def brake(self, abTF):
'''Brake the legs.'''
lleg = body.getpart(body._LLEG)
rleg = body.getpart(body._RLEG)
lleg.brake(abTF)
rleg.brake(abTF)
sleep(0.2)
lrleg.stop()
rleg.stop()
def _fire(self, abTF):
'''Fire gun by setting motor speed to 100%, stop by setting to 0%.'''
p = body.getpart(body._GUN)
p.value = p.minmax[abTF]
#Turn smoke generator on/off.
GPIO.output(sentrybot._SMOKEPIN, GPIO.HIGH if abTF else GPIO.LOW)
self._gunon = abTF
self._guntime = 0.0
sm = body.getpart(body._SMOKE)
sm.value = sm.minmax[1] if abTF else sm.minmax[0]
def setpartdata(self, aIndex, aRate, aTrim, aMinMax):
'''Set the rate, trim and min/max values for given part.'''
p = body.getpart(aIndex)
if p:
p.rate = aRate
p.center = aTrim
p.minmax = aMinMax
def _togglecombat(self):
'''Toggle combat stance.'''
self._stance = sentrybot._PEACE if self._stance != sentrybot._PEACE else sentrybot._COMBAT
p = body.getpart(body._MISSILES)
if self._stance == sentrybot._COMBAT:
# s = soundchain((sentrybot._combatsfx, 'engaging'), sentrybot._MACHINEGROUP)
s = sound(sentrybot._combatsfx, sentrybot._MACHINEGROUP)
s.play()
p.value = p.minmax[1]
else:
p.value = 0.0
s = soundchain(('sys/two', 'sys/one'), sentrybot._MACHINEGROUP)
s.play()
def _updateparts(self, aDelta):
'''Update all servos based on joystick input'''
rx = -self._joy(gamepad._RX) #Negate cuz servo is backwards.
ry = self._joy(gamepad._RY)
rx = deadzone(rx, 0.01)
self.checktorso(rx)
ry = deadzone(ry, 0.01)
lx = self._joy(gamepad._LX)
ly = self._joy(gamepad._LY)
lx = deadzone(lx, 0.01)
ly = deadzone(ly, 0.01)
'''
rx = head, torso, arm horizontal
ry = right wheel front/back
lx = Nothing at the moment
ly = left wheel front/back
'''
#If we have a change limit, then use it.
if self._rate > 0.0:
if aDelta != 0.0:
d = self._rate * aDelta
v = self._rotx + (rx * d)
self._rotx = min(max(v, -90.0), 90.0)
v = self._roty + (
self._hy * d) #Use _hy, which is adjusted by l/r triggers.
self._roty = min(max(v, -90.0), 90.0)
else:
v = rx * 90.0
self._rotx = min(max(v, -90.0), 90.0)
v = self._hy * 90.0
self._roty = min(max(v, -90.0), 90.0)
# print(self._rotx, self._roty, ' ', end='\r')
# print(rx, ry, ' ', end='\r')
#todo: Figure out how to disperse right stick movement into torso, head and arms.
t = body.getpart(body._TORSO)
v = self._rotx / 8.0
t.value = v
hh = body.getpart(body._HEAD_H)
v = -self._rotx / 4.0
hh.value = v
hv = body.getpart(body._HEAD_V)
hv.value = self._roty
#Only update arms if they are on. We can turn them off to keep them from overheating.
if self._armson:
rarmh = body.getpart(body._RARM_H)
rarmv = body.getpart(body._RARM_V)
larmh = body.getpart(body._LARM_H)
larmv = body.getpart(body._LARM_V)
# clampedxy = self.clamparms(self._rotx, self._roty)
#Rotate x,y by angle and apply to arms.
armx, army = angle.rotate((self._rotx, self._roty), self._cossinl)
larmh.value = armx
larmv.value = army
larmh.update(aDelta)
larmv.update(aDelta)
# clampedxy = self.clamparms(self._rotx, -self._roty)
#Note, to invert the right arm use _cossinr.
armx, army = angle.rotate((self._rotx, -self._roty), self._cossinr)
rarmh.value = armx
rarmv.value = army
rarmh.update(aDelta)
rarmv.update(aDelta)
lleg = body.getpart(body._LLEG)
rleg = body.getpart(body._RLEG)
lleg.speed = ly * lleg.maxspeed
rleg.speed = ry * rleg.maxspeed
lleg.update(aDelta)
rleg.update(aDelta)
# self._gunbutton.update()
# if self._gunbutton.pressed:
# self._gunindex = 1 - self._gunindex
# self._gunsound[self._gunindex].stop() #Make sure sound is stopped so we can play it again.
# self._gunsound[self._gunindex].play()
g = body.getpart(body._GUN)
g.update(aDelta)
#Now play gun sound if gun is on.
if self._gunon:
self._guntime -= aDelta
if self._guntime <= 0.0:
self._gunindex = 1 - self._gunindex
self._gunsound[self._gunindex].stop(
) #Make sure sound is stopped so we can play it again.
self._gunsound[self._gunindex].play()
self._guntime = self._gunrate
m = body.getpart(body._MISSILES)
m.update(aDelta)
def turnoff(apart):
part = body.getpart(apart)
part.off()
def _setspeed(self):
'''Set the speed scale value on the legs to the current _speed setting.'''
lleg = body.getpart(body._LLEG)
rleg = body.getpart(body._RLEG)
lleg.scale = rleg.scale = sentrybot._speeds[self._speed]
def partdefminmax(self, aIndex):
'''Get min/max for given part.'''
p = body.getpart(aIndex)
return p._defminmax if p else (-100.0, 100.0)
def partcenter(self, aIndex):
'''Get rate for given part.'''
p = body.getpart(aIndex)
return p.center if p else 0.0
def partrate(self, aIndex):
'''Get rate for given part.'''
p = body.getpart(aIndex)
return p.rate if p else 0.0
def _updateparts( self, aDelta ):
'''Update all servos based on joystick input'''
rx = -self._joy(gamepad._RX) #Negate cuz servo is backwards.
ry = self._joy(gamepad._RY) * self._invert
rx = deadzone(rx, 0.01)
ry = deadzone(ry, 0.01)
lx = self._joy(gamepad._LX)
lx = deadzone(lx, 0.01)
ly = self._joy(gamepad._LY)
ly = deadzone(ly, 0.01)
if self._rate > 0.0:
if aDelta != 0.0:
d = self._rate * aDelta
v = self._rotx + (rx * d)
self._rotx = min(max(v, -90.0), 90.0)
v = self._roty + (ry * d)
self._roty = min(max(v, -90.0), 90.0)
else:
v = rx * 90.0
self._rotx = min(max(v, -90.0), 90.0)
v = ry * 90.0
self._roty = min(max(v, -90.0), 90.0)
# print(self._rotx, self._roty, ' ', end='\r')
# print(rx, ry, ' ', end='\r')
#todo: Figure out how to disperse right stick movement into torso, head and arms.
t = body.getpart(body._TORSO)
t.value = self._rotx / 8.0
hh = body.getpart(body._HEAD_H)
hh.value = -self._rotx / 4.0
hv = body.getpart(body._HEAD_V)
hv.value = -self._roty
# print('hh: ', hh.value, ' ', end='\r')
# print('hv: ', hv.value, ' ', end='\r')
rarmh = body.getpart(body._RARM_H)
rarmv = body.getpart(body._RARM_V)
larmh = body.getpart(body._LARM_H)
larmv = body.getpart(body._LARM_V)
#Rotate x,y by angle and apply to arms.
armx, army = angle.rotate((self._rotx, -self._roty), self._cossinl)
larmh.value = (armx)
larmv.value =(army)
armx, army = angle.rotate((self._rotx, self._roty), self._cossinr)
rarmh.value = (armx)
rarmv.value = (army)
#todo: Update gun servo based on a button input.
# vl, vr = legs.vels(lx, ly)
vl = ly
vr = ry
lleg = body.getpart(body._LLEG)
rleg = body.getpart(body._RLEG)
# print(vl, ' ', end='\r')
lleg.speed = vl * lleg.maxspeed
rleg.speed = vr * rleg.maxspeed
lleg.update(aDelta)
rleg.update(aDelta)
