# This Python program was automatically generated by Calico Jigsaw
# http://calicoproject.org
import Common
import Myro
t = .3
s1 = Myro.makeSound(calico.relativePath("../examples/sounds/closed-hat-trimmed.wav"))
s2 = Myro.makeSound(calico.relativePath("../examples/sounds/crash-trimmed.wav"))
s3 = Myro.makeSound(calico.relativePath("../examples/sounds/kick-trimmed.wav"))
s4 = Myro.makeSound(calico.relativePath("../examples/sounds/open-hat-trimmed.wav"))
s5 = Myro.makeSound(calico.relativePath("../examples/sounds/snare-trimmed.wav"))
for _ in xrange(3):
for _ in xrange(4 * 2):
s1.Play()
Myro.wait(t)
for _ in xrange(4):
s1.Play()
Myro.wait(t)
s3.Play()
Myro.wait(t)
for _ in xrange(2):
s1.Play()
Myro.wait(t)
s5.Play()
Myro.wait(t)
s1.Play()
Myro.wait(t)
s2.Play()
Myro.wait(t)
for _ in xrange(2):
def curve(self, speedLeft, speedRight, duration): #TODO correct screwed up direction after curve
#set temp
tempX = self.__X
tempY = self.__Y
#set scale
greaterSpeed = 0
lesserSpeed = 0
if (abs(speedLeft) > abs(speedRight)):
greaterSpeed = speedLeft
lesserSpeed = speedRight
elif (abs(speedRight) > abs(speedLeft)):
greaterSpeed = speedRight
lesserSpeed = speedLeft
else:
duration = (duration / self.Speed) * speedLeft
self.goForward(duration)
return
#move robot
Myro.robot.motors(speedLeft, speedRight)
Myro.wait(abs(duration))
Myro.robot.stop()
stretch = (1 / self.__Scale) * (greaterSpeed / lesserSpeed)
divisible = duration // self.__Scale
Xs = []
Ys = []
tempXs = []
tempYs = []
overAfterPoint = False
timesOver = 1
maxAmount = tempX + divisible + self.__Scale
minAmount = self.__X + self.__Scale
#stretch
for x in xrange(minAmount, maxAmount, self.__Scale):
#get point
try:
y = stretch * sqrt(1 - pow(((x - self.__X - stretch) / stretch), 2)) + self.__Y
overAfterPoint = True
except ValueError: #Support for > half circle turns
if overAfterPoint == True:
try:
x -= (timesOver * self.__Scale + timesOver)
y = -stretch * (sqrt(1 - pow(((x - self.__X - stretch) / stretch), 2))) + self.__Y
timesOver += 1
maxAmount -= x
except ValueError:
continue
else:
continue
#find out if it is a plottable point
tempXs.append(x)
tempYs.append(y)
theta = 90 - degrees(atan(self.getSlope()))
sina = sin(theta)
cosa = cos(theta)
for i in xrange(0, len(tempXs)):
pX = self.__X - self.__MidpointX
pY = self.__Y - self.__MidpointY
tempXs[i] = (cosa * pX - sina * pY) + tempXs[i]
tempYs[i] = (sina * pX + cosa * pY) + tempYs[i]
if (tempXs[i] % self.__Scale == 0 and tempYs[i] % self.__Scale == 0):
Xs.append(tempXs[i])
Ys.append(tempYs[i])
#Plot the points
for i in xrange(0, len(Xs)):
try:
self.Plot[int(Xs[i])][int(Ys[i])] = MemoryType.Visited
except IndexError:
print("Error: Ran out of space. Expanding the plot.\r\n")
self.ExpandPlot(5)
i -= 1
multiplyBy = 1.0 / self.__Scale
if (stretch >= 0):
try:
self.__X = Xs[len(Xs) - 1]
self.__Y = Ys[len(Ys) - 1]
except IndexError:
print("Error: No measurable progression.\r\n")
return
else:
try:
self.__X = Xs[0]
self.__Y = Ys[0]
except IndexError:
print("Error: No measurable progression.\r\n")
return
#add it to the direction using derivative
slope = 0
try:
slope = (tempX - self.__X)/ (stretch * sqrt(1 - (pow(tempX - self.__X, 2)/pow(stretch, 2))))
except ValueError:
if (stretch < 0):
self.__TowardsX = self.__X
self.__TowardsY = self.__Y + 1
self.X = self.__X - self.__MidpointX
self.Y = self.__Y - self.__MidpointY
return
else:
self.__TowardsX = self.__X
self.__TowardsY = self.__Y - 1
self.X = self.__X - self.__MidpointX
self.Y = self.__Y - self.__MidpointY
return
theta = 90 - degrees(atan(self.getSlope()))
sina = sin(theta)
cosa = cos(theta)
pX = tempX - self.__MidpointX
pY = tempY - self.__MidpointY
if (stretch >= 0):
newY = slope * (self.__X + 1 - tempX) + tempY
else:
newY = slope * (self.__X - 1 - tempX) + tempY
self.__TowardsX = (cosa * pX - sina * pY) + tempX
self.__TowardsY = (sina * pX + cosa * pY) + newY
self.X = self.__X - self.__MidpointX
self.Y = self.__Y - self.__MidpointY
import Myro
import Rhyduino
with Rhyduino.Arduino("COM5") as arduino:
arduino.Connect()
pin = arduino.DigitalPins[13]
pin.SetPinMode(Rhyduino.PinMode.Output)
count = 0
for t in Myro.timer(10):
if count % 2 == 0:
pin.SetPinValue(Rhyduino.DigitalPinValue.Low)
else:
pin.SetPinValue(Rhyduino.DigitalPinValue.High)
count += 1
Myro.wait(1)
def goForward(self, duration):
#if line is up and down
if (self.__TowardsX - self.__X == 0):
Myro.robot.motors(self.Speed, self.Speed)
Myro.wait(abs(duration))
Myro.robot.stop()
#get the amount of points forward
divisible = duration // self.__Scale
if (self.__TowardsY > self.__Y):
#add them to the direction
self.__TowardsY += divisible
tempY = self.__Y
#add them to plot
for y in xrange(self.__Y + self.__Scale, divisible + tempY + self.__Scale):
if (y % self.__Scale == 0):
try:
self.Plot[(int) (self.__X)][y] = MemoryType.Visited
except IndexError:
print("Error: Ran out of space. Expanding the plot\r\n")
self.ExpandPlot(5)
y -= 1
#increase y
self.__Y += divisible
self.Y += divisible
return
else:
#subtract them from the direction
self.__TowardsY -= divisible
tempY = self.__Y
#add them to plot
for y in xrange(self.__Y - divisible, tempY + self.__Scale):
if (y % self.__Scale == 0):
try:
self.Plot[(int) (self.__X)][y] = MemoryType.Visited
except IndexError:
print("Error: Ran out of space. Expanding the plot\r\n")
self.ExpandPlot(5)
y -= 1
#increase y
self.__Y -= divisible
self.Y -= divisible
return
#calc slope
slope = (self.__TowardsY - self.__Y) / (self.__TowardsX - self.__X)
tempX = self.__X
tempY = self.__Y
#go forward
Myro.robot.motors(self.Speed, self.Speed)
Myro.wait(abs(duration))
Myro.robot.stop()
#get the amount of points forward
divisible = duration // self.__Scale
#add them to the direction
self.__TowardsX += divisible
self.__TowardsY += divisible
divisible = duration / self.__Scale
Xs = []
Ys = []
if (slope >= 0):
#positive slope
for x in xrange(self.__X + self.__Scale, (tempX + divisible) + self.__Scale, self.__Scale):
#get point
y = (slope * (x - self.__X)) + self.__Y
#find out if it is a plottable point
if (y % self.__Scale == 0.0):
Xs.append(int(x))
Ys.append(int(y))
else:
#negative slope
for x in xrange((tempX - divisible), self.__X, self.__Scale):
#get point
y = (slope * (x - self.__X)) + self.__Y
#find out if it is a plottable point
if (y % self.__Scale == 0.0):
Xs.append(int(x))
Ys.append(int(y))
#Plot the points
for i in xrange(0, len(Xs)):
try:
self.Plot[Xs[i]][Ys[i]] = MemoryType.Visited
except IndexError:
print("Error: Ran out of space. Expanding the plot.\r\n")
self.ExpandPlot(5)
i -= 1
multiplyBy = 1.0 / self.__Scale
if (slope >= 0):
try:
self.__X = Xs[len(Xs) - 1]
self.__Y = Ys[len(Ys) - 1]
except IndexError:
print("Error: No measurable progression.\r\n")
else:
try:
self.__X = Xs[0]
self.__Y = Ys[0]
except IndexError:
print("Error: No measurable progression.\r\n")
self.X = self.__X - self.__MidpointX
self.Y = self.__Y - self.__MidpointY
