def __init__(self):
self.tweety = Finch()
# Set obstacle sensors
self.left_obst, self.right_obst = self.tweety.obstacle()
# Setting initial lighting
self.myLights = lighting(self.tweety)
# Setting initial acceleration settings
self.x, self.y, self.z, self.tap, self.shake = self.tweety.acceleration()
# Setting initial wheel speed
self.left_wheel = 0.0
self.right_wheel = 0.0
self.tweety.wheels(self.left_wheel, self.right_wheel)
def q2():
from time import sleep
from finch import Finch
# this code won't actually work unless you install the finch package
# or you can replace this with the ebot equivalent if you want
# to run the code
# Whatever the case, the concept is the same
finch = Finch()
finch.wheels(0.2,0.2)
leftObstacle, rightObstacle = finch.obstacle()
while leftObstacle == False and rightObstacle == False:
finch.wheels(0.2,0.2)
finch.halt()
finch.close()
def Connect():
for i in range (2):
try:
newFinch = Finch()
return newFinch
except:
if i == 0:
print "Failed to connect to Finch on the first try"
Quit(newFinch)
newFinch = 0
print "Failed to connect to Finch on the second try"
return newFinch
def Connect(): #a function that connects the finch to the python methods
for i in range (2): #loop of two
try: #first attempt
newFinch=Finch() #sets a variable equal to connection
return newFinch
except:
if i==0:
print "Failed to connect to Finch on the first try" #prints a statement that the finch failed to connect the first time
Quit(newFinch)
newFinch=0 #resets newFinch varv - iable to 0
print "Failed to connect to Finch on the second try" #prints a statement that the finch failed to connect the second time
return newFinch #returns the value of newFinch
def __init__(self, left, right, inAdjustmentMode=False):
self.leftWheel = left
self.rightWheel = right
self.myBot = Finch()
# Keep track of the direction you should try on obstacles
self.obstacleDirectionToTry = finchConstants.LEFT
self.lastScrapedSide = " "
# Keep track of when the last time you moved forward, we use that
# to identify sensors
self.lastTimeIMovedForward = -1
# Use vars below for logging when
self.lastPersistedLeftObstacleState = False
self.lastPersistedRightObstacleState = False
# Obstacle reading goes haywire... we'll count up readings within
# an interval and use the overall score to report
self.lastObstacleReading = 0.0
self.lastObstacleReadingLeftScores = [0, 0, 0, 0, 0]
self.lastObstacleReadingRightScores = [0, 0, 0, 0, 0]
self.scorePosition = 0
self.obstacleNumberOfScores = len(self.lastObstacleReadingLeftScores)
self.obstacleState = {
"left": False,
"leftStateTime": 0.0,
"leftElapsedTime": 0.0,
"right": False,
"rightStateTime": 0.0,
"rightElapsedTime": 0.0
}
# If true then wheel speed will be adjusted by the constants
self.inWheelAdjustmentMode = inAdjustmentMode
self.lasttime = time.time()
self.update(self.inWheelAdjustmentMode)
# Race track driver, an example program for the Finch
# Watch the Finch navigate a square race track
from finch import Finch
from time import sleep
#Main function for the race track driver example program."""
#Initialize the finch
finch = Finch()
#Set both wheels to one-half forward throttle for 1.5s
finch.wheels(0.5,0.5)
finch.led(0, 255, 255)
sleep(1.5)
# Now set the left wheel at half throttle, right wheel off to turn
finch.wheels(0.5,0)
finch.led(0, 255, 0)
sleep(1.28)
finch.wheels(0.5,0.5)
finch.led(0, 255, 255)
sleep(1.5)
finch.wheels(0.5,0)
finch.led(0, 255, 0)
sleep(1.28)
######################################
# Team Awesome
# Advanced Topics - Robotics CMPS 367
# demo 2 battery function
######################################
import signal, os
from time import sleep
from finch import Finch
tweety = Finch()
# signal handler
def batteryHandler(signum, frame):
print('alarm triggered! Shutting down', signum)
exit()
# setup signal
signal.signal(signal.SIGALRM, batteryHandler)
# test that alarm will continue to count through sleep
signal.alarm(7)
sleep(5)
print("This should print without the alarm going off.")
# test alarm being reset
signal.alarm(7) - 6
sleep(9)
The Finch is a robot for computer science education. Its design is the result
of a four year study at Carnegie Mellon's CREATE lab.
http://www.finchrobot.com
"""
from finch import Finch
from time import sleep
import notes
#Main function for the music player example program"""
#Initialize the finch
mode = input("What mode, alarm or muysic player?")
finch = Finch()
x, y, z, tap, shake = finch.acceleration()
zAccel = finch.acceleration()[2]
timeList = [0.18, 0.1, 0.1, 0.1]
if mode != 'a':
songList = [
'E5 C D E C D E F D E F D E F G A GE F C D E G E D C ',
'D D5 A4 G G5 A4 F5# A4 D D5 A4 G G5 A4 F5# A4 '
'E D5 A4 G G5 A4 F5# A4 E D5 A4 G G5 A4 F5# A4 '
'G D5 A4 G G5 A4 F5# A4 G D5 A4 G G5 A4 F5# A4 '
'D D5 A4 G G5 A4 F5# A4 D D5 A4 G G5 A4 F5# A4 ',
'E5 E E C E G G4 C5 G4 E A BBb A G '
'E5 G A F G E C D B4 C5 G4 E A BBb A G '
'E5 G A F G E C D B4 - G5 Gb F D# E G4# A C5 A4 C5 D '
'G5 Gb F D# E C6 C6 C6 '
"""Let's make the Finch robot dance!""" from finch import Finch from time import sleep finch = Finch() ##### CHANGE CODE BELOW THIS LINE ##### finch.led(0, 255, 0) finch.wheels(0.75, 0.75) sleep(1.5) finch.led(0, 0, 255) finch.wheels(-0.75, -0.75) sleep(1.5) finch.halt()
from finch import Finch from time import sleep #Main function for the race track driver example program.""" #Initialize the finch finch = Finch() finch.led(0, 0, 100) finch.close
#Finch Maze Program #authors: Simon, Juhi, Andrew from finch import Finch from time import sleep, time finch = Finch() finch.led(255, 0, 0) # Turns light red start = time() #Makes Finch drive through track and then celebrate at the end finch.wheels(.8, .87) sleep(5.5) finch.wheels(0, 1) sleep(.6) finch.led(225, 0, 225) finch.wheels(.8, .83) sleep(2.5) finch.wheels(1, 0) sleep(.35) finch.led(0, 150, 150) finch.wheels(.8, .81) sleep(8) finch.wheels(0, 0) finch.wheels(-1,1) sleep(3) finch.wheels(1, -1) sleep(3) finch.wheels(0,0)
# Finch Racetrack Program # authors: Juhi, Simon, Andrew from finch import Finch from time import sleep, time finch = Finch() finch.led(255, 0, 0) finch.wheels(0.5, 0.57) sleep(2.5)
# Finch Testing Script for initiating evasive maneuvers based on ultrasonic
# range finder PROXIMITY data
#
# There will be 2 main test scripts for sonar based colision avoidance, one for
# proximity (how far objects are relative to Finch)
# speed (how quickly objects are approaching Finch)
import ultrasonicRangeRpi
from finch import Finch
from time import sleep
#Instantiate the Finch Object
TestFinch = Finch()
#Details about the Finch
FinchWidth = 20 #Distance between mid points of two tires
TireCircumf = 20.797 #Circumference of Finch Wheels
l, ril, rel = ultrasonicRangeRpi.lists()
#Starting Speed (0.5 on each wheel)
TestFinch.wheels(0.5, 0.5)
while True:
# Find the distances from each sensor
sensor1 = ultrasonicRangeRpi.ultrasound(26, 19, 3) #Left Ultrasound
sensor2 = ultrasonicRangeRpi.ultrasound(20, 21, 2) #Rear Ultrasound
sensor3 = ultrasonicRangeRpi.ultrasound(23, 24, 1) #Right Ultrasound
# Enter a number between 0-1, with 0.1 increments (example: 0.2, 0.5, 0.6, 0.9 etc.)
class MyRobot:
# Constructor, the polarity is here cause some robots may have the
# polarity wrong (i.e. right wheel is going in wrong direction)
# The 'adjust' variables are to adjust for different speeds in the wheels
# it tries to make them in sync.
def __init__(self, left, right, inAdjustmentMode=False):
self.leftWheel = left
self.rightWheel = right
self.myBot = Finch()
# Keep track of the direction you should try on obstacles
self.obstacleDirectionToTry = finchConstants.LEFT
self.lastScrapedSide = " "
# Keep track of when the last time you moved forward, we use that
# to identify sensors
self.lastTimeIMovedForward = -1
# Use vars below for logging when
self.lastPersistedLeftObstacleState = False
self.lastPersistedRightObstacleState = False
# Obstacle reading goes haywire... we'll count up readings within
# an interval and use the overall score to report
self.lastObstacleReading = 0.0
self.lastObstacleReadingLeftScores = [0, 0, 0, 0, 0]
self.lastObstacleReadingRightScores = [0, 0, 0, 0, 0]
self.scorePosition = 0
self.obstacleNumberOfScores = len(self.lastObstacleReadingLeftScores)
self.obstacleState = {
"left": False,
"leftStateTime": 0.0,
"leftElapsedTime": 0.0,
"right": False,
"rightStateTime": 0.0,
"rightElapsedTime": 0.0
}
# If true then wheel speed will be adjusted by the constants
self.inWheelAdjustmentMode = inAdjustmentMode
self.lasttime = time.time()
self.update(self.inWheelAdjustmentMode)
# Reset the state of the sensors
def resetState(self):
self.obstacleState["left"] = False
self.obstacleState["leftStateTime"] = 0.0
self.obstacleState["leftElapsedTime"] = 0.0
self.obstacleState["right"] = False
self.obstacleState["rightStateTime"] = 0.0
self.obstacleState["rightElapsedTime"] = 0.0
self.lastPersistedLeftObstacleState = False
self.lastPersistedRightObstacleState = False
self.lastObstacleReading = 0.0
self.lastObstacleReadingLeftScores = [0, 0, 0, 0, 0]
self.lastObstacleReadingRightScores = [0, 0, 0, 0, 0]
self.scorePosition = 0
# This is common routine to update the dictionary 'state' items associated
# with the sensors... we need this because we need the state to persist for
# a given amount of time before we think of it as 'real' (the bot sensors are flakey)
# NOTE: The state will only be updated when wheels are moving, or you pass in the
# forceUpdate indicator
def updateMyState(self, forceUpdate=False):
if self.leftWheel != 0.0 or self.rightWheel != 0.0 or forceUpdate:
stateTime = time.time()
leftObst, rightObst = self.myBot.obstacle()
# Because obstacle readings are erradic I take last 5 readings, and report that
# value if sum of array is > 2 then report True else report false
if leftObst == True:
leftIntValue = 1
else:
leftIntValue = 0
if rightObst == True:
rightIntValue = 1
else:
rightIntValue = 0
indexPosition = self.scorePosition % 5
self.lastObstacleReadingLeftScores[indexPosition] = leftIntValue
self.lastObstacleReadingRightScores[indexPosition] = rightIntValue
self.scorePosition = indexPosition + 1
lastReadingElapsed = round(stateTime - self.lastObstacleReading, 3)
finchClassLogger.debug(
"finchClass-updateMyState, lastReadingElapsed: {0}, leftObst: {1} rightObst{2}"
.format(lastReadingElapsed, leftObst, rightObst))
# If reading is less than intervals ignore it
if lastReadingElapsed < OBSTACLE_READING_DELAY:
return
self.lastObstacleReading = stateTime
# Calculate the value for each of the obstacle sensors
leftIntValue = 0
rightIntValue = 0
indexPosition = 0
while indexPosition < self.obstacleNumberOfScores:
leftIntValue += self.lastObstacleReadingLeftScores[
indexPosition]
rightIntValue += self.lastObstacleReadingRightScores[
indexPosition]
indexPosition += 1
if leftIntValue > 2:
leftObstacleReading = True
else:
leftObstacleReading = False
if rightIntValue > 2:
rightObstacleReading = True
else:
rightObstacleReading = False
finchClassLogger.debug(
"finchClass-updateMyState, leftObstacleReading: {0} rightObstacleReading: {1}"
.format(leftObstacleReading, rightObstacleReading))
# State changed or time hasn't been set
if self.obstacleState[
"left"] != leftObstacleReading or self.obstacleState[
"leftStateTime"] == 0.0:
finchClassLogger.info(
"finchClass-updateMyState, STATE Changed, Left was:{0} is:{1}"
.format(str(self.obstacleState["left"]),
str(leftObstacleReading)))
self.obstacleState["left"] = leftObstacleReading
self.obstacleState["leftStateTime"] = stateTime
self.obstacleState["leftElapsedTime"] = 0.0
else:
# Calculate the elapsed time in this state
self.obstacleState["leftElapsedTime"] = round(
stateTime - self.obstacleState["leftStateTime"], 4)
# Same as above but check the right obstacle sensor
if self.obstacleState[
"right"] != rightObstacleReading or self.obstacleState[
"rightStateTime"] == 0.0:
finchClassLogger.info(
"finchClass-updateMyState, STATE Changed, Right was:{0} is:{1}"
.format(str(self.obstacleState["right"]),
str(rightObstacleReading)))
self.obstacleState["right"] = rightObstacleReading
self.obstacleState["rightStateTime"] = stateTime
self.obstacleState["rightElapsedTime"] = 0.0
else:
self.obstacleState["rightElapsedTime"] = round(
stateTime - self.obstacleState["rightStateTime"], 4)
# Helper to return indicator if an obstacle exists, we did this because we need the obstacle to
# persist for an amount of time (thresholdInSecs) before we say it's on
# Caller can specify which sensor to check (LEFT/RIGHT, if they don't then it'll return True if
# either sensor reports an obstacle)
def hasObstacle(self,
whichOne,
thresholdInSecs=OBSTACLE_PERSIST_TIME_REQUIRED):
# Commented out logger... too many messages here, changed 'updateMyState' to report when state changes
# finchClassLogger.debug("finchClass-hasObstacle, obstacleState:{0}".format(str(self.obstacleState)))
leftObst = False
if self.obstacleState["leftElapsedTime"] > thresholdInSecs:
leftObst = self.obstacleState["left"]
if leftObst != self.lastPersistedLeftObstacleState:
finchClassLogger.info(
"finchClass-hasObstacle, PERSISTED Left Obstacle State Change old/new: {0}/{1}"
.format(self.lastPersistedLeftObstacleState, leftObst))
self.lastPersistedLeftObstacleState = leftObst
rightObst = False
if self.obstacleState["rightElapsedTime"] > thresholdInSecs:
rightObst = self.obstacleState["right"]
if leftObst != self.lastPersistedLeftObstacleState:
finchClassLogger.info(
"finchClass-hasObstacle, PERSISTED Right Obstacle State Change old/new: {0}/{1}"
.format(self.lastPersistedRightObstacleState, rightObst))
self.lastPersistedRightObstacleState = rightObst
# finchClassLogger.debug("finchClass-hasObstacle, leftObst:{0} rightObst{1}".format(leftObst,rightObst))
if whichOne == finchConstants.LEFT:
return leftObst
elif whichOne == finchConstants.RIGHT:
return rightObst
elif leftObst == True or rightObst == True:
return True
else:
return False
# Helper function, it returns the wheel speed taking into account what the
# wheel adjustment should be, and it's polarity.
def wheelHelper(self, whichWheel, logModeOnly=False):
# For logging we don't want to show the polarity adjustment... could be
# confusing to people analyzing wheel motion :)
if logModeOnly == False:
rtPol = finchConstants.RIGHTPOLARITY
ltPol = finchConstants.LEFTPOLARITY
else:
rtPol = 1.0
ltPol = 1.0
if whichWheel == "R":
if self.inWheelAdjustmentMode:
return (self.rightWheel +
finchConstants.RIGHTWHEELADJUSTMENT) * rtPol
else:
return self.rightWheel * rtPol
else:
if self.inWheelAdjustmentMode:
return (self.leftWheel +
finchConstants.LEFTWHEELADJUSTMENT) * ltPol
else:
return self.leftWheel * ltPol
# Set the wheel speed (to move, unless both are zero)
def update(self, useAdjustment):
self.inWheelAdjustmentMode = useAdjustment
finchClassLogger.debug(
"finchClass-update, left: {0:.2f} right: {1:.2f}".format(
self.wheelHelper("L"), self.wheelHelper("R")))
if (self.leftWheel != 0.0 or self.rightWheel != 0.0):
# Setting wheel speed, reset the sensors
self.resetState()
self.myBot.wheels(self.wheelHelper("L"), self.wheelHelper("R"))
else:
self.myBot.wheels(0.0, 0.0)
# Stop moving
def stop(self):
self.leftWheel = 0.0
self.rightWheel = 0.0
self.update(False)
# Turn left, we do this by either increasing the speed of the right wheel
# or decreasing the left wheel speed if we're already at max speed
def left(self):
if self.rightWheel >= finchConstants.RIGHTMAXSPEED:
self.leftWheel -= finchConstants.SPEEDINCREMENT
else:
self.rightWheel += finchConstants.SPEEDINCREMENT
self.update(self.inWheelAdjustmentMode)
# Turn left for the desired degrees
def leftTurn(self, degrees2Turn):
self.turnTime = degrees2Turn / 360.0
self.leftWheel = finchConstants.LEFTROTATIONSPEED * -1
self.rightWheel = finchConstants.LEFTROTATIONSPEED
self.update(False)
time.sleep(finchConstants.LEFTROTATIONTIME * self.turnTime)
self.leftWheel = 0
self.rightWheel = 0
self.update(False)
# Turn right, basically increase the speed of the left wheel
# or decreasing right wheel if left wheel already at max speed
def right(self):
if self.leftWheel >= finchConstants.LEFTMAXSPEED:
self.rightWheel -= finchConstants.SPEEDINCREMENT
else:
self.leftWheel += finchConstants.SPEEDINCREMENT
self.update(self.inWheelAdjustmentMode)
# Turn right the specified number of degrees
def rightTurn(self, degrees2Turn):
self.turnTime = degrees2Turn / 360.0
self.leftWheel = finchConstants.RIGHTROTATIONSPEED
self.rightWheel = finchConstants.RIGHTROTATIONSPEED * -1
self.update(False)
time.sleep(finchConstants.RIGHTROTATIONTIME * self.turnTime)
self.leftWheel = 0
self.rightWheel = 0
self.update(False)
# Get the elapsed time
def getElapsedTime(self):
return round(time.time() - self.lasttime, 4)
# Reset the elapsed timer
def resetTimer(self):
self.lasttime = time.time()
# Run... set wheels to max speed
def run(self):
self.leftWheel = finchConstants.LEFTMAXSPEED
self.rightWheel = finchConstants.RIGHTMAXSPEED
self.update(self.inWheelAdjustmentMode)
# Go faster, we determine the speed increment and increase both wheels by that amount
def faster(self):
increment = min(finchConstants.SPEEDINCREMENT,
finchConstants.LEFTMAXSPEED - self.leftWheel,
finchConstants.RIGHTMAXSPEED - self.rightWheel)
self.leftWheel += increment
self.rightWheel += increment
self.update(self.inWheelAdjustmentMode)
# Set wheels to be at certain speed
def setWheels(self, lftWheel, rtWheel, adJustMode):
self.leftWheel = lftWheel
self.rightWheel = rtWheel
self.inWheelAdjustmentMode = adJustMode
self.update(self.inWheelAdjustmentMode)
# Shutdown the robot
def shutDown(self):
self.myBot.close()
# Return True if robot can move, false if there is some type of
# obstacle
def canMove(self, ignoreObstacles):
# Add logic for other sensors
# If we're going in reverse then don't check sensors
if (self.leftWheel <= 0.0
and self.rightWheel <= 0.0) or ignoreObstacles:
# print("canMove, ignoring obstacles")
return True
else:
self.updateMyState()
rtnValue = (self.hasObstacle("BOTH") == False)
# print("canMove returns {0}".format(rtnValue))
return rtnValue
# Routine when robot feels a scrap (obstacle on one side of it), pass in the side
def getOutOfScrape(self, sideOfScrape):
# Motion is rotate SCRAPEANGLE (if left +, right -)
# Backup SCRAPEBACKUPDISTANCE
# Rotate back to original angle
if sideOfScrape == finchConstants.LEFT:
return botUtils.calculateScrapeMovement(
finchConstants.SCRAPEANGLE,
finchConstants.SCRAPEBACKUPDISTANCE)
else:
return botUtils.calculateScrapeMovement(
-finchConstants.SCRAPEANGLE,
finchConstants.SCRAPEBACKUPDISTANCE)
# Get out of obstacle is similar to the get out of scrap but we use a 45 degree angle and the distance to
# move puts us back 1/2 of the robot's width away
def getOutOfObstacle(self, directionToMove):
# We want to try a position to the left or right that is 1/2 our width away
# Calculate the distance we need to backup first, it's 1/2 width divided by sin(45)
distanceToBackup = round(
(finchConstants.TOTALWIDTH) / botUtils.degreesSin(45), 2)
finchClassLogger.info(
"finchClass-getOutOfObstacle, directionToMove: {0} distanceToBackup: {1}"
.format(directionToMove, str(distanceToBackup)))
if directionToMove == finchConstants.LEFT:
# Want angle of -45 to turn right then backup
return botUtils.calculateScrapeMovement(-45.0, distanceToBackup)
else:
return botUtils.calculateScrapeMovement(45, distanceToBackup)
# Return the direction to try when you hit an obstacle, put logic in here
def getObstacleDirectionToTry(self):
return self.obstacleDirectionToTry
def flipObstacleDirectionToTry(self):
if self.obstacleDirectionToTry == finchConstants.LEFT:
self.obstacleDirectionToTry = finchConstants.RIGHT
else:
self.obstacleDirectionToTry = finchConstants.LEFT
finchClassLogger.info(
"finchClass-flipObstacleDirectionToTry, new direction: {0}".format(
self.obstacleDirectionToTry))
# Return the side that was last scraped, since we calculate the direction to move before
# this, it's opposite out current direction... down the road see if you can derive it on
# accelarator
def getLastScrapeSide(self):
if self.obstacleDirectionToTry == finchConstants.LEFT:
return finchConstants.RIGHT
else:
return finchConstants.LEFT
#return self.lastScrapedSide
def isObstacle(self, robotPosition, robotRegionOfTravel):
# Return True if you hit an obstacle (both sensors are true), if you
# only have one sensor then count that as a scrape and return false
# leftObst, rightObst = self.myBot.obstacle()
leftObst = self.hasObstacle(finchConstants.LEFT)
rightObst = self.hasObstacle(finchConstants.RIGHT)
if leftObst == True and rightObst == True:
return True
elif leftObst == True or rightObst == True:
# The robot sensor don't always report true even
# when there's an obstacle right in front of it.
# If the robot is close to the edge of it's region
# of travel then report this as a scrape otherwise
# report it as an obstacle
if self.isRobotCloseToEdge(robotPosition,
robotRegionOfTravel) == True:
if leftObst == True:
self.lastScrapedSide = finchConstants.LEFT
else:
self.lastScrapedSide = finchConstants.RIGHT
return False
else:
return True
return False
# Determines if robot is oriented along the x or y axis (within 10 degree of it)
def robotOrientedAlongAxis(self, robotPosition):
orientedTowardAxis = " "
if (robotPosition[botUtils.POS_OF_ANGLE] < 10
or robotPosition[botUtils.POS_OF_ANGLE] > 350):
orientedTowardAxis = "X+"
elif (robotPosition[botUtils.POS_OF_ANGLE] > 170
and robotPosition[botUtils.POS_OF_ANGLE] < 190):
orientedTowardAxis = "X-"
elif (robotPosition[botUtils.POS_OF_ANGLE] > 80
and robotPosition[botUtils.POS_OF_ANGLE] < 100):
orientedTowardAxis = "Y+"
elif (robotPosition[botUtils.POS_OF_ANGLE] > 260
and robotPosition[botUtils.POS_OF_ANGLE] < 280):
orientedTowardAxis = "Y-"
return orientedTowardAxis
# Determine if robot is close to a particular regions edge
def getRobotClosestEdges(self,
robotPosition,
regionOfTravel,
threshold=THRESHOLDTOSIDE):
# Calculate the distance from coordinates
closeEdges = []
distanceToLeftX = robotPosition[botUtils.POS_OF_X] - regionOfTravel[0]
distanceToRightX = regionOfTravel[2] - robotPosition[botUtils.POS_OF_X]
distanceFromBottomY = robotPosition[
botUtils.POS_OF_Y] - regionOfTravel[1]
distanceFromTopY = regionOfTravel[3] - robotPosition[botUtils.POS_OF_Y]
tempString = "finchClass.py, getRobotClosesEdges, robotPosition: {0} regionOfTravel: {1} threshold: {2}"
finchClassLogger.debug(
tempString.format(str(robotPosition), str(regionOfTravel),
threshold))
tempString = " leftXDist: {0} rightXDist: {1}, lowerYDist: {2} upperYDist: {3}"
finchClassLogger.debug(
tempString.format(distanceToLeftX, distanceToRightX,
distanceFromBottomY, distanceFromTopY))
if (distanceToLeftX <= threshold):
closeEdges.append("LX")
elif (distanceToRightX <= threshold):
closeEdges.append("UX")
if (distanceFromBottomY <= threshold):
closeEdges.append("LY")
elif (distanceFromTopY <= threshold):
closeEdges.append("UY")
return closeEdges
def getFinchReference(self):
return self.myBot
# Revisit this, there's definitely better way to do this... look in to matrix trasnformations
def checkAndSetObstacleDirectionToTry(self,
robotPosition,
regionOfTravel,
threshold=THRESHOLDTOSIDE):
# Get closest edges
finchClassLogger.debug(
"finchClass.py, checkAndSetObstacleDirectionToTry, start")
myCloseEdges = self.getRobotClosestEdges(robotPosition, regionOfTravel,
threshold)
newDirection = " "
if len(myCloseEdges) > 0:
finchClassLogger.debug(
"finchClass.py, checkAndSetObstacleDirectionToTry, values below"
)
for anEdge in myCloseEdges:
finchClassLogger.debug(" {0}".format(str(anEdge)))
# We are close to an edge, get the robot orientation to figure out the edges that
# are used to set new direction... when in x direction we look at y values, when
# pointing in y direction we look at x values
robotOrientation = self.robotOrientedAlongAxis(robotPosition)
if robotOrientation == "X+":
if "UY" in myCloseEdges:
newDirection = finchConstants.RIGHT
elif "LY" in myCloseEdges:
newDirection = finchConstants.LEFT
elif robotOrientation == "X-":
if "UY" in myCloseEdges:
newDirection = finchConstants.LEFT
elif "LY" in myCloseEdges:
newDirection = finchConstants.RIGHT
elif robotOrientation == "Y+":
if "UX" in myCloseEdges:
newDirection = finchConstants.LEFT
elif "LX" in myCloseEdges:
newDirection = finchConstants.RIGHT
elif robotOrientation == "Y-":
if "UX" in myCloseEdges:
newDirection = finchConstants.RIGHT
elif "LX" in myCloseEdges:
newDirection = finchConstants.LEFT
finchClassLogger.debug(
"finchClass.py, checkAndSetObstacleDirectionToTry, oldDirection: {0} newDirection: {1}"
.format(self.obstacleDirectionToTry, newDirection))
if newDirection != self.obstacleDirectionToTry:
self.flipObstacleDirectionToTry()
finchClassLogger.debug(
"finchClass.py, checkAndSetObstacleDirectionToTry, start")
# Helper just returns true or false stating that we're close to edge.
def isRobotCloseToEdge(self,
robotPosition,
regionOfTravel,
threshold=THRESHOLDTOSIDE):
edgesCloseTo = self.getRobotClosestEdges(robotPosition, regionOfTravel,
threshold)
if len(edgesCloseTo) > 0:
return True
else:
return False
# Set the finches nose color :)
def setLedColor(self, theColor):
if theColor == finchConstants.RED:
self.myBot.led(255, 0, 0)
elif theColor == finchConstants.GREEN:
self.myBot.led(0, 255, 0)
elif theColor == finchConstants.BLUE:
self.myBot.led(0, 0, 255)
# Return status of all robot attributes
def status(self):
# This returns elapsed time since clock was set and a tuple with the attributes, the wheels, obstacle and lights
# are tuples (so it's a tuple of tuples (except for temp))
leftObst, rightObst = self.myBot.obstacle()
currStat = (self.getElapsedTime(), (self.wheelHelper("L", True),
self.wheelHelper("R", True)),
self.myBot.temperature(), (self.myBot.light()),
(leftObst, rightObst), (self.myBot.acceleration()))
return currStat
# testfinchfunctions, an example program for the Finch
# Tests all parts of the Finch: prints all sensor values, changes the led
# moves the wheels and beeps the buzzer.
from time import sleep
from finch import Finch
finch = Finch()
print('Temperature %5.2f' % finch.temperature())
print()
finch.wheels(1.0, -1.0)
sleep(0.5)
finch.wheels(0.0, 0.0)
for count in range(5):
finch.led(0, 50*count, 0)
x, y, z, tap, shake = finch.acceleration()
print ('Acceleration %5.3f, %5.3f %5.3f %s %s' %
(x, y, z, tap, shake))
left_light, right_light = finch.light()
print ('Lights %5.3f, %5.3f' % (left_light, right_light))
left_obstacle, right_obstacle = finch.obstacle()
print('Obstacles %s, %s' % (left_obstacle, right_obstacle))
print()
finch.buzzer(0.8, 100*count)
sleep(1)
finch.led('#FF0000')
finch.buzzer(5, 440)
from finch import Finch
from time import sleep
finch = Finch()
print (finch.light())
while (1) :
light = finch.light()
average = (light[0] + light[1]) / 2
deviation = abs(average - 0.55)
#formula using deviation so finch could react appropriately to light
#3 is for a stronger reaction because 1 standard deviation not enough
finch.led(255 * 3 * deviation, 255 * 3 * (1 - deviation), 0)
print (average)
# A simple Finch dance in Python
from finch import Finch
from time import sleep
print("Finch's First Python program.")
# Instantiate the Finch object
snakyFinch = Finch()
# Do a six step dance
snakyFinch.led(255,0,0)
snakyFinch.wheels(1,1)
sleep(1)
snakyFinch.led(0,255,0)
snakyFinch.wheels(0,1)
sleep(1)
snakyFinch.led(0,0,255)
snakyFinch.wheels(1,0)
sleep(1)
snakyFinch.led(255,0,255)
snakyFinch.wheels(-1,-1)
sleep(0.5)
snakyFinch.led(0,255,255)
snakyFinch.wheels(0.2,-1)
sleep(1)
# A simple program that changes the Finch LED based on orientation.
from finch import Finch
from random import randint
# Instantiate the Finch object and connect to Finch
tweety = Finch()
left, right = tweety.obstacle()
# Do the following while no obstacles are detected by Finch
while not left and not right:
# Get the accelerations
x, y, z, tap, shake = tweety.acceleration()
# Print the acceleration data
print("X is %.2f gees, Y is %.2f gees, Z is %.2f gees, tap is %r shake is %r" % (x, y, z, tap, shake));
# Use the acceleration data to set the LED:
# beak up
if x < -0.7 and y > -0.3 and y < 0.3 and z > -0.3 and z < 0.3:
tweety.led(255,0,0);
# beak down
elif x > 0.7 and y > -0.3 and y < 0.3 and z > -0.3 and z < 0.3:
tweety.led(0,255,0);
# level
elif x > -0.5 and x < 0.5 and y > -0.5 and y < 0.5 and z > 0.7:
tweety.led(0,0,255);
# upside down
elif x > -0.5 and x < 0.5 and y > -0.5 and y < 0.5 and z < -0.7:
tweety.led(0,255,255);
# A simple program that randomly changes the LED when the Finch is tapped or shaken
# Try it by setting the Finch on a table and tapping the top
from finch import Finch
from random import randint
# Instantiate the Finch object and connect to Finch
tweety = Finch()
left, right = tweety.obstacle()
# Do the following while no obstacles are detected by Finch
while not left and not right:
# Get the accelerations
x, y, z, tap, shake = tweety.acceleration()
# Print the acceleration data
print("X is %.2f gees, Y is %.2f gees, Z is %.2f gees, tap is %r shake is %r" % (x, y, z, tap, shake));
# If a tap or shake has been detected recently, set the LED to a random color
if tap or shake:
tweety.led(randint(0,255), randint(0, 255), randint(0,255))
# Get obstacles to use to exit loop
left, right = tweety.obstacle()
tweety.close()
# Lap Swimmer, an example program for the Finch
# Tell the Finch how many laps to do, set it down on the ground
# Finch goes forward until it sees an obstacle
# Then goes back the same distance. It'll then repeat this lap as many times
# as the user requested
from finch import Finch
from time import sleep, time
# Main function for the lap swimmer example program
finch = Finch() # Initialize the finch
finch.led(255, 255, 0)
laps = 0
# Get the number of laps Finch will swim:
while laps <= 0:
laps = int(input('Enter number of laps: '))
if laps < 0:
print('Cannot swim a negative number of laps!')
elif laps == 0:
print('Zero laps? I want to swim!')
# Move forward until an obstacle is present and measure the time:
start = time()
finch.wheels(0.5, 0.5)
sleep(0.1)
# A simple program that wanders and avoids obstacles
from finch import Finch
from time import sleep
import notes
#Main function for the music player example program"""
#Initialize the finch
finch = Finch()
songList = [
'E5 C D E C D E F D E F D E F G A GE F C D E G E D C ',
'D D5 A4 G G5 A4 F5# A4 D D5 A4 G G5 A4 F5# A4 '
'E D5 A4 G G5 A4 F5# A4 E D5 A4 G G5 A4 F5# A4 '
'G D5 A4 G G5 A4 F5# A4 G D5 A4 G G5 A4 F5# A4 '
'D D5 A4 G G5 A4 F5# A4 D D5 A4 G G5 A4 F5# A4 ', 'E5 E E C E G ',
'C E5 G'
]
timeList = [0.18, 0.1, 0.1]
song = 1
#get which song
song = 3
if song >= 1 and song <= 3:
print("It's GO time!!!")
Finch.led(255, 0, 0)
notes.sing(finch, songList[song - 1], timeList[song - 1])
else:
class myFinch:
# Class Initializer
# Synopsis -
# self.left_wheel, is the speed of the left wheel, set to 0
# self.right_wheel, is the speed of the right wheel, set to 0
# self.tweety, is the Finch robot object which will be manipulated through this class
#
# Description -
# Initialize the class members to a specific value
def __init__(self):
self.tweety = Finch()
# Set obstacle sensors
self.left_obst, self.right_obst = self.tweety.obstacle()
# Setting initial lighting
self.myLights = lighting(self.tweety)
self.myLights.readValues()
# Setting initial acceleration settings
self.x, self.y, self.z, self.tap, self.shake = self.tweety.acceleration(
)
# Setting initial wheel speed
self.left_wheel = 0.0
self.right_wheel = 0.0
self.tweety.wheels(self.left_wheel, self.right_wheel)
# [FUNCTION]Name - setWheels ( left, right )
# Synopsis -
# def setWheels ( left, right ) :
# left, an double value for the left wheel speed
# right, an double value for the right wheel speed
#
# Description -
# Accelerates each wheel at different speeds to obtain the new speed. This can be
# adjusted by small increments and also gives each wheel independent ending
# speeds.
#
# Return -
# (none)
def setWheels(self, left, right):
self.left_wheel = left
self.right_wheel = right
self.tweety.wheels(self.left_wheel, self.right_wheel)
self.printSpeed()
return
# setWheels ( left, right ) #
# [FUNCTION]Name - def printSpeed ( )
# Synopsis -
# def printSpeed ( ):
# (no parameters)
# Description -
# Upon changing speed with setWheels this will print the individual wheel speed
# or both to the console.
#
# Return -
# (none)
def printSpeed(self):
if (self.left_wheel == self.right_wheel):
print("Current speed : ", self.left_wheel)
return
print("Left speed : ", self.left_wheel)
print("Right speed : ", self.right_wheel)
return
# printSpeed ( self ) #
def isLight(self):
current_left, current_right = self.tweety.light()
return current_left, current_right
def scurryTowardsLights(self):
lspeed = 0.3
rspeed = 0.5
clspeed = 0.1
crspeed = 0.5
onCurve = 0
onMax = 0
maxleft, maxright = self.myLights.getMax()
tmpmaxleft = maxleft + .25
tmpmaxright = maxright + .25
if (tmpmaxleft) > .75:
tmpmaxleft = .75
if (tmpmaxright) > .75:
tmpmaxright = .75
while (True):
# Check lights, then obstacles
left_light, right_light = self.myLights.lightStatus()
self.left_obst, self.right_obst = self.tweety.obstacle()
if (self.checkForObstacle()):
#switch the speeds
tmp = lspeed
ctmp = clspeed
lspeed = rspeed
rspeed = tmp
clspeed = crspeed
clspeed = ctmp
if left_light == 0 and right_light == 0:
# Just keep swimming
print("Just keep swimming")
self.delay(0.3, lspeed, rspeed)
onCurve += 1
if onCurve == 10:
print("Small curve")
self.setWheels(0.0, 0.0)
self.delay(3.0, clspeed, crspeed)
self.setWheels(lspeed,
rspeed) # Natural curve speed (testing)
onCurve = 0
elif left_light > 0 or right_light > 0:
onCurve = 0
# Find "brightest"
# stop ... move towards the light
self.setWheels(0.0, 0.0)
leftval, rightval = self.myLights.getComparison()
if leftval > rightval:
# Turn towards our left
print("Going left")
self.turnLeft()
else:
print("Going right")
# Turn towards our right
self.turnRight()
if ((leftval + maxleft) >
(tmpmaxleft)) and ((rightval + maxright) > tmpmaxright):
print("Under bright area!")
while (True):
self.setWheels(0.0, 0.0)
self.delay(0.3, 0.5, 0.5)
self.setWheels(0.0, 0.0)
left, right = self.isLight()
print(left, " ", right)
print(tmpmaxleft, " ", tmpmaxright)
if (left > tmpmaxleft) or (right > tmpmaxright):
tmpmaxleft = left
tmpmaxright = right
sleep(0.5)
else:
self.delay(0.3, -0.5, -0.5)
self.setWheels(0.0, 0.0)
break
os._exit(0)
elif right_light < 0 or right_light < 0:
onCurve = 0
print("got darker")
def checkForObstacle(self):
if self.left_obst == True and self.right_obst == True:
print("Obstacle straight ahead")
self.setWheels(-(self.left_wheel), -(self.right_wheel))
sleep(0.5)
self.setWheels(0.0, 0.0)
sleep(0.1)
self.setWheels(0.0, 0.5)
sleep(0.5)
return True
elif self.right_obst == True:
print("Obstacle on right")
self.setWheels(-(self.left_wheel), -(self.right_wheel))
sleep(0.5)
self.setWheels(0.0, 0.0)
sleep(0.1)
self.setWheels(0.5, 0.0)
sleep(0.5)
return True
elif self.left_obst == True:
print("Obstacle on left")
self.setWheels(-(self.left_wheel), -(self.right_wheel))
sleep(0.5)
self.setWheels(0.0, 0.0)
sleep(0.1)
self.setWheels(0.5, 0.0)
sleep(0.5)
return True
else:
print("No obstacle")
return False
return False
def turnRight(self):
self.setWheels(.5, .25)
def turnLeft(self):
self.setWheels(0.25, .5)
def straight(self):
self.setWheels(0.4, 0.4)
def charging(self):
self.tweety.led("#00FF00")
self.tweety.buzzer(1.0, 800)
def discharging(self):
self.tweety.led("#FF0000")
def delay(self, time, lspeed, rspeed):
timer = 0
while (timer < time):
self.setWheels(lspeed, rspeed)
if (self.checkForObstacle() == True):
tmp = lspeed
lspeed = rspeed
rspeed = tmp
self.setWheels(lspeed, rspeed)
continue
else:
timer = timer + 0.1
sleep(0.1)
continue
if (finch != "y"):
while (see == True):
see = pass_gas(True)
WASD("shutdown script")
else:
# A simple program that wanders and avoids obstacles
from finch import Finch
from time import sleep
import notes
#Main function for the music player example program"""
#Initialize the finch
finch = Finch()
songList = [
'E5 C D E C D E F D E F D E F G A GE F C D E G E D C ',
'D D5 A4 G G5 A4 F5# A4 D D5 A4 G G5 A4 F5# A4 '
'E D5 A4 G G5 A4 F5# A4 E D5 A4 G G5 A4 F5# A4 '
'G D5 A4 G G5 A4 F5# A4 G D5 A4 G G5 A4 F5# A4 '
'D D5 A4 G G5 A4 F5# A4 D D5 A4 G G5 A4 F5# A4 ',
'E5 E E C E G ', 'C E5 G'
]
timeList = [0.18, 0.1, 0.1, 0.1, 0.1]
song = 1
#get which song
song = 3
def mathr():
if (True):
WASD("r")
WASD("ht")
# to = input("if your equation is in ax**2 + bx +c, type 1. If it is in d(x + a)**2 + b = c, type 2. If you want to use the normal calculator, do not type in anything.")
a = input()
ot = input()
b = input()
ot = ot.lower()
if (ot == "1"):
a = (input("What is the A value?"))
b = ((input("What is the B value?")))
c = (input("What is the C Value?"))
if (type(a) or type(b) or type(c) != float) and (len(a)
and len(b) > 0):
a = float(a)
b = float(b)
c = float(c)
wer = 0
WASD("st")
while (wer < 10):
WASD("a")
wer = (wer + 1)
WASD("ht")
dis = str(b**2 - (4 * a * c))
print("The Discriminent is " + dis + ".")
v = ((0 - b) / (2 * a))
d = v
ve = ((a * (v**2)) + (b * d) + c)
print("The axis of symmetry is:")
print("x = ")
print(v)
print("The vertex is ")
print(v)
print(",")
print(ve)
anso = (0 - b)
ansoer = (b**2 - (4 * a * c))
if (ansoer < 0):
print("The answer is no solution")
else:
anso = (anso + sqrt(ansoer))
anso = (anso / (2 * a))
anst = (0 - b)
anst = (anst - sqrt(b**2 - 4 * a * c))
anst = (anst / (2 * a))
print("The answers are:")
print(anso)
print("and")
print(anst)
anso = (0 - b)
ansoer = (b**2 - (4 * a * c))
ansot = (0 - anso)
ansto = (0 - anst)
# print ("The factored form is:")
# print ("(x + ")
# print (ansot)
# print (")")
# print ("(x + ")
# print(ansto)
# print (")")
qrs = input("do you want to plug in a point?")
if (qrs == "y"):
v = input("What x value?")
WASD("ht")
v = float(v)
ve = ((a * (v**2)) + (b * v) + c)
print(ve)
ve = (v**2)
ve = (ve * a)
xe = (b * v)
ve = (ve + xe)
ve = (ve + c)
print(ve)
WASD("st")
WASD("r")
turtle.setpos(v, ve)
WASD("c")
vor = input("another?")
if (vor == "y"):
v = input("What x value?")
v = float(v)
ve = ((a * (v**2)) + (b * v) + c)
print(ve)
WASD("st")
turtle.pendown()
turtle.setpos(v, ve)
WASD("ht")
input()
else:
print("OK")
else:
print("OK")
else:
s = 1
elif (ot == "How are you?"):
print("I am good.")
elif (ot == "lines n arrows"):
WASD("st")
wer = 0
while (wer < 5):
WASD("a")
wer = (wer + 1)
WASD("r")
lines_n_arrows()
WASD("ht")
WASD("r")
elif (ot == "ps"):
print(perfect_square(a))
elif (ot == "h. asymptote"):
n = input("What is the degree of the numerator?")
m = input("What is the degree of the denomonator?")
if (n < m):
print("The horizontal asymptote is at the x-axis.")
elif (n == m):
a = input("What is a?")
b = input("What is b?")
print("The horizontal assymtote is")
print(a / b)
else:
print("There is no horizontal assymtote")
elif (ot == "trivia"):
fo = input("Who is the first compeditor?")
ft = input("Who is the second compeditor?")
trivia(fo, ft)
WASD("r")
WASD("ht")
elif (ot == "you are a"):
print("takes one to know one " + person + ".")
elif (ot == "sq"):
a = float(a)
print(a**2)
elif (ot == "dinner"):
dinner()
elif (ot == "sleep"):
WASD("sleep")
elif (ot == "2"):
a = input("What is the A value?")
b = (input("What is the B value?"))
c = (input("What is the C Value?"))
d = input("What is the d value?")
a = int(a)
b = int(b)
c = int(c)
c = (c - b)
c = sqrt(c)
c = (c / d)
anso = (0 - a)
anso = (anso + c)
anst = (0 - c)
anst = (anst - a)
print("The answers are:")
print(anso)
print("and")
print(anst)
print("and")
print(anst)
elif (ot == "s.i. linear"):
m = float(input("What is m?"))
b = float(input("Whar is b?"))
again = input("Wanna plug in a point")
if (again == "y"):
# y = mx + b
x = float(input("What to plug in for x?"))
y = (m * x)
y = (y + b)
WASD("st")
WASD("r")
turtle.setpos(x, y)
WASD("c")
print(y)
again = input("another?")
if (again == "y"):
x = float(input("What to plug in for x?"))
y = (m * x)
y = (y + b)
print(y)
WASD("st")
turtle.pendown()
turtle.setpos(x, y)
again = input("another?")
if (again == "y"):
x = float(input("What to plug in for x?"))
y = (m * x)
y = (y + b)
print(y)
WASD("st")
turtle.pendown()
turtle.setpos(x, y)
again = input("another?")
if (again == "y"):
x = float(input("What to plug in for x?"))
y = (m * x)
y = (y + b)
print(y)
WASD("st")
turtle.pendown()
turtle.setpos(x, y)
WASD("ht")
input()
elif (ot == "midpoint"):
xo = int(input("What is x1?"))
yo = int(input("What is y1?"))
xt = int(input("What is x2?"))
yt = int(input("What is y2?"))
anso = (xo + xt)
anso = (anso / 2)
anst = float(yo + yt)
anst = (anst / 2)
print("The answer is ")
print(anso)
print(",")
print(anst)
elif (ot == "print"):
prin = input()
pri = input()
pr = input()
prin = float(prin)
pri = float(pri)
pr = float(pr)
print(prin + pri + pr)
elif (ot == "what to do"):
doorator()
elif (ot == "type"):
inp = input()
print(type(inp))
elif (ot == "pyg"):
pyg()
elif (ot == "sqrtfac"):
ratfac2(a)
elif (ot == "ratfac"):
ratfac2(a)
elif (ot == "isprime"):
if (len(a) > 0):
n = a
n = int(n)
b = (n + 1)
for n in range(n, b):
for x in range(2, n):
n = int(n)
if n % x == 0:
x = int(x)
y = (n // x)
n = str(n)
x = str(x)
y = str(y)
print(n + ' equals ' + x + '*' + y)
break
else:
# loop fell through without finding a factor
print(n, 'is a prime number')
elif (ot == "lines n arrows"):
lines_n_arrows()
elif (ot == "document"):
documents()
elif (ot == "tp"):
di = int(input("what is the diagonal?"))
point = int(input("What is the pointy edge?"))
bt = int(
input(
"What is the leg of the triangle adjasent to the pointy edge?"
))
st = int(input("What is the other leg of the triangle?"))
ans = (st * bt)
answ = (di * point)
answe = (bt * point)
answer = (st * point)
anso = (ans + answ + answe + answer)
print(anso)
elif (ot == ".1"):
a = (input("What is the A value?"))
b = ((input("What is the B value?")))
c = (input("What is the C Value?"))
if (type(a) or type(b) or type(c) != float) and (len(a)
and len(b) > 0):
a = float(a)
b = float(b)
c = float(c)
dis = str(b**2 - (4 * a * c))
print("The Discriminent is " + dis + ".")
v = ((0 - b) / (2 * a))
d = v
ve = ((a * (v**2)) + (b * d) + c)
print("The axis of symmetry is:")
print("x = ")
print(v)
print("The vertex is ")
print(v)
print(",")
print(ve)
anso = (0 - b)
ansoer = (b**2 - (4 * a * c))
if (ansoer < 0):
print("The answer is no solution")
else:
anso = (anso + sqrt(ansoer))
anso = (anso / (2 * a))
anst = (0 - b)
anst = (anst - sqrt(b**2 - 4 * a * c))
anst = (anst / (2 * a))
print("The answers are:")
print(anso)
print("and")
print(anst)
anso = (0 - b)
ansoer = (b**2 - (4 * a * c))
ansot = (0 - anso)
ansto = (0 - anst)
# print ("The factored form is:")
# print ("(x + ")
# print (ansot)
# print (")")
# print ("(x + ")
# print(ansto)
# print (")")
qrs = input("do you want to plug in a point?")
if (qrs == "y"):
v = input("What x value?")
v = float(v)
ve = ((a * (v**2)) + (b * v) + c)
print(ve)
ve = (v**2)
ve = (ve * a)
xe = (b * v)
ve = (ve + xe)
ve = (ve + c)
print(ve)
vor = input("another?")
if (vor == "y"):
v = input("What x value?")
v = float(v)
ve = ((a * (v**2)) + (b * v) + c)
print(ve)
else:
print("OK")
else:
print("OK")
else:
s = 1
elif (ot == "+"):
# a = (input("What is the 1st #?"))
# b = (input("What is the second #?"))
if (type(a) or type(b) != float) and (len(a) and len(b) > 0):
a = int(a)
b = int(b)
ans = (a + b)
print(ans)
else:
print("invalid #")
elif (ot == "thats wrong"):
print("No way! I am always right!")
elif (ot == "i like pi"):
print("Really? so do I!")
elif (ot == "no way!"):
print("yes way!")
elif (ot == "sin"):
a = float(a)
print(sin(a))
elif (ot == "tan"):
a = float(a)
print(tan(a))
elif (ot == "cos"):
a = float(a)
print(cos(a))
elif (ot == "hi"):
name = print("Hello, " + person + ", i'm Alcal.")
feeling = input("How are you?")
feeling = feeling.lower()
if (feeling == "good"):
print("Happy to hear that, " + person + ".")
elif (feeling == "not so good"):
print("I hope you feel better soon.")
else:
print("I don't understand...")
elif (ot == ".+"):
# a = (input("What is the 1st #?"))
# b = (input("What is the second #?"))
if (type(a) or type(b) != float) and (len(a) and len(b) > 0):
a = float(a)
b = float(b)
print(a + b)
elif (ot == "*"):
# a = (input("What is the 1st #?"))
# b = (input("What is the second #?"))
if (len(a) and len(b) > 0):
a = int(a)
b = int(b)
print(a * b)
else:
print("invalid #")
elif (ot == "turtle"):
q = 1
WASD("st")
turtle.forward(1)
while (q == 1):
WASD(input())
q = WASD(input())
WASD("r")
WASD("ht")
#elif (ot == "*"):
# a = (input("What is the 1st #?"))
# b = (input("What is the second #?"))
# a = float(a)
# b = float(b)
# print (a * b)
elif (ot == "shut down"):
return (False)
elif (ot == "/"):
# a = (input("What is the 1st #?"))
# b = (input("What is the second #?"))
if (type(a) or type(b) != float) and (len(a) and len(b) > 0):
a = int(a)
b = int(b)
print(a / b)
elif (ot == "./"):
# a = (input("What is the 1st #?"))
# b = (input("What is the second #?"))
a = float(a)
b = float(b)
print(a / b)
elif (ot == "factorial"):
# a = (input("What factorial?"))
if (type(a) or type(b) != float) and (len(a) and len(b) > 0):
a = int(a)
print(factorial(a))
else:
print("invalid #")
elif (ot == "porportion"):
print(
"This is the porportion solver #1. Use it only if the second numerator is the only x. (The equasion must look like this: #/# = x/#)"
)
num = input("what is the first numerator?")
deno = input("What is the first denomonator?")
dent = input("What is the 2nd denomonator?")
numb = (int(num) * int(dent))
ans = (int(numb) / int(deno))
print("x = " + str(ans))
elif (ot == "-"):
# a = (input("What is the 1st #?"))
# b = (input("What is the second #?"))
if (type(a) or type(b) != float) and (len(a) and len(b) > 0):
a = int(a)
b = int(b)
print(a - b)
elif (ot == ".-"):
# a = (input("What is the 1st #?"))
# b = (input("What is the second #?"))
a = float(a)
b = float(b)
print(a - b)
elif (ot == "sqrt"):
# a = input("What do you want to square root?")
if (type(a) != "float"):
a = int(a)
print(sqrt(a))
else:
print("invalad #")
elif (ot == ".sqrt"):
# a = input("What do you want to square root?")
a = float(a)
print(sqrt(a))
elif (ot == "finch"):
if (finch == True):
q = 1
while q == 1 and zAccel > -0.7:
Finch()
elif (ot == "**"):
# a = input("What is the base?")
# b = input("What is the exponent?")
if (type(a) or type(b) != float) and (len(a) and len(b) > 0):
a = int(a)
b = int(b)
print(a**b)
elif (ot == "who am i?"):
print("Why, you are " + person + " of course!")
elif (ot == ".**"):
# a = input("What is the base?")
# b = input("What is the exponent?")
a = float(a)
b = float(b)
print(a**b)
elif (ot == "pledge"):
print("I plege alligence")
print("to the flag")
print("of the United States of America")
print("and to the republic")
print("of which it stands")
print("one nation")
print("Under God")
print("Indivisible")
print("With liberty and justice for all.")
elif (ot == "document1"):
print("SubotomicOffice Character")
# print ("Loading...")
doc1 = input()
print("document1 is " + doc1)
ques = input("Woud you like to print that?")
if (ques == "y"):
print(doc1)
else:
print("OK")
elif (ot == "document2"):
print("SubotomicOffice Character")
# print ("Loading...")
doc2 = input()
print("document2 is " + doc2)
ques = input("Woud you like to print that?")
if (ques == "y"):
print(doc1)
else:
print("OK")
elif (ot == "document3"):
print("SubotomicOffice Character")
# print ("Loading...")
doc3 = input()
print("document3 is " + doc3)
ques = input("Woud you like to print that?")
if (ques == "y"):
print(doc3)
else:
print("OK")
elif (ot == "dir math"):
print(dir(math))
elif (ot == "dir turtle"):
print(dir(turtle))
elif (ot == "distance"):
xo = int(input("What is x1?"))
yo = int(input("What is y1?"))
xt = int(input("What is x2?"))
yt = int(input("What is y2?"))
ans = (xt - xo)
ans = (ans**2)
anst = (yt - yo)
anst = (anst**2)
anso = (ans + anst)
ansto = (sqrt(anso))
print(ansto)
print("or")
anso = str(anso)
print("the suare root of " + anso)
# elif (ot == "sin"):
# print sin(a)
elif (ot == "slope"):
xo = float(input("What is x1?"))
yo = float(input("What is y1?"))
xt = float(input("What is x2?"))
yt = float(input("What is y2?"))
slope = (yt - yo)
slop = (xt - xo)
ans = (slope / slop)
print(ans)
else:
print("invalid answer for the type of equasion.")
return (True)
class myFinch:
# Class Initializer
# Synopsis -
# self.left_wheel, is the speed of the left wheel, set to 0
# self.right_wheel, is the speed of the right wheel, set to 0
# self.tweety, is the Finch robot object which will be manipulated through this class
def __init__(self):
self.tweety = Finch()
self.left_wheel = 0.0
self.right_wheel = 0.0
self.tweety.wheels(self.left_wheel, self.right_wheel)
self.left_obst, self.right_obst = self.tweety.obstacle()
# [FUNCTION]Name - accelerate( speed )
# Synopsis -
# def accelerate ( speed ) :
# speed, an integer value between (-1) and 1 to accelerate the finch
#
def changeSpeed ( self, new_speed ):
old_speed = self.left_wheel
if new_speed == old_speed:
print("Same speed")
return
# Decelerate
if old_speed > new_speed:
self.__decelerate(2, new_speed)
# Accelerate
else:
self.__accelerate(2, new_speed)
#set wheels as last action in case error in accuracy
self.setWheels( new_speed, new_speed )
return
# [FUNCTION]Name - changeBoth ( left, right )
# Synopsis -
# def changeBoth ( left, right ) :
# left, an integer value between (-1) and 1 to accelerate the finch
# right, an integer value between (-1) and 1 to accelerate the finch
#
def changeBoth ( self, left, right ) :
if left == right:
changeSpeed(left)
return
elif self.left_wheel != left:
if left > self.left_wheel:
self.__accelerate( 0, left )
else:
self.__decelerate( 0, left )
elif self.right_wheel != right:
if right > self.right_wheel:
self.__accelerate( 1, right )
else:
self.__decelerate( 1, right )
else:
wheel = 2
return 0
# [PRIV. FUNCTION]Name - __accelerate ( self, wheel, new_speed )
# Synopsis -
# def __accelerate ( self, wheel, new_speed ) :
# wheel, which wheel[0 for left, 1 for right] or both[any other integer] to change speed for
# new_speed, a double value to change the speed to between -1 and 1
def __accelerate ( self, wheel, new_speed ):
if ( new_speed > 1.0 or new_speed < -1.0):
print ("Invalid Speed")
return
# Change left wheel speed @ wheel == 0
if wheel == 0:
old_speed = self.left_wheel
while old_speed < new_speed:
self.setWheels ( old_speed, self.right_wheel )
old_speed = old_speed + 0.1
sleep(0.15)
self.setWheels (new_speed, self.right_wheel)
#Change right wheel speed @ wheel == 1
elif wheel == 1:
old_speed = self.right_wheel
while old_speed < new_speed:
self.setWheels ( self.left_wheel, old_speed )
old_speed = old_speed + 0.1
sleep(0.15)
self.setWheels (self.left_wheel, new_speed)
# Change speed of both wheels
else:
old_speed = self.right_wheel
while old_speed < new_speed:
self.setWheels ( old_speed, old_speed )
old_speed = old_speed + 0.1
sleep(0.15)
self.setWheels (new_speed, new_speed)
return
# [PRIV. FUNCTION]Name - decelerate ( self, wheel, new_speed )
# Synopsis -
# def __decelerate ( self, wheel, new_speed ):
# wheel, which wheel[0 for left, 1 for right] or both[any other integer] to change speed for
# new_speed, a double value to change the speed to between -1 and 1
def __decelerate ( self, wheel, new_speed ):
if ( new_speed > 1.0 or new_speed < -1.0):
print ("Invalid Speed")
return
# Change left wheel speed @ wheel == 0
if wheel == 0:
old_speed = self.left_wheel
while old_speed > new_speed:
self.setWheels ( old_speed, self.right_wheel )
old_speed = old_speed - 0.1
sleep(0.15)
self.setWheels (new_speed, self.right_wheel)
return
#Change right wheel speed @ wheel == 1
elif wheel == 1:
old_speed = self.right_wheel
while old_speed > new_speed:
self.setWheels ( self.left_wheel, old_speed )
old_speed = old_speed - 0.1
sleep(0.15)
self.setWheels(self.left_wheel, new_speed)
return
#Change both wheel speed @ wheel == not 1 or 0
else:
old_speed = self.right_wheel
while old_speed > new_speed:
self.setWheels ( old_speed, old_speed )
old_speed = old_speed - 0.1
sleep(0.15)
self.setWheels(new_speed, new_speed)
return
return
def setWheels ( self, left, right ):
self.left_wheel = left
self.right_wheel = right
self.tweety.wheels(self.left_wheel, self.right_wheel)
self.printSpeed()
return
def printSpeed ( self ):
if (self.left_wheel == self.right_wheel):
print ("Current speed : ", self.left_wheel)
return
print("Left speed : ", self.left_wheel)
print("Right speed : ", self.right_wheel)
return
from finch import Finch
import time
import datetime
robot = Finch()
def temperature_check():
temperature = robot.temperature()
print(
str(((temperature * 9) / 5) + 32) +
" degrees Farenheit at the moment.\nThis program is going to update itself in the next 15 secs"
)
print("This is as at " + time.ctime() + "\n\n")
time.sleep(15)
return temperature_check()
print(temperature_check())
def __init__(self):
self.tweety = Finch()
self.left_wheel = 0.0
self.right_wheel = 0.0
self.tweety.wheels(self.left_wheel, self.right_wheel)
self.left_obst, self.right_obst = self.tweety.obstacle()
# Car alarm
# The finch sounds an alarm, alternating high pitch sounds and
# flashing red abd blue lights, until its nose is turned up
from time import sleep
from finch import Finch
finch = Finch()
finch.led("#550000") # set the led to red
finch.finch_2_buzzer(3, 880, 60)
sleep(1.00)
finch.led("#005500") # set the led to blue
finch.finch_2_buzzer(3, 493, 60)
sleep(1.00)
finch.led("#000055") # set the led to red
finch.finch_2_buzzer(3, 523, 60)
sleep(1.00)
finch.led("#550055") # set the led to blue
finch.finch_2_buzzer(3, 587, 60)
sleep(1.00)
finch.led("#555500") # set the led to red
finch.finch_2_buzzer(3, 659, 60)
sleep(1.00)
finch.led("#005555") # set the led to blue
finch.finch_2_buzzer(3, 698, 60)
sleep(1.00)
finch.finch_2_buzzer(3, 880, 60)
from finch import Finch
from time import sleep
from random import randint
tweety = Finch()
left, right = tweety.obstacle()
while not left and not right:
x, y, z, tap, shake = tweety.acceleration()
print("X : ", x)
print("Y : ", y)
print("Z : ", z)
left, right = tweety.obstacle()
sleep(.5)
tweety.close()
# Car alarm
# The finch sounds an alarm, alternating high pitch sounds and
# flashing red abd blue lights, until its nose is turned up
from time import sleep
from finch import Finch
from msvcrt import getch
finch = Finch()
def main():
#while(1):
key = 0
ultrasound_value = 0
while (1):
ultrasound_value = finch.new_obstacle()
if (ultrasound_value > 2000):
finch.wheels(0.5, 0.5)
else:
finch.wheels(0, 0.5)
sleep(0.1)
#print (ultrasound_value
#key = ord(getch())
finch.halt()
finch.close()
# Car alarm
# The finch sounds an alarm, alternating high pitch sounds and
# flashing red abd blue lights, until its nose is turned up
from time import sleep
from finch import Finch
finch = Finch()
x = 0
while x > -0.5:
x, y, z, tap, shake = finch.acceleration()
finch.led("#FF0000") # set the led to red
finch.buzzer(1.0, 250)
sleep(1.05)
finch.led("#0000FF") # set the led to blue
finch.buzzer(1.0, 400)
sleep(1.05)
finch.halt()
finch.close()
#Michael Lannon
from finch import Finch
from time import sleep
from Finch_project_dance import dance1,dance2,dance3
from Finch_project_loggig import show_log
file = open('finchlog.txt', 'a+')
logging = open('finchlog.txt', 'r')
log = logging.readlines()
myFinch = Finch()
a = 220
#keeping this here just in case
bflat = 233
hbflat=466
asharp = bflat
fsharp=370
gflat=fsharp
b = 247
c = 262
d = 294
e = 330
f = 349
g = 392
ha=int(2*a) #this is an 'a' note one octave above the other
hb=int(2*b) #this is a 'b' note one octave above the other, etc....
hc=int(2*c)
hd=int(2*d)
he=int(2*e)
hf=int(2*f)
from finch import Finch
#Here we start using the robot
robot = Finch()
notes = [880, 988, 523, 587, 659, 698]
length = 1.2 #let's use a default length of the note
for note in notes:
print("Note is", note)
#QUESTION: What happens if I *remove* the indentation for the next line?
robot.buzzer_with_delay(length, note)
print("The last note was ", note)
print("All notes played!")
if (side == RIGHT):
wheels(0.0, R_INITIAL)
else:
wheels(L_INITIAL, 0.0)
#BREAK OUT OF LOOP IF INFINITE SPINNING?
while not left_obst or not right_obst:
left_obst, right_obst = finchy.obstacle()
if right_obst:
return RIGHT
else:
return LEFT
###########################################
#
# MAIN
#
###########################################
#initialize the finch & data
finchy = Finch()
#MENU
#function calls here multithread here
startFinch(finchy)
finchy.close()
# A simple program that wanders and avoids obstacles
from finch import Finch
from time import sleep
# Instantiate the Finch object and connect to Finch
tweety = Finch()
# Get the Z-Axis acceleration
zAccel = tweety.acceleration()[2]
# Do the following while the Finch is not upside down (z value in gees above -0.7)
while zAccel > -0.7:
left_obstacle, right_obstacle = tweety.obstacle()
# If there's an obstacle on the left, back up and arc
if left_obstacle:
tweety.led(255,0,0)
tweety.wheels(-0.3,-1.0)
sleep(1.0)
# Back up and arc in the opposite direction if there's something on the right
elif right_obstacle:
tweety.led(255,255,0)
tweety.wheels(-1.0, -0.3)
sleep(1.0)
# Else just go straight
else:
tweety.wheels(1.0, 1.0)
tweety.led(0,255,0)
# Keep reading in the Z acceleration
zAccel = tweety.acceleration()[2]
from finch import Finch
#Here we start using the robot
robot = Finch()
notes = ['A','a','B','b','C','c','D','d','E','e','F','f','A','a']
for note in notes:
print("Note is", note)
if (note.isupper()):
length = 1.2 # uppercase letters mean long notes
else:
length = 0.6 # lowercase are short
#convert note to lowercase so that we can compare easily
current_note = note.lower()
if (current_note == 'a'):
frequency = 880
elif (current_note == 'b'):
frequency = 988
elif (current_note == 'c'):
frequency = 523
elif (current_note == 'd'):
frequency = 587
elif (current_note == 'e'):
frequency = 659
elif (current_note == 'f'):
frequency = 698
else: #QUESTION: What happens if I de-indent this and the following lines?
print("can't play this frequency!")
print("Frequency is", frequency)
class myFinch:
# Class Initializer
# Synopsis -
# self.left_wheel, is the speed of the left wheel, set to 0
# self.right_wheel, is the speed of the right wheel, set to 0
# self.tweety, is the Finch robot object which will be manipulated through this class
#
# Description -
# Initialize the class members to a specific value
def __init__(self):
self.tweety = Finch()
# Set obstacle sensors
self.left_obst, self.right_obst = self.tweety.obstacle()
# Setting initial lighting
self.myLights = lighting(self.tweety)
# Setting initial acceleration settings
self.x, self.y, self.z, self.tap, self.shake = self.tweety.acceleration()
# Setting initial wheel speed
self.left_wheel = 0.0
self.right_wheel = 0.0
self.tweety.wheels(self.left_wheel, self.right_wheel)
def __del__(self):
self.tweety.close()
# [FUNCTION]Name - setWheels ( left, right )
# Synopsis -
# def setWheels ( left, right ) :
# left, an double value for the left wheel speed
# right, an double value for the right wheel speed
#
# Description -
# Accelerates each wheel at different speeds to obtain the new speed. This can be
# adjusted by small increments and also gives each wheel independent ending
# speeds.
#
# Return -
# (none)
def setWheels ( self, left, right ):
self.left_wheel = left
self.right_wheel = right
self.tweety.wheels(self.left_wheel, self.right_wheel)
self.printSpeed()
return
# setWheels ( left, right ) #
def isLight( self ):
current_left, current_right = self.tweety.light()
print ("Left reading : ",current_left)
print ("Right reading : ", current_right)
sleep(1)
return current_left, current_right
return False
return True
# [FUNCTION]Name - def printSpeed ( )
# Synopsis -
# def printSpeed ( ):
# (no parameters)
# Description -
# Upon changing speed with setWheels this will print the individual wheel speed
# or both to the console.
#
# Return -
# (none)
def printSpeed ( self ):
if (self.left_wheel == self.right_wheel):
print ("Current speed : ", self.left_wheel)
return
print("Left speed : ", self.left_wheel)
print("Right speed : ", self.right_wheel)
return
# printSpeed ( self ) #
# [FUNCTION]Name - def detectSingleObstacle ( )
# Synopsis -
# def detectSingleObstacle ( ):
# (no parameters)
# Description -
# Function will utilize the finch's right and left sensors to see if there is
# an obstacale on the left or right.
#
# Return -
# "Left" upon a left_obst sensor being triggered
# "right" upon a right_obst sensor being triggered
# False otherwise
def detectSingleObstacle(self):
#while there is no obstacle continue
self.left_obst, self.right_obst = self.tweety.obstacle()
if self.left_obst:
print ( "Left obstacle" )
return "left"
elif self.right_obst:
print ( "Right obstacle" )
return "right"
return False
# detectSingleObstacle(self) #
# [FUNCTION]Name - def detectWall ( )
# Synopsis -
# def detectWall ( ):
# (no parameters)
# Description -
# Function will utilize the finch's right and left sensors to see if there is
# an obstacale directly in front of both sensors.
#
# Return -
# True if obstacle detected on both sides.
# False if no obstacle detected / only one side detected
def detectWall (self):
self.left_obst, self.right_obst = self.tweety.obstacle()
if (self.left_obst and self.right_obst):
print (self.left_obst, self.right_obst)
return True
return False
# detectWall ( self ) #
def detectLight(self):
while(True):
self.myLights.isDifferent()
sleep(2)
####################################################
############## GENERAL MOVEMENT ####################
####################################################
def reverseLeft( self, t ):
self.tweety.led("#800080")
self.setWheels(-1.0, -0.5)
sleep ( t )
return
def reverseRight( self, t ):
self.tweety.led("#800080")
self.setWheels(-0.5, -1.0)
sleep ( t )
return
def forLeft( self, t ):
self.tweety.led("#800080")
self.setWheels( 0.25, 0.5)
sleep ( t )
return
def forRight( self, t ):
self.tweety.led("#800080")
self.setWheels( 1.0, 0.5 )
sleep ( t )
return
def straight( self, speed, t ):
self.tweety.led("#00FF00")
self.setWheels( speed, speed )
sleep ( t )
return
def reverse( self, speed, t ):
self.tweety.led("#800080")
self.setWheels( -speed, -speed )
sleep ( t )
return
def stop( self ):
self.tweety.led("#800080")
self.setWheels(0.0, 0.0)
return
def forceStop(self):
self.tweety.led('#FF0000')
self.stop()
os._exit(0)
# Lap Swimmer, an example program for the Finch
# Tell the Finch how many laps to do, set it down on the ground
# Finch goes forward until it sees an obstacle
# Then goes back the same distance. It'll then repeat this lap as many times
# as the user requested
from finch import Finch
from time import sleep, time
# Main function for the lap swimmer example program
finch = Finch() # Initialize the finch
finch.led(255, 255, 0)
laps = 0
# Get the number of laps Finch will swim:
while laps <= 0:
laps = int(input('Enter number of laps: '))
if laps < 0:
print('Cannot swim a negative number of laps!')
elif laps == 0:
print('Zero laps? I want to swim!')
# Move forward until an obstacle is present and measure the time:
start = time()
finch.wheels(0.5, 0.5)
sleep(0.1)
if (finch != "y"):
while (see == True):
see = pass_gas(True)
WASD("shutdown script")
else:
# A simple program that wanders and avoids obstacles
from finch import Finch
from time import sleep
import notes
#Main function for the music player example program"""
#Initialize the finch
finch = Finch()
songList = [
'E5 C D E C D E F D E F D E F G A GE F C D E G E D C ',
'D D5 A4 G G5 A4 F5# A4 D D5 A4 G G5 A4 F5# A4 '
'E D5 A4 G G5 A4 F5# A4 E D5 A4 G G5 A4 F5# A4 '
'G D5 A4 G G5 A4 F5# A4 G D5 A4 G G5 A4 F5# A4 '
'D D5 A4 G G5 A4 F5# A4 D D5 A4 G G5 A4 F5# A4 ',
'E5 E E C E G ', 'C E5 G'
]
timeList = [0.18, 0.1, 0.1]
song = 1
#get which song
song = 3
right_minimum, right_maximum = right_sensor[0], right_sensor[-1]
target = open(filename, 'w')
target.truncate()
s = 'left max: ' + str(left_maximum) + '\n'
target.write(str(s))
s = 'left min: ' + str(left_minimum) + '\n'
target.write(str(s))
s = 'left diff: ' + str(left_maximum - left_minimum) + '\n'
target.write(str(s))
s = 'left avg: ' + str(float(sum(left_sensor) / len(left_sensor))) + '\n\n'
target.write(str(s))
s = 'right max: ' + str(right_maximum) + '\n'
target.write(str(s))
s = 'right min: ' + str(right_minimum) + '\n'
target.write(str(s))
s = 'right diff: ' + str(right_maximum - right_minimum) + '\n'
target.write(str(s))
s = 'right avg: ' + str(float(
sum(right_sensor) / len(right_sensor))) + '\n\n'
target.write(str(s))
target.close()
return
newFinch = Finch()
#calibrateLights(newFinch, "calib.txt")
tweety = myFinch(newFinch)
tweety.scurryTowardsLights()
# A simple program that randomly changes the LED when the Finch is tapped or shaken
# Try it by setting the Finch on a table and tapping the top
from finch import Finch
from random import randint
# Instantiate the Finch object and connect to Finch
tweety = Finch()
left, right = tweety.obstacle()
# Do the following while no obstacles are detected by Finch
while not left and not right:
# Get the accelerations
x, y, z, tap, shake = tweety.acceleration()
# Print the acceleration data
print(
"X is %.2f gees, Y is %.2f gees, Z is %.2f gees, tap is %r shake is %r"
% (x, y, z, tap, shake))
# If a tap or shake has been detected recently, set the LED to a random color
if tap or shake:
tweety.led(randint(0, 255), randint(0, 255), randint(0, 255))
# Get obstacles to use to exit loop
left, right = tweety.obstacle()
tweety.close()
'Yes.',
'Signs point to yes.',
'Reply hazy try again.',
'Ask again later.',
'Better not tell you now.',
'Cannot predict now.'
'Concentrate and ask again.',
'Don\'t count on it.',
'My reply is no.',
'My sources say no.',
'Outlook not so good.',
'Very doubtful.',
]
# Always the first step: Create a Finch object we can use.
tweety = Finch()
# Tell the user how to use our program.
print('I\'m a "Magic 8"-Finch!'
'\n\nAsk me a question, shake me, and turn me upside down to get '
'your answer.')
# Create the variables we will use to track our state across multiple
# executions of the loop:
# Remember if we were upside down the last time the loop ran or not. We
# want to print our answer the first moment we detect that the user
# flipped us upside down. Then, we don't want to print another answer
# until we can tell that the user has flipped us right-side up and then
# upside down again.
was_upside_down_before = False
from finch import Finch
from time import sleep
from flask import Flask
from flask import render_template, redirect
from random import randint
app = Flask(__name__)
finch = Finch()
@app.route('/')
def index():
return render_template('index.html')
@app.route('/change_color')
def change_color():
finch.led(randint(0, 255), randint(0, 255), randint(0, 255))
return redirect('/')
@app.route('/halt')
def halt():
finch.halt()
return redirect('/')
@app.route('/sensors')
def sensors():
c = finch.temperature()
f = ((c * 9)/5 ) + 32
x, y, z, tap, shake = finch.acceleration()
left, right = finch.obstacle()
