def forward():
print('robot_controller, forward, robot_debug =', robot_debug)
if not robot_debug:
gopigo_client.set_speed(robot_speed)
gopigo_client.stop()
gopigo_client.fwd()
time.sleep(robot_wait)
gopigo_client.stop()
def right():
print('robot_controller, right, robot_debug =', robot_debug)
if not robot_debug:
gopigo_client.set_speed(robot_speed)
gopigo_client.stop()
gopigo_client.right_rot()
time.sleep(robot_wait)
gopigo_client.stop()
def right_rot(duration=0.5):
print('robot_controller, right_rot, robot_debug =', robot_debug)
if not robot_debug:
gopigo_client.set_speed(robot_speed)
gopigo_client.stop()
gopigo_client.right_rot()
pause(duration)
gopigo_client.stop()
def backward(duration=0.5):
print('robot_controller, backward, robot_debug =', robot_debug)
if not robot_debug:
gopigo_client.set_speed(robot_speed)
gopigo_client.stop()
gopigo_client.bwd()
pause(duration)
gopigo_client.stop()
def forward(duration=0.5):
print('robot_controller, forward, robot_debug =', robot_debug)
if not robot_debug:
gopigo_client.set_speed(robot_speed)
gopigo_client.set_left_speed(robot_speed+5)
gopigo_client.stop()
gopigo_client.fwd()
pause(duration)
gopigo_client.stop()
def stop():
print('robot_controller, stop, robot_debug =', robot_debug)
if not robot_debug:
gopigo_client.set_speed(robot_speed)
gopigo_client.stop()
def stop(duration=SHORT_DURATION):
print('robot_controller, stop, robot_debug =', robot_debug)
if not robot_debug:
gopigo_client.set_speed(robot_speed)
gopigo_client.stop()
pause(duration)
def message(self, pubnub, message):
try:
action = message.message.lower()
if 'forward' in action:
gopigo_client.fwd()
time.sleep(self.CRAB_DURATION)
gopigo_client.stop()
elif 'backward' in action:
gopigo_client.bwd()
time.sleep(self.CRAB_DURATION)
gopigo_client.stop()
elif 'rotate' in action:
if 'left' in action:
gopigo_client.left_rot()
time.sleep(self.TURN_DURATION)
gopigo_client.stop()
elif 'right in action':
gopigo_client.right_rot()
time.sleep(self.TURN_DURATION)
gopigo_client.stop()
elif 'left' in action:
gopigo_client.left()
time.sleep(self.TURN_DURATION)
gopigo_client.stop()
elif 'right' in action:
gopigo_client.right()
time.sleep(self.TURN_DURATION)
gopigo_client.stop()
elif 'dance' in action:
gopigo_client.right()
time.sleep(self.TURN_DURATION)
gopigo_client.left_rot()
time.sleep(self.TURN_DURATION)
gopigo_client.right_rot()
time.sleep(self.TURN_DURATION)
gopigo_client.fwd()
time.sleep(self.TURN_DURATION)
gopigo_client.right()
time.sleep(self.TURN_DURATION)
gopigo_client.bwd()
time.sleep(self.TURN_DURATION)
gopigo_client.stop()
elif 'stop' in action:
gopigo_client.stop()
elif 'blink' in action:
for i in range(5):
gopigo_client.led_on(0)
gopigo_client.led_off(1)
time.sleep(self.BLINK_DURATION)
gopigo_client.led_off(0)
gopigo_client.led_on(1)
time.sleep(self.BLINK_DURATION)
gopigo_client.led_off(0)
gopigo_client.led_off(1)
elif 'faster' in action:
gopigo_client.set_speed(self.FAST_SPEED)
elif 'slower' in action:
gopigo_client.set_speed(self.SLOW_SPEED)
else:
pass
log_it(self.get_status(action))
except IndexError:
pass # do nothing
except Exception as e:
print("problem: %s" % str(e))
def get_status(action):
result = {}
result['voltage'] = gopigo_client.volt()
result['distance'] = gopigo_client.us_dist(0)
result['action'] = action
return result
def my_publish_callback(envelope, status):
if not status.is_error():
pass # Message successfully published to specified chatroomChannel.
else:
pass # Handle message publish error. Check 'category' property to find out possible issue
def log_it(content):
print(str(content))
# todo get stats - ultrasonic, voltage, last direction, image
pubnub.publish().channel(pn_chatbotlog_channel).message(content). async (
my_publish_callback)
if __name__ == '__main__':
print("initialize robot...")
gopigo_client.servo(90)
gopigo_client.set_speed(MySubscribeCallback.FAST_SPEED)
print("starting pnlistener...")
pubnub.add_listener(MySubscribeCallback())
pubnub.subscribe().channels([pn_robot_channel]).execute()
print('end')
def stop(duration=0.5):
print('robot_controller, stop, robot_debug =', robot_debug)
if not robot_debug:
gopigo_client.set_speed(robot_speed)
gopigo_client.stop()
pause(duration)
