TURN, self.headTurn)
# Head center
if key.keycode in keys_dict["head-center"]:
self.headTurn = 6000
print(self.headTurn)
self.tango.setTarget(HEAD_TURN, self.headTurn)
# Head tilt up
if key.keycode in keys_dict["head-tilt-up"]:
self.headTilt += head_tilt_increment
if self.headTilt > 8000:
self.headTilt = 8000
print(self.headTilt)
self.tango.setTarget(HEAD_TILT, self.headTilt)
# Head tilt down
if key.keycode in keys_dict["head-tilt-down"]:
self.headTilt -= head_tilt_increment
if self.headTilt < 1000:
self.headTilt = 1000
print(self.headTilt)
self.tango.setTarget(HEAD_TILT, self.headTilt)
# Head tilt center
if key.keycode in keys_dict["head-tilt-center"]:
self.headTilt = 6000
print(self.headTilt)
self.tango.setTarget(HEAD_TILT, self.headTilt)
from maestro import Controller #from gui_control import stt_block import time import threading, socket c0 = Controller() stt_block = True BODY = 0 FORWARD_BACK = 1 LEFT_RIGHT = 2 HEAD_TURN = 3 HEAD_TILT = 4 # Enumerate positions MIN = 3000 MID = 6000 MAX = 9000 c0.setTarget(BODY, MID) #Setting restrictions for all servos c0.setRange(HEAD_TILT, MIN, MAX) c0.setRange(HEAD_TURN, MIN, MAX) c0.setRange(BODY, MIN, MAX) c0.setRange(FORWARD_BACK, MIN, MAX) c0.setRange(LEFT_RIGHT, MIN, MAX) #Setting speeds for all servos c0.setSpeed(HEAD_TILT, 60) c0.setSpeed(HEAD_TURN, 60)
def __init__(self):
self.bot = Controller() # servo controller for the Tango bot
# main entry point
########################################################
# parse any commandline arguments
parser = argparse.ArgumentParser(description="flip mask and lamp control programme");
if (platform.uname()[0] == "Darwin"):
parser.add_argument("serial_port", type=str, nargs='?', default=SERIAL_PORT, help='serial port name. Default: '+ SERIAL_PORT);
if(platform.uname()[0] == "Windows"):
parser.add_argument("serial_port", type=str, nargs='?', default=SERIAL_PORT, help='serial port name. Default: ' + SERIAL_PORT);
args = parser.parse_args();
# completed parsing the commandline arguments and let's open the serial port etc.
try:
servo = Controller(args.serial_port);
except serial.SerialException:
print("flipit.py: cannot open ", args.serial_port);
exit();
servo.setSpeed(FLIP_MASK, MASK_SERVO_SPEED);
servo.setAccel(FLIP_MASK, MASK_SERVO_ACCEL);
servo.setSpeed(FLIP_LAMP, LAMP_SERVO_SPEED);
servo.setAccel(FLIP_LAMP, LAMP_SERVO_ACCEL);
# for some stupid reason the above speeds and accelerations
# don't seem to be executed until the first command is sent
servo.setTarget(FLIP_MASK, FLIP_MASK_OFF*4);
servo.setTarget(FLIP_LAMP, FLIP_LAMP_OFF*4);
# Print out the current state of the flip mask and lamp
camera = PiCamera()
camera.resolution = (640, 480)
camera.framerate = 32
rawCapture = PiRGBArray(camera, size=(640, 480))
inx = 640
iny = 480
camPos = 4000
MOTORS = 1 # left motor
TURN = 2 # opposite
BODY = 0
HEADTILT = 4
HEADTURN = 3
# allow the camera to warmup
time.sleep(3)
myC = Controller()
#myC.setTarget(1,0)
#myC.setTarget(1, 6000)
#myC.setTarget(2, 6000)
def reset():
camPos = 4000
myC.setTarget(BODY, 6000)
myC.setTarget(MOTORS, 6000)
myC.setTarget(TURN, 6000)
myC.setTarget(HEADTURN, 6000)
myC.setTarget(HEADTILT, 4000)
def cog():