async def calibrate_misty():
"""move misty's actuators to extreme positions and record the values"""
from misty_py.api import MistyAPI
api = MistyAPI()
res = {}
await api.movement.move_head(0, 0, 0, 50)
await api.movement.move_arms(-50, -50, 50, 50)
await asyncio.sleep(2)
async def _head(*_args, **_kwargs):
await api.movement.move_head(*_args, **_kwargs)
await asyncio.sleep(3)
return (await api.movement.get_actuator_values(normalize=False))[a]
for a in Actuator.pitch, Actuator.roll, Actuator.yaw:
kwargs = {a.name: 110, 'velocity': 60}
pos = await _head(**kwargs)
kwargs = {a.name: -110, 'velocity': 60}
neg = await _head(**kwargs)
zero = await _head(0, 0, 0, 50)
res[a] = PosZeroNeg(pos, zero, neg)
async def _arms(**_kwargs):
await api.movement.move_arms(**_kwargs)
await asyncio.sleep(2)
positions = await api.movement.get_actuator_values(normalize=False)
return positions[Actuator.left_arm], positions[Actuator.right_arm]
l_pos, r_pos = await _arms(l_position=110,
r_position=110,
l_velocity=80,
r_velocity=80)
l_neg, r_neg = await _arms(l_position=-110,
r_position=-110,
l_velocity=80,
r_velocity=80)
l_0, r_0 = await _arms(l_position=0,
r_position=0,
l_velocity=50,
r_velocity=50)
res[Actuator.left_arm] = PosZeroNeg(l_pos, l_0, l_neg)
res[Actuator.right_arm] = PosZeroNeg(r_pos, r_0, r_neg)
print()
print({k.name: list(v) for k, v in res.items()})
return res
import random
from misty_py.api import MistyAPI
from misty_py.utils import MISTY_URL
__author__ = 'acushner'
api = MistyAPI(MISTY_URL)
async def random_simpsons_quote():
await api.audio.play(f'simpsons_{random.choice(range(1, 101))}.mp3')
import os
from random import choice, random
from contextlib import suppress
from typing import Callable, Awaitable, NamedTuple
import arrow
from misty_py.api import MistyAPI
from misty_py.subscriptions import Actuator, Touch, SubType, SubPayload, LLSubType
from misty_py.misty_ws import EventCallback, UnchangedValue
from misty_py.utils import wait_first, asyncpartial, wait_in_order, wait_for_group
from misty_py.utils.core import async_run
__author__ = 'acushner'
api = MistyAPI()
def search():
"""have misty look around and scan her environment"""
async def play():
# print(await api.movement.get_actuator_values())
# return
async def _handler(sp: SubPayload):
t = LLSubType.from_sub_payload(sp)
print(type(t), t)
async with api.ws.sub_unsub(SubType.touch_sensor, _handler):
await asyncio.sleep(20)
dict(b=5, c=67, e=dict(a=5))])
t = json_obj()
x = t.tuse = 4
print(x)
# t = json_obj(dict(a=dict(b=4)))
t = t
print(t)
# print(json_obj())
# print(json_obj(dict(a=5), b=6))
# print(json_obj([4, 5]))
print(HeadSettings(yaw=40).json)
sys.exit
api = MistyAPI('localhost:9999')
uvloop.install()
mws = MistyWS(api)
mws2 = MistyWS(api)
print(mws is mws2)
print(RGB.from_hex(0xFFFFFF).hex)
class C:
def __init__(self):
self.t = asyncio.run(self.atest())
print(self.t)
async def atest(self):