# A simple program that wanders and avoids obstacles
from lib.finch import Finch
from time import sleep
# Instantiate the Finch object and connect to Finch
tweety = Finch()
# Get the Z-Axis acceleration
zAccel = tweety.acceleration()[2]
# Do the following while the Finch is not upside down (z value in gees above -0.7)
while zAccel > -0.7:
left_obstacle, right_obstacle = tweety.obstacle()
# If there's an obstacle on the left, back up and arc
if left_obstacle:
tweety.led(255,0,0)
tweety.wheels(-0.3,-1.0)
sleep(1.0)
# Back up and arc in the opposite direction if there's something on the right
elif right_obstacle:
tweety.led(255,255,0)
tweety.wheels(-1.0, -0.3)
sleep(1.0)
# Else just go straight
else:
tweety.wheels(1.0, 1.0)
tweety.led(0,255,0)
# Keep reading in the Z acceleration
zAccel = tweety.acceleration()[2]
while laps <= 0:
laps = int(input('Enter number of laps: '))
if laps < 0:
print('Cannot swim a negative number of laps!')
elif laps == 0:
print('Zero laps? I want to swim!')
# Move forward until an obstacle is present and measure the time:
start = time()
finch.wheels(0.5, 0.5)
sleep(0.1)
while True:
left_obstacle, right_obstacle = finch.obstacle()
if left_obstacle or right_obstacle:
half_lap_time = time() - start
finch.wheels(0, 0)
break
print('Obstacle found, backing up')
# Move backwards for the same amount of time spent moving forward
finch.wheels(-0.5, -0.5)
sleep(half_lap_time)
laps -= 1
# Now lapswim!
# A simple program that randomly changes the LED when the Finch is tapped or shaken
# Try it by setting the Finch on a table and tapping the top
from lib.finch import Finch
from random import randint
# Instantiate the Finch object and connect to Finch
tweety = Finch()
left, right = tweety.obstacle()
# Do the following while no obstacles are detected by Finch
while not left and not right:
# Get the accelerations
x, y, z, tap, shake = tweety.acceleration()
# Print the acceleration data
print("X is %.2f gees, Y is %.2f gees, Z is %.2f gees, tap is %r shake is %r" % (x, y, z, tap, shake));
# If a tap or shake has been detected recently, set the LED to a random color
if tap or shake:
tweety.led(randint(0,255), randint(0, 255), randint(0,255))
# Get obstacles to use to exit loop
left, right = tweety.obstacle()
tweety.close()
