def run(self,ang,gait):
if self.s_run == 0:
espeak.synth("I'm off for a run")
self.s_run = 1
serial_out.setgait(gait)
serial_out.state(0,1,1)
nav.odo(1.5,ang)
print ('run')
serial_out.travel(ang,100,0)
def startup():
x = 0
while x < 10:
serial_out.state(0,0,1)
time.sleep(0.1)
x +=1
Thread(target=play, args=("/home/hexy/git/JimBob2/Python/Sounds/r2d2.ogg",1)).start()
p_servo.SetX(0)
time.sleep(2)
p_servo.SetX(180)
time.sleep(2)
p_servo.SetX(90)
time.sleep(2)
p_servo.SetY(60)
time.sleep(2)
p_servo.SetY(130)
time.sleep(2)
p_servo.SetY(90)
time.sleep(2)
reset()
rise()
def walk(self,ang,gait):
serial_out.setgait(gait)
serial_out.state(0,0,1)
serial_out.travel(ang,100,0)
nav.odo(1,ang)
print ('walk ', ang)
""" Startup """
startup()
connected = lidar.connect(1)
coords['i_CurPos'] = [10,1]
nav.offset()
susptime = time.time()
haz = 0
temp = 0
espeak.synth("Hello, Jim Bob ready to go")
c = 0
serial_out.setgait(0)
serial_out.wait(25)
serial_out.state(0,0,1)
priorread = time.time()+2
lxpos = [2015,1915,1815,1715,1615,1515,1415,1315,1215]
lypos = [[1578,2067],[1613,2070],[1648,2090],[1683,2101],[1718,2113]]
espeak.synth("Clear the area")
lc = 0
ld = 0
nav.offset()
coords['i_CurPos'][0] = 10
coords['i_CurPos'][1] = 0
while(1):
for x in xrange(0, 5):
for y in xrange(0, 30):
move.walk(0,x)