def uniform_move(self, legs, hip_angle=None, knee_angle=None, t=0):
""" moves all legs with hip_angle, knee_angle """
for leg in legs:
leg.move(knee_angle, hip_angle)
sleep(t)
def uniform_move(self, legs, hip_angle = None, knee_angle = None, t = 0):
""" moves all legs with hip_angle, knee_angle """
for leg in legs:
leg.move(knee_angle, hip_angle)
sleep(t)
def run():
wifi = None
mqtt = None
adc = machine.ADC(0) # analog digital converter
while True:
try:
# connect wifi
if wifi is None:
wifi = core.WifiWrapper(config)
if not wifi.isconnected:
wifi.connect()
# connect mqtt
if mqtt is None:
mqtt = core.MQTTClientWrapper(config)
mqtt.connect()
# get values from sensor
val = 100 * adc.read() / 1024
# publish value
payload = {'name': 'moisture', 'value': val, 'unit': 'pct'}
mqtt.publish(config.MQTT_TOPIC, ujson.dumps(payload))
mqtt.disconnect()
core.sleep(config)
except Exception as e:
print(e)
def simultaneous_move(self, legs, swings = [None, None, None], knee_angle = None, t = 0):
""" moves all legs with knee_angle to the respective hip angles at 'swing' """
for leg, hip_angle in zip(legs, swings):
leg.move(knee_angle, hip_angle)
sleep(t)
def point(self, t = 0.75):
self.left_front.hip.pose(-45)
self.left_front.knee.pose(-50)
self.left_front.ankle.pose(-55)
sleep(t)
def stride(self, first_tripod, second_tripod, swing, raised, floor, t):
""" first_tripod's legs replant to propel towards a direction while
second_tripod's legs retrack by swinging to the opposite direction """
self.simultaneous_move(first_tripod, knee_angle = raised)
sleep(t)
self.simultaneous_move(second_tripod, swing[::-1])
self.simultaneous_move(first_tripod, swing, floor)
sleep(t)
def stride(self, first_tripod, second_tripod, swing, raised, floor, t):
""" first_tripod's legs replant to propel towards a direction while
second_tripod's legs retrack by swinging to the opposite direction """
self.simultaneous_move(first_tripod, knee_angle=raised)
sleep(t)
self.simultaneous_move(second_tripod, swing[::-1])
self.simultaneous_move(first_tripod, swing, floor)
sleep(t)
def curl_up(self, die=False, t=0.2):
for leg in self.legs:
leg.pose(hip_angle=0,
knee_angle=-(leg.knee.max + leg.knee.leeway),
ankle_angle=leg.ankle.max)
sleep(t)
if die: self.off()
def curl_up(self, die = False, t = 0.2):
for leg in self.legs:
leg.pose(hip_angle = 0,
knee_angle = -(leg.knee.max + leg.knee.leeway),
ankle_angle = leg.ankle.max)
sleep(t)
if die: self.off()
def wave(self, repetitions = 5, t = 0.2):
self.left_front.ankle.pose()
self.left_front.knee.pose(-50)
for r in xrange(repetitions):
self.left_front.hip.pose(-45)
sleep(t)
self.left_front.hip.pose(45)
sleep(t)
def simultaneous_move(self,
legs,
swings=[None, None, None],
knee_angle=None,
t=0):
""" moves all legs with knee_angle to the respective hip angles at 'swing' """
for leg, hip_angle in zip(legs, swings):
leg.move(knee_angle, hip_angle)
sleep(t)
def tilt(self, front_angle=50, middle_angle=25, back_angle=0, t=0.2):
""" if front_angle > middle_angle > back_angle hexy's front is higher than his back """
self.right_front.move(knee_angle=front_angle)
self.left_front.move(knee_angle=front_angle)
self.right_middle.move(knee_angle=middle_angle)
self.left_middle.move(knee_angle=middle_angle)
self.right_back.move(knee_angle=back_angle)
self.left_back.move(knee_angle=back_angle)
sleep(t)
def tilt(self, front_angle = 50, middle_angle = 25, back_angle = 0, t = 0.2):
""" if front_angle > middle_angle > back_angle hexy's front is higher than his back """
self.right_front.move(knee_angle = front_angle)
self.left_front.move(knee_angle = front_angle)
self.right_middle.move(knee_angle = middle_angle)
self.left_middle.move(knee_angle = middle_angle)
self.right_back.move(knee_angle = back_angle)
self.left_back.move(knee_angle = back_angle)
sleep(t)
def lean_back(self, offset = 45, back_knee = 0, middle_knee = 40, raised = -30, t = 0.2):
""" brings the back legs even further to the back and the middle legs to the front
and then brings his front legs up in the air """
self.left_back.replant(raised, back_knee, offset, t)
self.right_back.replant(raised, back_knee, -offset, t)
self.left_middle.replant(raised, middle_knee, -offset, t)
self.right_middle.replant(raised, middle_knee, offset, t)
self.left_front.pose(-offset, 0, 0)
self.right_front.pose(offset, 0, 0)
sleep(t)
def night_fever(self):
self.prepare()
for r in xrange(4):
self.wave_right_arm_up()
self.left_front.move(knee_angle = 40)
self.dip_body()
sleep(0.4)
self.wave_right_arm_down()
self.left_front.move(knee_angle = 60)
self.raise_body()
sleep(0.4)
def prepare(self, offset = 45, back_knee = 0, middle_knee = 50, front_knee = 60, raised = -30, t = 0.2):
""" brings the back legs even further to the back and the middle legs to the front
and then brings his further to the front """
self.left_back.replant(raised, back_knee, offset, t)
self.right_back.replant(raised, back_knee, -offset, t)
self.left_middle.replant(raised, middle_knee, -offset, t)
self.right_middle.replant(raised, middle_knee, offset, t)
self.left_front.replant(raised, front_knee, -offset, t)
self.right_front.replant(raised, front_knee, offset, t)
self.neck.pose()
sleep(t)
def run():
wifi = None
mqtt = None
i2c = machine.I2C(scl=machine.Pin(config.I2C_SCL_PIN),
sda=machine.Pin(config.I2C_SDA_PIN))
adr = i2c.scan()[0]
bme = bme280.BME280(i2c=i2c, address=adr)
while True:
try:
# connect wifi
if wifi is None:
wifi = core.WifiWrapper(config)
if not wifi.isconnected:
wifi.connect()
# connect mqtt
if mqtt is None:
mqtt = core.MQTTClientWrapper(config)
mqtt.connect()
# get values from sensor
vals = bme.values
temp = vals[0][:-1]
pressure = vals[1][:-3]
humidity = vals[2][:-1]
# publish temperature
utime.sleep_ms(500)
payload = {'name': 'temperature', 'value': temp, 'unit': 'C'}
mqtt.publish(config.MQTT_TOPIC + '/temp', ujson.dumps(payload))
# publish pressure
utime.sleep_ms(500)
payload = {'name': 'pressure', 'value': pressure, 'unit': 'bar'}
mqtt.publish(config.MQTT_TOPIC + '/pressure', ujson.dumps(payload))
# publish humidity
utime.sleep_ms(500)
payload = {'name': 'humidity', 'value': humidity, 'unit': 'pct'}
mqtt.publish(config.MQTT_TOPIC + '/humidity', ujson.dumps(payload))
mqtt.disconnect()
core.sleep(config)
except Exception as e:
print(e)
def run():
wifi = None
mqtt = None
while True:
try:
if wifi is None:
wifi = core.WifiWrapper(config)
wifi.connect()
if mqtt is None:
mqtt = core.MQTTClientWrapper(config)
mqtt.connect()
ow_pin = config.ONEWIRE_PIN
ow = onewire.OneWire(machine.Pin(ow_pin))
print('searching for Onewire Sensors on pin {}...'.format(ow_pin),
end='')
temp_sens = ds18x20.DS18X20(ow)
rom = temp_sens.scan()
if len(rom) > 0:
print('done. found {} sensors. reading from first.'.format(
len(rom)))
temp_sens.convert_temp()
temp = temp_sens.read_temp(rom[0])
print('temperature: {:.2f}°C'.format(temp))
# create payload
payload = {'value': '{:.2f}'.format(temp), 'unit': 'C'}
mqtt.publish(config.MQTT_TOPIC, ujson.dumps(payload))
else:
print('failed. none found.')
if config.ENABLE_DEEPSLEEP:
mqtt.disconnect()
core.sleep(config)
except Exception as e:
print(e)
def type_stuff(self, up = -40, down = 40, repetitions = 5, t = 0.2):
self.lean_back()
for r in xrange(repetitions):
self.left_front.knee.pose(up)
self.right_front.knee.pose(down)
sleep(t)
self.right_front.knee.pose(up)
self.left_front.knee.pose(down)
sleep(t)
sleep(t)
def twist_hip(self, angle = 0, t = 0.1):
for hip in self.hips:
hip.pose(angle)
sleep(t)
def look(self, angle = 0, t = 0.05):
self.neck.pose(angle)
sleep(t)
def lie_down(self, maxx = 50, step = 4, t = 0.15):
for angle in xrange(maxx, -(maxx + 1), -step):
self.squat(angle)
sleep(t)
def lie_flat(self, t = 0.15):
for leg in self.legs:
leg.pose()
sleep(t)
def thriller_routine0(self):
self.arms_down_center()
self.raise_body()
sleep(0.3)
def thriller_routine1(self):
self.thriller_routine0()
self.arms_up_left()
self.dip_body()
sleep(0.3)
def lie_flat(self, t=0.15):
for leg in self.legs:
leg.pose()
sleep(t)
def thriller_routine2(self):
self.thriller_routine0()
self.arms_up_right()
self.dip_body()
sleep(0.3)
def tilt_side(self, left_angle = 50, right_angle = 0, t = 0.2):
""" if left_angle > right_angle, left side is higher than right side """
self.uniform_move(legs = self.left_legs, knee_angle = left_angle)
self.uniform_move(legs = self.right_legs, knee_angle = right_angle)
sleep(t)
def squat(self, angle, t=0):
for leg in self.legs:
leg.move(knee_angle=angle)
sleep(t)
def twist_hip(self, angle=0, t=0.1):
for hip in self.hips:
hip.pose(angle)
sleep(t)
def look(self, angle=0, t=0.05):
self.neck.pose(angle)
sleep(t)
if "subclass" not in item: continue
if int(item["subclass"]) != 6: continue
item_name = item["name"]
color = item["quality"]
addon_data[DATA_NAME_KEY][npc_name]["items"].append({
"name":
item_name,
"color":
color,
"label":
LABEL
})
addon_data[ALL_NAMES_KEY][item_name] = True
write_info("{} {} -> {}={}\n".format("Processing", npc_name,
item_name, color))
sorted_items = sorted(
addon_data[DATA_NAME_KEY][npc_name]["items"],
key=lambda i: "{}{}".format(i['color'], i['name']))
addon_data[DATA_NAME_KEY][npc_name]["items"] = sorted_items
sleep()
create_locale_lua(locale_template_file, addon_data)
create_module_lua(module_template_file, addon_data)
#print(json.dumps(addon_data, indent=3, separators=(',', ':')))
def squat(self, angle, t = 0):
for leg in self.legs:
leg.move(knee_angle = angle)
sleep(t)
def lie_down(self, maxx=50, step=4, t=0.15):
for angle in xrange(maxx, -(maxx + 1), -step):
self.squat(angle)
sleep(t)
def tilt_side(self, left_angle=50, right_angle=0, t=0.2):
""" if left_angle > right_angle, left side is higher than right side """
self.uniform_move(legs=self.left_legs, knee_angle=left_angle)
self.uniform_move(legs=self.right_legs, knee_angle=right_angle)
sleep(t)