#!/usr/bin/env python # -*- coding: utf-8 -*- import logging import time import signal import sys from epuck import Controller, WrongCommand c = Controller('/dev/rfcomm0', asynchronous=True) bias = 200 too_close = 2000 max_speed = 1000 min_speed = -1000 # Signal handler to cleanup after shutdown def handle_signal(signum, frame): r = c.set_speed(0, 0) r.join() sys.exit(0) # SIGINT is interrupt signal sent by CTRL+C signal.signal(signal.SIGINT, handle_signal) while True: # Read values from proximity sensors r = c.get_proximity_sensors()
#!/usr/bin/python import functools import Image as Img from Tkinter import * from ImageTk import PhotoImage from epuck import Controller c = Controller('/dev/rfcomm0', asynchronous=True) c.set_camera(Controller.RGB565_MODE, 40, 40, 8) root = Tk() img_camera = Label(root) img_camera.pack() img_modified = Label(root) img_modified.pack() def hue(r, g, b): M = max(r, g, b) m = min(r, g, b) C = M - m if C == 0: return None if M == r: h = float(g - b) / C % 6 elif M == g: h = float(b - r) / C + 2 elif M == b:
#!/usr/bin/env python # -*- coding: utf-8 -*- import logging import time import signal import sys from epuck import Controller, WrongCommand c = Controller('/dev/rfcomm0', asynchronous=True) bias = 200 too_close = 2000 max_speed = 1000 min_speed = -1000 # Signal handler to cleanup after shutdown def handle_signal(signum, frame): r = c.set_speed(0,0) r.join() sys.exit(0) # SIGINT is interrupt signal sent by CTRL+C signal.signal(signal.SIGINT, handle_signal) while True: # Read values from proximity sensors r = c.get_proximity_sensors() r = r.get_response()
class Disco(object): """Test leds. Tests few effects with leds. The effect can be changed with turning selector. Turning selector values: 0 -- Two rotating lights. 1 -- Two rotating light in opposite directions. 2 -- Blinking front led. 15 -- Turn the effects off. """ def __init__(self): logging.basicConfig(level=logging.WARNING) self.c = Controller('/dev/rfcomm0', asynchronous=True) self.state_request = None # Get first state self.state = self.c.get_turning_selector().get_response() def init_vars(self): """Initialize vars used for effects.""" self.prev_i, self.i = 0, 0 self.prev_j, self.j = 4, 4 def init_state(self): """Initialize state.""" self.init_vars() # Turn off all leds self.c.stop() self.c.set_front_led(0) def get_state(self): """Get the value of turning selector.""" # The get_state has been called for the first time if self.state_request is None: self.state_request = self.c.get_turning_selector() # The response has been received elif self.state_request.response_received(): new_state = self.state_request.get_response() # New state if new_state != self.state: self.state = new_state self.init_state() # Check the turning selector self.state_request = self.c.get_turning_selector() def run(self): """Do a step in the chosen effect.""" if self.state == 0 or self.state == 1: self.c.set_led(self.prev_i, 0) self.c.set_led(self.i, 1) self.c.set_led(self.prev_j, 0) self.c.set_led(self.j, 1) elif self.state == 2: self.c.set_front_led(self.i) def update(self): """Update the vars used for chosen effect.""" if self.state == 0: self.prev_i = self.i self.prev_j = self.j self.i = (self.i + 1) % 8 self.j = (self.j + 1) % 8 if self.state == 1: self.prev_i = self.i self.prev_j = self.j self.i = (self.i + 1) % 8 self.j = (self.j - 1) % 8 elif self.state == 2: self.i = 0 if self.i else 1 def main_loop(self): """Main loop.""" self.init_vars() while self.state != 15: # Update the state. self.get_state() # Do a step in the effect. self.run() # Update the effect. self.update() # Wait. time.sleep(0.1) # Turn off all leds. self.init_state()
def __init__(self): logging.basicConfig(level=logging.WARNING) self.c = Controller('/dev/rfcomm0', asynchronous=True) self.state_request = None # Get first state self.state = self.c.get_turning_selector().get_response()
#!/usr/bin/python import functools import Image as Img from Tkinter import * from ImageTk import PhotoImage from epuck import Controller c = Controller('/dev/rfcomm0', asynchronous=True) c.set_camera(Controller.RGB565_MODE, 40, 40, 8) root = Tk() img_camera = Label(root) img_camera.pack() img_modified = Label(root) img_modified.pack() def hue(r, g, b): M = max(r, g, b) m = min(r, g, b) C = M - m if C == 0: return None if M == r: h = float(g-b)/C % 6 elif M == g: h = float(b-r)/C + 2 elif M == b: h = float(r-g)/C + 4