def main():
"""Realiza las pruebas del los LEDs del S2.
Las pruebas consideran:
robot = Scribbler2( "/dev/rfcomm2", 9600, 500 )
s2LEDs = robot.getS2LEDs()
s2LEDs.setLeftLed()
s2LEDs.setCenterLed()
s2LEDs.setRightLed()
s2LEDs.setAllLed()
"""
robot = Scribbler2("/dev/rfcomm2", 9600, 500)
s2LEDs = robot.getS2LEDs()
print("setLeftLed: " + str(s2LEDs.setLeftLed(True)))
Utils.pause(2000)
print("setLeftLed: " + str(s2LEDs.setLeftLed(False)))
Utils.pause(2000)
print("setCenterLed: " + str(s2LEDs.setCenterLed(True)))
Utils.pause(2000)
print("setCenterLed: " + str(s2LEDs.setCenterLed(False)))
Utils.pause(2000)
print("setRightLed: " + str(s2LEDs.setRightLed(True)))
Utils.pause(2000)
print("setRightLed: " + str(s2LEDs.setRightLed(False)))
Utils.pause(2000)
print("setAllLed: " + str(s2LEDs.setAllLed(1, 1, 1)))
Utils.pause(2000)
print("setAllLed: " + str(s2LEDs.setAllLed(0, 0, 0)))
Utils.pause(2000)
robot.close()
def main():
"""Realiza las pruebas de los elementos internos de la tarjeta F2.
Las pruebas consideran:
robot = Scribbler2( "/dev/rfcomm2", 9600, 500 )
f2Inner = robot.getF2Inner()
f2Inner.getVersion()
f2Inner.identifyRobot()
f2Inner.getBattery()
f2Inner.setForwardness()
f2Inner.getErrors()
f2Inner.resetScribbler()
"""
robot = Scribbler2("/dev/rfcomm2", 9600, 500)
f2Inner = robot.getF2Inner()
print("getVersion: " + str(f2Inner.getVersion()))
print("identifyRobot: " + str(f2Inner.identifyRobot()))
print("getBattery: " + str(f2Inner.getBattery()))
print("setForwardness: ")
f2Inner.setForwardness(f2Inner.SCRIBBLER_FORWARD)
print("setForwardness: ")
f2Inner.setForwardness(f2Inner.FLUKE_FORWARD)
print("setForwardness: ")
f2Inner.setForwardness(f2Inner.SCRIBBLER_FORWARD)
print("getErrors: ")
print(f2Inner.getErrors())
f2Inner.resetScribbler()
robot.close()
def main():
"""Realiza las pruebas de la camara de la tarjeta de la F2.
Las pruebas utilizan las librerias numpy y opencv, y consideran:
robot = Scribbler2( "/dev/rfcomm2", 9600, 500 )
f2Camera = robot.getF2Camera()
f2Camera.setPicSize)
f2Camera.getImage()
"""
robot = Scribbler2("/dev/rfcomm2", 9600, 500)
f2Camera = robot.getF2Camera()
cv2.namedWindow('Frames', cv2.WINDOW_AUTOSIZE)
f2Camera.setPicSize(f2Camera.IMAGE_SMALL)
for i in range(10):
image = f2Camera.getImage(f2Camera.IMAGE_GRAYJPEG_FAST)
print("Image:" + str(image))
img = cv2.imdecode(np.fromstring(str(image.image), np.uint8),
cv2.IMREAD_ANYCOLOR)
cv2.imshow('Frames', img)
k = cv2.waitKey(5)
cv2.destroyAllWindows()
robot.close()
def main():
"""Realiza las pruebas de movimiento en plano cartesiano del S2.
Las pruebas consideran:
robot = Scribbler2( "/dev/rfcomm2", 9600, 500 )
s2Path = robot.getS2Path()
s2Path.beginPath()
s2Path.setPosn()
s2Path.getPosn()
s2Path.setAngle()
s2Path.getAngle()
s2Path.moveTo()
s2Path.moveBy()
s2Path.turnTo()
s2Path.turnBy()
s2Path.arcTo()
s2Path.arcBy()
s2Path.endPath()
"""
robot = Scribbler2("/dev/rfcomm2", 9600, 500)
s2Path = robot.getS2Path()
print("beginPath: " + str(s2Path.beginPath(15)))
print("setPosn -100, -200: " + str(s2Path.setPosn(-100, -200)))
print("getPosn: " + str(s2Path.getPosn()))
print("setPosn 0, 0: " + str(s2Path.setPosn(0, 0)))
print("getPosn: " + str(s2Path.getPosn()))
print("setAngle -90: " + str(s2Path.setAngle(-90)))
print("getAngle: " + str(s2Path.getAngle()))
print("setAngle 90: " + str(s2Path.setAngle(90)))
print("getAngle: " + str(s2Path.getAngle()))
print("moveTo 0, 100: " + str(s2Path.moveTo(0, 100)))
print("moveTo 0, -1000: " + str(s2Path.moveTo(0, -1000)))
print("moveTo 0, 1000: " + str(s2Path.moveTo(0, 1000)))
print("moveTo 0, 2000: " + str(s2Path.moveTo(0, 2000)))
print("getPosn: " + str(s2Path.getPosn()))
print("getAngle: " + str(s2Path.getAngle()))
print("moveBy 0, 50: " + str(s2Path.moveBy(0, 50)))
print("getPosn: " + str(s2Path.getPosn()))
print("getAngle: " + str(s2Path.getAngle()))
print("turnTo 45: " + str(s2Path.turnTo(45)))
print("getPosn: " + str(s2Path.getPosn()))
print("getAngle: " + str(s2Path.getAngle()))
print("turnBy 45: " + str(s2Path.turnBy(45)))
print("getPosn: " + str(s2Path.getPosn()))
print("getAngle: " + str(s2Path.getAngle()))
print("arcTo 100, 100, 45: " + str(s2Path.arcTo(100, 100, 45)))
print("getPosn: " + str(s2Path.getPosn()))
print("getAngle: " + str(s2Path.getAngle()))
print("arcBy 100 : " + str(s2Path.arcBy(100, 100, 45)))
print("getPosn: " + str(s2Path.getPosn()))
print("getAngle: " + str(s2Path.getAngle()))
print("endPath: " + str(s2Path.endPath()))
robot.close()
def main():
"""Demo de control del S2 utilizando un controlador MIDI."""
print("Creando puerta MIDI")
midiIn = rtmidi.RtMidiIn()
midiIn.openVirtualPort("S2 Control Port")
print("Conectando con el Scribbler2")
robot = Scribbler2("/dev/rfcomm2", 9600, 500)
s2Motors = robot.getS2Motors()
print("Conecte la puerta del Controlador Midi a la puerta virtual creada")
while (True):
cmd = None
while (True):
message = midiIn.getMessage()
if (message == None):
continue
if (message.isNoteOn()):
note = message.getNoteNumber()
print(note)
if (note == 48):
s2Motors.setMotors(100, -100)
elif (note == 52):
s2Motors.setMotors(-100, 100)
elif (note == 55):
s2Motors.setMotors(100, 100)
elif (note == 59):
s2Motors.setMotors(-100, -100)
elif (note == 83):
s2Motors.setMotorsOff()
midiIn.close()
robot.close()
def main():
"""Realiza las pruebas de los motores del S2.
Las pruebas consideran:
robot = Scribbler2( "/dev/rfcomm2", 9600, 500 )
s2Motors = robot.getS2Motors()
s2Motors.getMotorStats()
s2Motors.getEncoders()
s2Motors.getStall()
s2Motors.setMotors()
s2Motors.setMotorsOff()
"""
robot = Scribbler2("/dev/rfcomm2", 9600, 500)
s2Motors = robot.getS2Motors()
print("getMotorStats: " + str(s2Motors.getMotorStats()))
print("getEncoders: " + str(s2Motors.getEncoders(1)))
print("getStall: " + str(s2Motors.getStall()))
print("setMotors 100, -100 : " + str(s2Motors.setMotors(100, -100)))
Utils.pause(3000)
print("setMotors -100, 100 : " + str(s2Motors.setMotors(-100, 100)))
Utils.pause(3000)
print("setMotorsOff: " + str(s2Motors.setMotorsOff()))
robot.close()
def main():
global mqtt_client, MQTT_SERVER, messages
print('[S2] Iniciando aplicación')
mqtt_client = paho.Client('S2-' + uuid.uuid4().hex)
mqtt_client.on_connect = mqtt_on_connect
mqtt_client.on_message = mqtt_on_message
mqtt_client.connect(MQTT_SERVER, 1883)
mqtt_client.loop_start()
s2 = None
abort = False
try:
s2 = Scribbler2("/dev/rfcomm2", 9600, 500)
sendToSpeak('Control de robot S2 iniciado')
except Exception as e:
sendToSpeak(' No existe puerto de comunicaciones con el robot')
abort = True
while (not abort):
message = messages.get()
print("[S2] Mensaje recibido:", message.payload)
words = message.payload.split()
cmd = words[0]
if (cmd == 'exit'):
abort = True
elif (cmd == 'name'):
sendToSpeak('El robot conectado es ' + s2.s2Inner.getName())
else:
delay = 0
try:
delay = float(words[1])
except Exception as e:
print("[S2]", e)
continue
if (delay <= 0):
continue
elif (cmd == 'left'):
s2.getS2Motors().setMotors(-100, 100)
time.sleep(delay)
s2.getS2Motors().setMotors(0, 0)
elif (cmd == 'right'):
s2.getS2Motors().setMotors(100, -100)
time.sleep(delay)
s2.getS2Motors().setMotors(0, 0)
elif (cmd == 'forward'):
s2.getS2Motors().setMotors(100, 100)
time.sleep(delay)
s2.getS2Motors().setMotors(0, 0)
elif (cmd == 'backward'):
s2.getS2Motors().setMotors(-100, -100)
time.sleep(delay)
s2.getS2Motors().setMotors(0, 0)
sendToSpeak('Control de robot S2 finalizado')
mqtt_client.loop_stop()
print('[S2] Aplicación finalizada')
def main():
"""Realiza pruebas del S2 recibiendo comandos via MQTT."""
global mqtt_client, MQTT_SERVER, messages, Queue
mqtt_client = paho.Client()
mqtt_client.on_connect = mqtt_on_connect
mqtt_client.on_message = mqtt_on_message
mqtt_client.connect(MQTT_SERVER, 1883)
mqtt_client.loop_start()
s2 = None
abort = False
try:
s2 = Scribbler2("/dev/rfcomm2", 9600, 500)
except Exception as e:
print(e)
abort = True
while (not abort):
message = messages.get()
print("[S2] Mensaje recibido:", message.payload)
words = message.payload.split()
cmd = words[0]
if (cmd == 'exit'):
abort = True
elif (cmd == 'name'):
print(s2.s2Inner.getName())
else:
delay = 0
try:
delay = float(words[1])
except Exception as e:
print("[S2]", e)
continue
if (delay <= 0):
continue
elif (cmd == 'left'):
s2.getS2Motors().setMotors(-100, 100)
time.sleep(delay)
s2.getS2Motors().setMotors(0, 0)
elif (cmd == 'right'):
s2.getS2Motors().setMotors(100, -100)
time.sleep(delay)
s2.getS2Motors().setMotors(0, 0)
elif (cmd == 'forward'):
s2.getS2Motors().setMotors(100, 100)
time.sleep(delay)
s2.getS2Motors().setMotors(0, 0)
elif (cmd == 'backward'):
s2.getS2Motors().setMotors(-100, -100)
time.sleep(delay)
s2.getS2Motors().setMotors(0, 0)
mqtt_client.loop_stop()
def OnConnect(self, *args):
"""Procesa el evento OnConnect del boton On/Off tipo switch."""
if(self.Connect.get_active()):
self._SbSetMessage("Conectando...")
try:
self.rob = Scribbler2(self.Port.get_text(), 9600, 500)
except Exception as e:
self.Connect.set_active(False)
self._SbSetMessage("Error al conectar con el Scribbler2")
return
self._StoreSensors( self.rob.getS2Inner().getAllSensors() )
self.MoveButtons.set_sensitive(True)
self.Speed.set_sensitive(True)
self.Port.set_sensitive(False)
self._SbSetMessage("Conectado a %s - Mi nombre es '%s'" % (self.Port.get_text(), self.rob.getS2Inner().getName()))
self.Info.set_label(self.rob.getS2Inner().getInfo())
self.Connect.set_label("Desconectar")
# Inicia el hilo de los sensores
self.TSensors = Thread(target=self._Sensors, args=())
self.TSensors.start()
# Inicia el hilo del joystick
pygame.init()
if(pygame.joystick.get_count()>0):
self.TJoystick = Thread(target=self._Joystick, args=())
self.TJoystick.start()
else:
if(self.rob!=None):
self.rob.close()
self.rob = None
self.MoveButtons.set_sensitive(False)
self.Speed.set_sensitive(False)
self.Port.set_sensitive(True)
self.Info.set_label("")
self._SbSetMessage("Desconectado")
self.Connect.set_label("Conectar")
# Detiene el hilo de sensors
if(self.TSensors!=None):
self.TSensors.join()
self.TSensors = None
# Detiene el hilo del joystick
if(self.TJoystick!=None):
self.TJoystick.join()
self.TJoystick = None
pygame.quit()
return
def main():
"""Realiza las pruebas del microfono del S2.
Las pruebas consideran:
robot = Scribbler2( "/dev/rfcomm2", 9600, 500 )
s2Microphone = robot.getS2Microphone()
s2Microphone.getMicEnv()
"""
robot = Scribbler2("/dev/rfcomm2", 9600, 500)
s2Microphone = robot.getS2Microphone()
for i in range(50):
print("getMicEnv: " + str(s2Microphone.getMicEnv()))
robot.close()
def connect( port='rfcomm2' ):
"""Conecta al S2 que se encuentra en la puerta especificada."""
global s2
if( s2 != None ):
try:
print( 'S2 connect(): Cerrando conexion anterior' )
s2.close()
except:
pass
try:
print( 'S2 connect(): Estableciendo conexion con el S2 ... ', end='' )
s2 = Scribbler2( '/dev/' + port, 9600, 500 )
print( 'OK' )
except Exception as e:
print( 'Exception' )
print( e )
finally:
sys.stdout.flush()
def main():
"""Realiza las pruebas de los motores servos de la tarjeta F2.
Las pruebas consideran:
robot = Scribbler2( "/dev/rfcomm2", 9600, 500 )
f2Servos = robot.getF2Servos()
f2Servos.setServo()
"""
robot = Scribbler2( "/dev/rfcomm2", 9600, 500 )
f2Servos = robot.getF2Servos()
id = 0;
for value in range(0, 256, 5):
print("setServo(%d, %d)" % (id, value))
f2Servos.setServo(id, value)
Utils.pause(60)
robot.close()
def main():
"""Realiza las pruebas de los sensores infrarojos de la tarjeta F2.
Las pruebas consideran:
robot = Scribbler2( "/dev/rfcomm2", 9600, 500 )
f2IRSensors = robot.getF2IRSensors()
f2IRSensors.setIRPower()
f2IRSensors.getIR()
"""
robot = Scribbler2("/dev/rfcomm2", 9600, 500)
f2IRSensors = robot.getF2IRSensors()
print("setIRPower: ")
f2IRSensors.setIRPower(255)
for i in range(20):
print("getIR: " + str(f2IRSensors.getIR()))
robot.close()
def main():
"""Realiza las pruebas de los sensores de luz del S2.
Las pruebas consideran:
robot = Scribbler2( "/dev/rfcomm2", 9600, 500 )
s2LightSensors = robot.getS2LightSensors()
s2LightSensors.getLeftLight()
s2LightSensors.getCenterLight()
s2LightSensors.getRightLed()
s2LightSensors.getAllLights()
"""
robot = Scribbler2("/dev/rfcomm2", 9600, 500)
s2LightSensors = robot.getS2LightSensors()
for i in range(10):
print("getLeftLight: " + str(s2LightSensors.getLeftLight()))
print("getCenterLight: " + str(s2LightSensors.getCenterLight()))
print("getRightLight: " + str(s2LightSensors.getRightLight()))
print("getAllLights: " + str(s2LightSensors.getAllLights()))
robot.close()
def main():
"""Realiza las pruebas de los elementos internos del S2.
Las pruebas consideran:
robot = Scribbler2( "/dev/rfcomm2", 9600, 500 )
s2Inner = robot.getS2Inner()
s2Inner.getInfo()
s2Inner.getAllSensors()
s2Inner.setPass()
s2Inner.getPass()
s2Inner.setName()
s2Inner.getName()
s2Inner.getState()
s2Inner.setData()
s2Inner.setSingleData()
"""
robot = Scribbler2( "/dev/rfcomm2", 9600, 500 )
s2Inner = robot.getS2Inner()
print( "getInfo: " + str( s2Inner.getInfo() ) )
print( "getAllSensors: " + str( s2Inner.getAllSensors() ) )
print( "setPass: "******"1234567898765432" ) ) )
print( "getPass: "******"setPass: "******"ABCDEFGHIHGFRDCB" ) ) )
print( "getPass: "******"setName: " + str( s2Inner.setName( "NAME1234" ) ) )
print( "getName: " + str( s2Inner.getName() ) )
print( "setName: " + str( s2Inner.setName( "LilyBot" ) ) )
print( "getName: " + str( s2Inner.getName() ) )
print( "getState: " + str( s2Inner.getState() ) )
print( "setData: " + str( s2Inner.setData( bytearray( [ 1, 2, 3, 4, 5, 6, 7, 8 ] ) ) ) )
print( "getData: " + str( Utils.bytesToHex( s2Inner.getData() ) ) )
print( "setData: " + str( s2Inner.setData( bytearray( [ 8, 7, 6, 5, 4, 3, 2, 1 ] ) ) ) )
print( "getData: " + str( Utils.bytesToHex( s2Inner.getData() ) ) )
print( "setSingleData: " + str( s2Inner.setSingleData( 4, 44 ) ) )
print( "getData: " + str( Utils.bytesToHex( s2Inner.getData() ) ) )
robot.close()
def main():
"""Realiza las pruebas de los sensores infrarojos del S2.
Las pruebas consideran:
robot = Scribbler2( "/dev/rfcomm2", 9600, 500 )
s2IRSensors = robot.getS2IRSensors()
s2IRSensors.getIRLeft()
s2IRSensors.getIRRight()
s2IRSensors.getAllIR()
s2IRSensors.getIrEx()
"""
robot = Scribbler2( "/dev/rfcomm2", 9600, 500 )
s2IRSensors = robot.getS2IRSensors()
for i in range( 10 ):
print( "getIRLeft: " + str( s2IRSensors.getIRLeft() ) )
print( "getIRRight: " + str( s2IRSensors.getIRRight() ) )
print( "getAllIR: " + str( s2IRSensors.getAllIR() ) )
print( "getIrEx(0): " + str( s2IRSensors.getIrEx( 0, 128 ) ) )
print( "getIrEx(1): " + str( s2IRSensors.getIrEx( 1, 128 ) ) )
robot.close()
def main():
"""Realiza pruebas de sonido soportados por el S2.
Las pruebas consideran:
robot = Scribbler2( "/dev/rfcomm2", 9600, 500 )
s2Speaker = robot.getS2Speaker()
s2Speaker.setQuiet()
s2Speaker.setLoud()
s2Speaker.setVolume()
s2Speaker.setSpeaker()
s2Speaker.setSpeaker()
"""
robot = Scribbler2("/dev/rfcomm2", 9600, 500)
s2Speaker = robot.getS2Speaker()
print("setQuiet: " + str(s2Speaker.setQuiet()))
print("setLoud: " + str(s2Speaker.setLoud()))
print("setVolume: " + str(s2Speaker.setVolume(50)))
print("setSpeaker: " + str(s2Speaker.setSpeaker(2000, 440, 880)))
print("setSpeaker: " + str(s2Speaker.setSpeaker(2000, 650, 0)))
robot.close()
def main():
"""Realiza las pruebas de los sensores de linea del S2.
Las pruebas consideran:
robot = Scribbler2( "/dev/rfcomm2", 9600, 500 )
s2LineSensors = robot.getS2LineSensors()
s2LineSensors.getLineEx()
s2LineSensors.getAllLines()
s2LineSensors.getLeftLine()
s2LineSensors.getRightLine()
"""
robot = Scribbler2( "/dev/rfcomm2", 9600, 500 )
s2LineSensors = robot.getS2LineSensors()
for i in range( 10 ):
print( "getLineEx 0: " + str( s2LineSensors.getLineEx( 0, 128 ) ) )
print( "getLineEx 1: " + str( s2LineSensors.getLineEx( 1, 128 ) ) )
print( "getAllLines: " + str( s2LineSensors.getAllLines() ) )
print( "getLeftLine: " + str( s2LineSensors.getLeftLine() ) )
print( "getRightLine: " + str( s2LineSensors.getRightLine() ) )
robot.close()
from rcr.robots.scribbler2.Scribbler2 import Scribbler2
robot = Scribbler2("/dev/rfcomm2", 9600, 500)
snd = robot.getS2Speaker()
snd.setLoud()
snd.setVolume(100)
snd.setSpeaker(125, 440, 0)
snd.setSpeaker(125, 440, 0)
snd.setSpeaker(125, 370, 0)
snd.setSpeaker(125, 330, 0)
snd.setSpeaker(125, 440, 0)
snd.setSpeaker(125, 0, 0)
snd.setSpeaker(500, 523, 0)
snd.setSpeaker(125, 440, 0)
snd.setSpeaker(125, 440, 0)
snd.setSpeaker(125, 370, 0)
snd.setSpeaker(125, 330, 0)
snd.setSpeaker(125, 440, 0)
snd.setSpeaker(125, 0, 0)
snd.setSpeaker(500, 370, 0)
snd.setSpeaker(125, 440, 0)
snd.setSpeaker(125, 440, 0)
snd.setSpeaker(125, 370, 0)
snd.setSpeaker(125, 330, 0)
snd.setSpeaker(125, 440, 0)
snd.setSpeaker(125, 587, 0)
snd.setSpeaker(125, 622, 0)
snd.setSpeaker(125, 659, 0)
snd.setSpeaker(063, 622, 0)
snd.setSpeaker(063, 659, 0)
snd.setSpeaker(063, 622, 0)
snd.setSpeaker(063, 659, 0)
import time
import io
from PIL import Image
from rcr.robots.scribbler2.Scribbler2 import Scribbler2
robot = Scribbler2("COM3", 9600, 500)
motors = robot.getS2Motors()
cam = robot.getF2Camera()
cam.setPicSize(cam.IMAGE_SMALL)
motors.setMotors(30, -30)
time.sleep(2)
motors.setMotorsOff()
data = cam.getImage(cam.IMAGE_GRAYJPEG_FAST)
image = Image.open(io.BytesIO(data.image))
image.show()
motors.setMotors(30, -30)
time.sleep(2)
motors.setMotorsOff()
data = cam.getImage(cam.IMAGE_JPEG_FAST)
image = Image.open(io.BytesIO(data.image))
image.show()
robot.close()