def main():
""" Main entry point
"""
################MAIN() CODE FOR FREEZING BOT#############################
global brokyControlly
brokyControlly = BrokerController()
brokyControlly.createBroker()
# Warning: BotFreezer must be a global variable
# The name given to the constructor must be the name of the
# variable
global BotFreezer
BotFreezer = BotFreezerModule("BotFreezer")
##########END MAIN() CODE FOR FREEZING BOT################################
#############################PROGRAM SPECIFIC ############################
# Program specific proxies
speechProxy = ALProxy("ALTextToSpeech")
global nonBlockyWalky
nonBlockyWalky = NonBlockWalk2("nonBlockyWalky")
nonBlocky = ALProxy("nonBlockyWalky")
# nonBlocky also has to have a post in it, along with
# the walk commands INSIDE "NonBlockWalk2.py", if wait()
# is going to work correctly
id = nonBlocky.post.walk()
nonBlocky.wait(id, 0)
speechProxy.say("I have arrived.")
############################END PROGRAM SPECIFIC############################
################MAIN() CODE FOR FREEZING BOT################################
brokyControlly.waitToStop()
def main():
""" Main entry point
"""
########################FOR FREEZING BOT#######################
global brokyControlly
brokyControlly = BrokerController()
brokyControlly.createBroker()
# Warning: BotFreezer must be a global variable
# The name given to the constructor must be the name of the
# variable
global BotFreezer
BotFreezer = BotFreezerModule("BotFreezer")
global cmModule
cmModule = customMotions("cmModule")
cm = ALProxy("cmModule")
###################FOR FREEZING BOT############################
########################FOR FOOT#######################
global FootFreezer
FootFreezer = FootFreezerModule("FootFreezer")
###################FOR FOOT############################
stiffnesses = 1.0
motionProxy.setStiffnesses("Body", stiffnesses)
postureProxy.goToPosture("StandInit", 1.0)
time.sleep(1)
motionProxy.setExternalCollisionProtectionEnabled("All", False)
#id = cm.post.detectMarkAndMoveToRight()
#cm.wait(id,0)
id = cm.post.moveForward(1)
cm.wait(id,0)
id = cm.post.wave()
cm.wait(id,0)
tts.say("Hello, I am Robbie.")
id = cm.post.turnAround()
cm.wait(id,0)
#id = cm.post.detectMarkAndMoveToLeft()
#cm.wait(id,0)
#id = cm.post.detectMarkAndMoveTo()
#cm.wait(id,0)
id = cm.post.turnAround()
cm.wait(id,0)
#id = cm.post.turnAround()
#cm.wait(id, 0)
#time.sleep(2)
#tts.say("I am turned around")
postureProxy.goToPosture("Sit", 1.0)
#################FOR FREEZING BOT###########################
# end broker to stop
brokyControlly.waitToStop()
def main():
""" Main entry point
"""
global brokyControlly
brokyControlly = BrokerController()
brokyControlly.createBroker()
# Warning: BotFreezer must be a global variable
# The name given to the constructor must be the name of the
# variable
global BotFreezer
BotFreezer = BotFreezerModule("BotFreezer")
nonBlockyWalky = NonBlockWalk()
#During this non-blocking walk, if any head tactil
#is pressed, the robot will stop and sit
nonBlockyWalky.walk()
brokyControlly.waitToStop()
def main():
""" Main entry point
"""
########################FOR FREEZING BOT#######################
global brokyControlly
brokyControlly = BrokerController()
brokyControlly.createBroker()
# Warning: BotFreezer must be a global variable
# The name given to the constructor must be the name of the
# variable
global BotFreezer
BotFreezer = BotFreezerModule("BotFreezer")
global cmModule
cmModule = customMotions("cmModule")
cm = ALProxy("cmModule")
###################FOR FREEZING BOT############################
stiffnesses = 1.0
motionProxy.setStiffnesses("Body", stiffnesses)
postureProxy.goToPosture("StandInit", 1.0)
time.sleep(1)
motionProxy.setExternalCollisionProtectionEnabled("All", False)
#nonBlocky also has to have a post in it, along with
#the walk commands INSIDE "NonBlockWalk2.py", if wait()
#is going to work correctly
#Print information
# print "x " + str(x) + " (in meters)
# print "y " + str(y) + " (in meters)"
# print "z " + str(z) + " (in meters)"
#turnAround()
#detectMarkAndMoveTo()
#id = customMotions.detectMarkAndMoveTo()
#customMotions.moveForwardY(0, -.25)
#customMotions.detectMarkAndMoveTo()
#customMotions.wave()
#tts.say("Hello I am Robbie")
id = cm.post.detectMarkAndMoveTo()
cm.wait(id, 0)
id = cm.post.moveForwardY(0, -.25)
cm.wait(id, 0)
id = cm.post.detectMarkAndMoveTo()
cm.wait(id, 0)
# id = cm.post.wave()
# cm.wait(id, 0)
id = cm.post.turnAround()
cm.wait(id, 0)
id = cm.post.detectMarkAndMoveTo()
cm.wait(id, 0)
id = cm.post.detectMarkAndMoveTo()
cm.wait(id, 0)
id = cm.post.turnAround()
cm.wait(id, 0)
#time.sleep(2)
#tts.say("I am turned around")
#customMotions.detectMarkAndMoveTo()
#customMotions.detectMarkAndMoveTo()
#customMotions.turnAround()
#motionProxy.changeAngles("HeadYaw",1, 0.1)
#print motionProxy.getAngles("HeadYaw",False)
#turnLeft90()
#print motionProxy.getAngles("HeadYaw", False)
postureProxy.goToPosture("Sit", 1.0)
#################FOR FREEZING BOT###########################
# end broker to stop
brokyControlly.waitToStop()
def main():
""" Main entry point
"""
########################FOR FREEZING BOT#######################
global brokyControlly
brokyControlly = BrokerController()
brokyControlly.createBroker()
# Warning: BotFreezer must be a global variable
# The name given to the constructor must be the name of the
# variable
global BotFreezer
BotFreezer = BotFreezerModule("BotFreezer")
global cmModule
cmModule = customMotions("cmModule")
cm = ALProxy("cmModule")
#global FootFreezer
#FootFreezer = FootFreezerModule("FootFreezer")
###################FOR FREEZING BOT############################
stiffnesses = 1.0
motionProxy.setStiffnesses("Body", stiffnesses)
postureProxy.goToPosture("StandInit", 1.0)
time.sleep(1)
motionProxy.setExternalCollisionProtectionEnabled("All", False)
id = cm.post.detectMarkAndMoveTo75Right(80)
cm.wait(id,0)
id = cm.post.moveForwardY(0,-.2)
cm.wait(id,0)
id = cm.post.detectMarkAndMoveTo75(107)
cm.wait(id,0)
id = cm.post.turnRight90()
cm.wait(id,0)
id = cm.post.lookAroundForMark(114)
cm.wait(id,0)
id = cm.post.wave()
cm.wait(id,0)
tts.say("Hello, I am Robbie. I'm a NAO robot. I'm designed and manufactured by the Aldebaan company in France, but all of my present behaviors have been programmed as part of a Senior Software Engineering project. Except for Josh Lee. He didn't do shit")
tts.say("There's very little I can do without the programs that have designed and constructed by the Senior Software Engineering students here at Montana Tech. I'm afraid that programming me is not easy, but these students have been well equiped by their education here at Tech to deal with complex problems.")
id = cm.post.fistBump()
cm.wait(id,0)
id = cm.post.turnRight50()
cm.wait(id,0)
id = cm.post.detectMarkSearch(64, "l")
cm.wait(id,0)
id = cm.post.moveForward(.2)
cm.wait(id,0)
id = cm.post.detectMarkSearchForward(68)
cm.wait(id,0)
id = cm.post.turnAround()
cm.wait(id,0)
#id = cm.post.turnAround()
#cm.wait(id, 0)
#time.sleep(2)
#tts.say("I am turned around")
postureProxy.goToPosture("Sit", 1.0)
#################FOR FREEZING BOT###########################
# end broker to stop
brokyControlly.waitToStop()
