# scaleFactor 大きな値にすると速度が早くなり、精度が落ちる。1.1〜1.9ぐらい。
# minNeighbors 小さな値にするほど顔が検出されやすくなる。通常は3〜6。
# minSize 検出する顔の最小サイズ。解像度に合わせて修正してください。
# maxSize 検出する顔の最大サイズ。解像度に合わせて修正してください。
if len(facerect) > 0: # 顔が検出された場合の処理
for rect in facerect: # 顔の場所に四角を表示
# rect[0:2]:長方形の左上の座標, rect[2:4]:長方形の横と高さ
# rect[0:2]+rect[2:4]:長方形の右下の座標
cv2.rectangle(stream.array,
tuple(rect[0:2]),
tuple(rect[0:2] + rect[2:4]), (0, 255, 0),
thickness=4)
bezelie.movePit(-15) # 背伸びをさせる
sleep(0.2)
bezelie.moveRot(10)
sleep(0.2)
bezelie.moveRot(-10)
sleep(0.4)
bezelie.moveRot(0)
bezeTalk("long")
#subprocess.call('/home/pi/aquestalkpi/AquesTalkPi -s 120 "こんにちわー" | aplay', shell=True)
sleep(0.5)
bezelie.movePit(0, 1)
sleep(0.2)
# pygameで画像を表示
pygame_imshow(stream.array)
# "q"を入力でアプリケーション終了
for e in pygame.event.get():
time.sleep(0.5)
# Centering All Servos
bezelie.centering()
# Main Loop
try:
with picamera.PiCamera() as camera:
camera.resolution = (800, 480) # Change this number for your display
camera.rotation = 180 # comment out if your screen upside down
camera.start_preview()
time.sleep(0.2)
pit = 0
while (True):
bezelie.moveRot(-15)
bezelie.moveYaw(-40, 2)
sensorCheck()
time.sleep(1)
bezelie.moveRot(15)
bezelie.moveYaw(40, 2)
sensorCheck()
time.sleep(1)
pit += 10
if pit > 10:
pit = -20
bezelie.movePit(pit)
time.sleep(1)
except KeyboardInterrupt:
print " Interrupted by Keyboard"
def get_distance():
send_trigger_pulse()
wait_for_echo(True, 10000)
start = time.time()
wait_for_echo(False, 10000)
finish = time.time()
pulse_len = finish - start
distance = pulse_len / 0.000058
return (distance)
# Main Loop
try:
bezelie.centering()
time.sleep (1)
bezelie.moveRot (-20)
time.sleep(0.5)
bezelie.moveRot (20)
print ("さぁ、始めるよー")
subprocess.call('/home/pi/aquestalkpi/AquesTalkPi -s 120 "さぁ、お腹大砲、始めるよー" | aplay', shell=True)
time.sleep(1)
subprocess.call('/home/pi/aquestalkpi/AquesTalkPi -s 120 "お腹で風を起こそう！" | aplay', shell=True)
bezelie.moveRot (0)
time.sleep(1)
mode = 0
score = 0
while mode == 0:
print ("僕から１メートル離れてね")
subprocess.call('/home/pi/aquestalkpi/AquesTalkPi -s 120 "僕から１メートル離れてね" | aplay', shell=True)
time.sleep(0.5)
while True:
# Set Up
bezelie.centering()
# Main Loop
try:
while (True):
bezelie.movePit (30, 2)
sleep (0.2)
bezelie.movePit (-30, 1)
sleep (0.2)
bezelie.movePit (0)
sleep (0.5)
bezelie.moveRot (30, 1)
sleep (0.2)
bezelie.moveRot (-30, 1)
sleep (0.2)
bezelie.moveRot (0)
sleep (0.5)
bezelie.moveYaw (40)
sleep (0.2)
bezelie.moveYaw (-40)
sleep (0.2)
bezelie.moveYaw (0)
def target(self):
while not self.stop_event.is_set():
bezelie.moveRot(-10)
bezelie.moveYaw(-40, 4)
bezelie.moveRot(10)
bezelie.moveYaw(40, 4)