Example #1
0
def handle_command(args):
    now = datetime.datetime.now()
    now_time = now.time()
    # if it's late, make the robot slower
    if now_time >= datetime.time(21, 30) or now_time <= datetime.time(9, 30):
        #print "within the late time interval"
        drivingSpeedActuallyUsed = nightTimeDrivingSpeedActuallyUsed
    else:
        drivingSpeedActuallyUsed = dayTimeDrivingSpeedActuallyUsed

    global drivingSpeed
    global handlingCommand

    if 'robot_id' in args and args['robot_id'] == robotID:
        print "received message:", args
    # Note: If you are adding features to your bot,
    # you can get direct access to incomming commands right here.

    if handlingCommand:
        return

    handlingCommand = True

    #if 'robot_id' in args:
    #    print "args robot id:", args['robot_id']

    #if 'command' in args:
    #    print "args command:", args['command']

    if 'command' in args and 'robot_id' in args and args['robot_id'] == robotID:

        print('got command', args)

        command = args['command']

        if command == 'LOUD':
            handleLoudCommand()

        if commandArgs.type == 'adafruit_pwm':
            moveAdafruitPWM(command)

        if commandArgs.type == 'gopigo2':
            moveGoPiGo2(command)

        if commandArgs.type == 'gopigo3':
            moveGoPiGo3(command)

        if commandArgs.type == 'owi_arm':
            owi_arm.handleOwiArm(command)

        if commandArgs.type == 'serial':
            robot_util.sendSerialCommand(ser, command)

        if commandArgs.type == 'motor_hat' and motorsEnabled:
            motorA.setSpeed(drivingSpeed)
            motorB.setSpeed(drivingSpeed)
            if command == 'F':
                drivingSpeed = drivingSpeedActuallyUsed
                for motorIndex in range(4):
                    runMotor(motorIndex, forward[motorIndex])
                time.sleep(straightDelay)
            if command == 'B':
                drivingSpeed = drivingSpeedActuallyUsed
                for motorIndex in range(4):
                    runMotor(motorIndex, backward[motorIndex])
                time.sleep(straightDelay)
            if command == 'L':
                drivingSpeed = turningSpeedActuallyUsed
                for motorIndex in range(4):
                    runMotor(motorIndex, left[motorIndex])
                time.sleep(turnDelay)
            if command == 'R':
                drivingSpeed = turningSpeedActuallyUsed
                for motorIndex in range(4):
                    runMotor(motorIndex, right[motorIndex])
                time.sleep(turnDelay)
            if command == 'U':
                #mhArm.getMotor(1).setSpeed(127)
                #mhArm.getMotor(1).run(Adafruit_MotorHAT.BACKWARD)
                incrementArmServo(1, 10)
                time.sleep(0.05)
            if command == 'D':
                #mhArm.getMotor(1).setSpeed(127)
                #mhArm.getMotor(1).run(Adafruit_MotorHAT.FORWARD)
                incrementArmServo(1, -10)
                time.sleep(0.05)
            if command == 'O':
                #mhArm.getMotor(2).setSpeed(127)
                #mhArm.getMotor(2).run(Adafruit_MotorHAT.BACKWARD)
                incrementArmServo(2, -10)
                time.sleep(0.05)
            if command == 'C':
                #mhArm.getMotor(2).setSpeed(127)
                #mhArm.getMotor(2).run(Adafruit_MotorHAT.FORWARD)
                incrementArmServo(2, 10)
                time.sleep(0.05)

        if commandArgs.type == 'motor_hat':
            turnOffMotors()
            if command == 'WALL':
                handleLoudCommand()
                os.system("aplay -D plughw:2,0 /home/pi/wall.wav")

        if commandArgs.type == 'l298n':
            runl298n(command)
        #setMotorsToIdle()
        if commandArgs.type == 'motozero':
            runmotozero(command)
            if commandArgs.type == 'pololu':
                runPololu(command)

        if commandArgs.led == 'max7219':
            if command == 'LED_OFF':
                SetLED_Off()
            if command == 'LED_FULL':
                SetLED_On()
                SetLED_Full()
            if command == 'LED_MED':
                SetLED_On()
                SetLED_Med()
            if command == 'LED_LOW':
                SetLED_On()
                SetLED_Low()
            if command == 'LED_E_SMILEY':
                SetLED_On()
                SetLED_E_Smiley()
            if command == 'LED_E_SAD':
                SetLED_On()
                SetLED_E_Sad()
            if command == 'LED_E_TONGUE':
                SetLED_On()
                SetLED_E_Tongue()
            if command == 'LED_E_SUPRISED':
                SetLED_On()
                SetLED_E_Suprised()
    handlingCommand = False
Example #2
0
def sendSettings(ser, args):

    if args.right_wheel_forward_speed is not None:
        robot_util.sendSerialCommand(
            ser, "rwfs " + str(args.right_wheel_forward_speed))

    if args.right_wheel_backward_speed is not None:
        robot_util.sendSerialCommand(
            ser, "rwbs " + str(args.right_wheel_backward_speed))

    if args.left_wheel_forward_speed is not None:
        robot_util.sendSerialCommand(
            ser, "lwfs " + str(args.left_wheel_forward_speed))

    if args.left_wheel_backward_speed is not None:
        robot_util.sendSerialCommand(
            ser, "lwbs " + str(args.left_wheel_backward_speed))

    if args.straight_delay is not None:
        robot_util.sendSerialCommand(
            ser, "straight-distance " + str(int(args.straight_delay * 255)))

    if args.turn_delay is not None:
        robot_util.sendSerialCommand(
            ser, "turn-distance " + str(int(args.turn_delay * 255)))

    if args.led_max_brightness is not None:
        robot_util.sendSerialCommand(
            ser, "led-max-brightness " + str(args.led_max_brightness))
Example #3
0
def handle_command(args):
    now = datetime.datetime.now()
    now_time = now.time()
    # if it's late, make the robot slower
    if now_time >= datetime.time(21, 30) or now_time <= datetime.time(9, 30):
        #print "within the late time interval"
        drivingSpeedActuallyUsed = nightTimeDrivingSpeedActuallyUsed
    else:
        drivingSpeedActuallyUsed = dayTimeDrivingSpeedActuallyUsed

    global drivingSpeed
    global handlingCommand

    if 'robot_id' in args and args['robot_id'] == robotID:
        print "received message:", args
    # Note: If you are adding features to your bot,
    # you can get direct access to incomming commands right here.

    if handlingCommand:
        return

    #if 'robot_id' in args:
    #    print "args robot id:", args['robot_id']

    #if 'command' in args:
    #    print "args command:", args['command']

    if 'command' in args and 'robot_id' in args and args['robot_id'] == robotID:

        print('got command', args)

        command = args['command']
        if tablemode == 1:
            if command == "F":
                return
            if command == "B":
                return
        # don't turn set handlingCommand true for
        # commands that persist for a while and are not exclusive
        # so others are allowed to run
        if command not in ("SOUND2", "WALL", "LOUD", "MAXSPEED"):
            handlingCommand = True

        if command == 'LOUD':
            handleLoudCommand(25)

        if command == 'MAXSPEED':
            handleMaxSpeedCommand()

        if commandArgs.type == 'mdd10':
            if maxSpeedEnabled:
                print "AT MAX....................."
                print maxSpeedEnabled
                moveMDD10(command, 100)
            else:
                print "NORMAL................."
                print maxSpeedEnabled
                moveMDD10(command, int(float(drivingSpeedActuallyUsed) / 2.55))

        if commandArgs.type == 'adafruit_pwm':
            moveAdafruitPWM(command)

        if commandArgs.type == 'mebo2':
            if command == 'SI':
                incrementMSpeed(10)
                time.sleep(0.05)
            if command == 'SD':
                incrementMSpeed(-10)
                time.sleep(0.05)
            if command == 'TI':
                incrementTSpeed(10)
                time.sleep(0.05)
            if command == 'TD':
                incrementTSpeed(-10)
                time.sleep(0.05)
            handle_mebo_command(command)

        if commandArgs.type == 'gopigo2':
            moveGoPiGo2(command)

        if commandArgs.type == 'gopigo3':
            moveGoPiGo3(command)

        if commandArgs.type == 'owi_arm':
            owi_arm.handleOwiArm(command)

        if commandArgs.type == 'serial':
            try:
                robot_util.sendSerialCommand(ser, command)
            except Exception as exception:
                print exception
                setup_serial()

        if commandArgs.type == 'motor_hat' and motorsEnabled:
            motorA.setSpeed(drivingSpeed)
            motorB.setSpeed(drivingSpeed)
            if command == 'F':
                drivingSpeed = drivingSpeedActuallyUsed
                for motorIndex in range(4):
                    runMotor(motorIndex, forward[motorIndex])
                time.sleep(straightDelay)
            if command == 'B':
                drivingSpeed = drivingSpeedActuallyUsed
                for motorIndex in range(4):
                    runMotor(motorIndex, backward[motorIndex])
                time.sleep(straightDelay)
            if command == 'L':
                drivingSpeed = turningSpeedActuallyUsed
                for motorIndex in range(4):
                    runMotor(motorIndex, left[motorIndex])
                time.sleep(turnDelay)
            if command == 'R':
                drivingSpeed = turningSpeedActuallyUsed
                for motorIndex in range(4):
                    runMotor(motorIndex, right[motorIndex])
                time.sleep(turnDelay)
            if command == 'U':
                #mhArm.getMotor(1).setSpeed(127)
                #mhArm.getMotor(1).run(Adafruit_MotorHAT.BACKWARD)
                incrementArmServo(1, 10)
                time.sleep(0.05)
            if command == 'D':
                #mhArm.getMotor(1).setSpeed(127)
                #mhArm.getMotor(1).run(Adafruit_MotorHAT.FORWARD)
                incrementArmServo(1, -10)
                time.sleep(0.05)
            if command == 'O':
                #mhArm.getMotor(2).setSpeed(127)
                #mhArm.getMotor(2).run(Adafruit_MotorHAT.BACKWARD)
                incrementArmServo(2, -10)
                time.sleep(0.05)
            if command == 'C':
                #mhArm.getMotor(2).setSpeed(127)
                #mhArm.getMotor(2).run(Adafruit_MotorHAT.FORWARD)
                incrementArmServo(2, 10)
                time.sleep(0.05)

        if commandArgs.type == 'mdd10':
            turnOffMotorsMDD10()

        if commandArgs.type == 'motor_hat':
            turnOffMotors()
            if command == 'WALL':
                handleLoudCommand(25)
                os.system("aplay -D plughw:2,0 /home/pi/wall.wav")
            if command == 'SOUND2':
                handleLoudCommand(25)
                os.system("aplay -D plughw:2,0 /home/pi/sound2.wav")

        if commandArgs.type == 'l298n':
            runl298n(command)
        #setMotorsToIdle()
        if commandArgs.type == 'motozero':
            runmotozero(command)
            if commandArgs.type == 'pololu':
                runPololu(command)

        if commandArgs.led == 'max7219':
            if command == 'LED_OFF':
                SetLED_Off()
            if command == 'LED_FULL':
                SetLED_On()
                SetLED_Full()
            if command == 'LED_MED':
                SetLED_On()
                SetLED_Med()
            if command == 'LED_LOW':
                SetLED_On()
                SetLED_Low()
            if command == 'LED_E_SMILEY':
                SetLED_On()
                SetLED_E_Smiley()
            if command == 'LED_E_SAD':
                SetLED_On()
                SetLED_E_Sad()
            if command == 'LED_E_TONGUE':
                SetLED_On()
                SetLED_E_Tongue()
            if command == 'LED_E_SUPRISED':
                SetLED_On()
                SetLED_E_Suprised()
    handlingCommand = False
Example #4
0
def set_eeprom(command, args):
    if is_authed(args['name']) == 1:  # Owner
        if len(command) >= 2:
            try:
                if command[1] == 'left':
                    setting = int(
                        command[3])  # This is here to catch NAN errors
                    if command[2] == 'forward':
                        robot_util.sendSerialCommand(ser,
                                                     "lwfs " + str(setting))
                        log.info("left_wheel_forward_speed set to %d", setting)
                    elif command[2] == 'backward':
                        robot_util.sendSerialCommand(ser,
                                                     "lwbs " + str(setting))
                        log.info("left_wheel_backward_speed set to %d",
                                 setting)
                elif command[1] == 'right':
                    setting = int(
                        command[3])  # This is here to catch NAN errors
                    if command[2] == 'forward':
                        robot_util.sendSerialCommand(ser,
                                                     "rwfs " + str(setting))
                        log.info("right_wheel_forward_speed set to %d",
                                 setting)
                    elif command[2] == 'backward':
                        robot_util.sendSerialCommand(ser,
                                                     "rwbs " + str(setting))
                        log.info("right_wheel_backward_speed set to %d",
                                 setting)
                elif command[1] == 'straight':
                    setting = int(command[2])
                    robot_util.sendSerialCommand(
                        ser, "straight-distance " + str(int(setting * 255)))
                    log.info("straigh_delay set to %d", setting)
                elif command[1] == 'turn':
                    setting = int(command[2])
                    robot_util.sendSerialCommand(
                        ser, "turn-distance " + str(int(setting * 255)))
                    log.info("turn_delay set to %d", setting)
                elif command[1] == 'brightness':
                    setting = int(
                        command[2])  # This is here to catch NAN errors
                    robot_util.sendSerialCommand(
                        ser, "led-max-brightness " + str(setting))
                    log.info("led_man_brightness to %d", setting)
            except ValueError:
                pass