#
#
#Nolan B. 1/8/16
from org.myrobotlab.service import Joystick
from org.myrobotlab.service import Arduino
from org.myrobotlab.service import Runtime
from time import sleep
#----------------------------------Web Gui--------------------------
webgui = Runtime.create("webgui", "WebGui")
webgui.autoStartBrowser(False)
Runtime.start("webgui", "WebGui")
#---------------------------------Create Services----------------------
arduino = Runtime.createAndStart("arduino", "Arduino")
joystick = Runtime.createAndStart("joystick", "Joystick")
motorL = Runtime.start("motorL", "Motor")
motorR = Runtime.start("motorR", "Motor")
log = Runtime.start("log", "Log")
#----------------------Connect Peripherals-----------------------------------
joystick.setController(0)
#PC only - Pi needs new
joystick.addInputListener(python)
arduino.connect("/dev/ttyACM0")
# Tell the joystick to turn on
joystick.startPolling()
# attach servos to Arduino
arduino.motorAttach("motorL", 5, 4)
from java.lang import Class
from java.awt import Rectangle
from org.myrobotlab.service import Runtime
from org.myrobotlab.service import OpenCV
from org.myrobotlab.opencv import OpenCVData
from com.googlecode.javacv.cpp.opencv_core import CvPoint
from org.myrobotlab.service import OpenCV
from org.myrobotlab.service import Arduino
from org.myrobotlab.service import Servo
from time import sleep
# system specif variables
actservox = 90
actservoy = 90
xpid = Runtime.createAndStart("xpid", "Pid")
ypid = Runtime.createAndStart("ypid", "Pid")
xpid.setMode(1)
xpid.setOutputRange(-3, 3)
xpid.setPID(10.0, 0, 1.0)
xpid.setControllerDirection(1)
xpid.setSetpoint(160) # we want the target in the middle of the x
ypid.setMode(1)
ypid.setOutputRange(-3, 3)
ypid.setPID(10.0, 0, 1.0)
ypid.setControllerDirection(1)
ypid.setSetpoint(120)
arduino = Runtime.createAndStart("arduino", "Arduino")
pan = Runtime.createAndStart("pan", "Servo")
tilt = Runtime.createAndStart("tilt", "Servo")
##############################################
# This script creates the parts of a ROFI and
# attaches them to MRL
#from org.myrobotlab.service import UltrasonicSensor
from org.myrobotlab.service import Arduino
from org.myrobotlab.service import Servo
from org.myrobotlab.service import Runtime
from org.myrobotlab.service import GUIService
from org.myrobotlab.service import Speech
from time import sleep
# we need a dictionary of arrays which store calibration data for each servo/joint
calib = {}
# create the services
speech = Runtime.createAndStart("speech", "Speech") # For voice feedback
#ear = Runtime.createAndStart("listen","Sphinx") # For hearing spoken commands
gui = Runtime.start("gui", "GUIService")
keyboard = Runtime.start("keyboard",
"Keyboard") # For getting user confirmation
#keyboard.addKeyListener(python)
# Arduino to connect everything to like a spinal cord
arduino = Runtime.createAndStart("arduino", "Arduino")
#sr04 = Runtime.start("sr04", "UltrasonicSensor") # For an ultrasonic view of the world
# 6 joints in the Right leg
rAnkle = Runtime.createAndStart("R Ankle", "Servo")
i01_chatBot_search = Runtime.start('i01.chatBot.search', 'GoogleSearch')
MoveHeadTimer = Runtime.start('MoveHeadTimer', 'Clock')
#gui = Runtime.start('gui', 'SwingGui')
vi01_left = Runtime.start('vi01.left', 'VirtualArduino')
vi01_right = Runtime.start('vi01.right', 'VirtualArduino')
i01_head_rothead = Runtime.start('i01.head.rothead', 'Servo')
i01_leftArm = Runtime.start('i01.leftArm', 'InMoov2Arm')
openWeatherMap = Runtime.start('openWeatherMap', 'OpenWeatherMap')
i01_ear = Runtime.start('i01.ear', 'WebkitSpeechRecognition')
i01_head_neck = Runtime.start('i01.head.neck', 'Servo')
i01_head_eyelidLeft = Runtime.start('i01.head.eyelidLeft', 'Servo')
i01_head_eyelidRight = Runtime.start('i01.head.eyelidRight', 'Servo')
i01_leftArm_shoulder = Runtime.start('i01.leftArm.shoulder', 'Servo')
i01_rightHand_wrist = Runtime.start('i01.rightHand.wrist', 'Servo')
i01_mouth = Runtime.start('i01.mouth', 'MarySpeech')
AudioPlayer = Runtime.createAndStart("AudioPlayer", "AudioFile")
#############################################################
## Needs fixing in InMoov2.java
#i01_pir = Runtime.start('i01.pir', 'Pir')
#i01_ultraSonicRight = Runtime.start('i01.ultraSonicRight', 'UltrasonicSensor')
#i01_ultraSonicLeft = Runtime.start('i01.ultraSonicLeft', 'UltrasonicSensor')
#i01_neopixel = Runtime.start('i01.neopixel', 'Neopixel')
#i01_opencv = Runtime.start('i01.opencv', 'OpenCV')
##############################################################
## creating client connections connections ####
##############################################################
## configuring services ####
# Servo Config : i01_leftArm_rotate
# sets initial position of servo before moving
# in theory this is the position of the servo when this file was created
from org.myrobotlab.service import Arduino
from org.myrobotlab.service import Servo
from org.myrobotlab.service import Runtime
from time import sleep
# create the services
arduino = Runtime.createAndStart("arduino","Arduino")
servo01 = Runtime.createAndStart("servo01","Servo")
# initialize arduino
arduino.connect("/dev/ttyUSB0")
# TODO - set limits
# attach servo
arduino.servoAttach(servo01.getName(), 9)
# fast sweep
servo01.moveTo(179)
sleep(0.5)
servo01.moveTo(10)
sleep(0.5)
servo01.moveTo(179)
sleep(0.5)
servo01.moveTo(10)
sleep(0.5)
from java.lang import String
from org.myrobotlab.service import Sphinx
from org.myrobotlab.service import Runtime
# create ear and mouth
ear = Runtime.createAndStart("ear","Sphinx")
mouth = Runtime.createAndStart("mouth","MarySpeech")
# start listening for the words we are interested in
ear.addComfirmations("yes","correct","ya")
ear.addNegations("no","wrong","nope","nah")
#ear.startListening("hello world|happy monkey|go forward|stop|yes|correct|ya|no|wrong|nope|nah")
ear.startListening("hello world|happy monkey|go forward|stop")
ear.addCommand("hello world", "python", "helloWorld")
# set up a message route from the ear --to--> python method "heard"
# ear.addListener("recognized", python.name, "heard");
# ear.addComfirmations("yes","correct","yeah","ya")
# ear.addNegations("no","wrong","nope","nah")
# ear.addCommand("hello world", "python", "helloworld")
# set up a message route from the ear --to--> python method "heard"
# ear.addListener("recognized", python.name, "heard");
# this method is invoked when something is
# recognized by the ear - in this case we
# have the mouth "talk back" the word it recognized
from java.lang import String
from java.lang import Class
from java.awt import Rectangle
from org.myrobotlab.service import Runtime
from org.myrobotlab.service import OpenCV
from org.myrobotlab.opencv import OpenCVData
from com.googlecode.javacv.cpp.opencv_core import CvPoint;
global posx
global posy
global newx
global newy
opencv = Runtime.createAndStart("opencv","OpenCV")
opencv.publishState()
opencv.addFilter("pd","PyramidDown")
opencv.setDisplayFilter("pd")
opencv.addFilter("detector","Detector")
opencv.setDisplayFilter("detector")
opencv.addFilter("findcontours","FindContours")
opencv.setDisplayFilter("findcontours")
tracker = Runtime.create("tracker","Tracking")
# create all the peer services
rotation = Runtime.create("rotation","Servo")
neck = Runtime.create("neck","Servo")
arduino = Runtime.create("arduino","Arduino")
xpid = Runtime.create("xpid","PID");
ypid = Runtime.create("ypid","PID");
from org.myrobotlab.service import Runtime
from org.myrobotlab.service import WebServer
from org.myrobotlab.net import BareBonesBrowserLaunch
#It creates and starts webserver service
webserver = Runtime.createAndStart("webserver", "WebServer")
#Launch your web browser to the URL of localhost, by default port is 19191
#helloworl.htm file is in your MRL main folder
#you can add files there and change the URL below as you desire
BareBonesBrowserLaunch.openURL("http://localhost:19191/helloworld.htm")
from jarray import array
from java.lang import String
from java.lang import Class
from org.myrobotlab.service import Runtime
from org.myrobotlab.framework import Message
catcher = Runtime.createAndStart("catcher","TestCatcher")
thrower = Runtime.createAndStart("thrower","TestThrower")
def input():
# python catches data from thrower - then throws to catcher
print 'thrower sent me ', msg_thrower_send.data[0]
print 'modifying the ball'
msg_thrower_send.data[0]='throw from python->catcher'
print 'throwing to catcher now'
python.send('catcher', 'catchString', msg_thrower_send.data[0])
# thrower sends data to python
thrower.throwString('python', 'input', 'throw from thrower->python');
import random
from org.myrobotlab.service import Arduino
from org.myrobotlab.service import Servo
from org.myrobotlab.service import Runtime
from java.lang import String
from time import sleep
holygrail = Runtime.createAndStart("holygrail", "WebGui")
wksr = Runtime.createAndStart("webkitspeechrecognition", "WebkitSpeechRecognition")
simple = Runtime.createAndStart("simple", "ProgramAB")
simple.startSession("default", "simple")
htmlfilter = Runtime.createAndStart("htmlfilter", "HtmlFilter")
acapelaSpeech = Runtime.createAndStart("speech", "AcapelaSpeech")
voices = acapelaSpeech.getVoices()
for voice in voices:
acapelaSpeech.setVoice("Ryan")
wksr.addTextListener(simple)
simple.addTextListener(htmlfilter)
htmlfilter.addTextListener(acapelaSpeech)
######################################
# Example Document Processing pipeline
######################################
from org.myrobotlab.service import Runtime
from org.myrobotlab.document.transformer import WorkflowConfiguration
from org.myrobotlab.document.transformer import StageConfiguration
# create the pipeline service
pipeline = Runtime.createAndStart("docproc", "DocumentPipeline")
# create a pipeline
# pipeline.workflowName = "default";
# create a workflow to load into that pipeline service
workflowConfig = WorkflowConfiguration()
workflowConfig.setName("default")
staticFieldStageConfig = StageConfiguration()
staticFieldStageConfig.setStageClass(
"org.myrobotlab.document.transformer.SetStaticFieldValue")
staticFieldStageConfig.setStageName("SetTableField")
# statically assign the value of "MRL" to the field "table" on the document
staticFieldStageConfig.setStringParam("table", "MRL")
workflowConfig.addStage(staticFieldStageConfig)
# a stage that sends a document to solr
openNLPConfig = StageConfiguration()
openNLPConfig.setStageClass("org.myrobotlab.document.transformer.OpenNLP")
openNLPConfig.setStageName("OpenNLP")
openNLPConfig.setStringParam("textField", "description")
workflowConfig.addStage(openNLPConfig)
sendToSolrConfig = StageConfiguration()
sendToSolrConfig.setStageClass(
"org.myrobotlab.document.transformer.SendToSolr")
from org.myrobotlab.service import Runtime
from org.myrobotlab.service import OpenCV
from org.myrobotlab.service import VideoStreamer
from time import sleep
from org.myrobotlab.net import BareBonesBrowserLaunch
# create a video source (opencv) & a video streamer
opencv = Runtime.createAndStart("opencv","OpenCV")
streamer = Runtime.createAndStart("streamer","VideoStreamer")
# attache them
streamer.attach(opencv)
# add a pyramid down filter and gray to minimize the data
opencv.addFilter("pyramidDown", "PyramidDown");
opencv.addFilter("gray", "Gray");
# start the camera
opencv.capture();
#added sleep in order to give opencv the time to "warm up" the cam
sleep(3)
# go to http://localhost:9090/output
BareBonesBrowserLaunch.openURL("http://localhost:9090")
from org.myrobotlab.service import Arduino
from org.myrobotlab.service import Servo
from org.myrobotlab.service import Runtime
from time import sleep
# create the services
arduino = Runtime.createAndStart("arduino", "Arduino")
servo01 = Runtime.createAndStart("servo01", "Servo")
# initialize arduino
arduino.connect("/dev/ttyUSB0")
# TODO - set limits
# attach servo
arduino.servoAttach(servo01.getName(), 9)
# fast sweep
servo01.moveTo(179)
sleep(0.5)
servo01.moveTo(10)
sleep(0.5)
servo01.moveTo(179)
sleep(0.5)
servo01.moveTo(10)
sleep(0.5)
from org.myrobotlab.service import Runtime
from org.myrobotlab.service import AudioCapture
from time import sleep
audiocapture = Runtime.createAndStart("audiocapture", "AudioCapture")
#it starts capturing audio
audiocapture.captureAudio()
# it will record for 5 seconds
sleep(5)
#then it stops recording audio
audiocapture.stopAudioCapture()
#it plays audio recorded
audiocapture.playAudio()
##############################################
# This script creates 2 servos of a pan / tilt kit
# attaches them to an Arduino and attaches
# a joystick to control the servos
from org.myrobotlab.service import Arduino
from org.myrobotlab.service import Servo
from org.myrobotlab.service import Joystick
from org.myrobotlab.service import Runtime
from time import sleep
# create the services
arduino = Runtime.createAndStart("arduino","Arduino")
pan = Runtime.createAndStart("pan","Servo")
tilt = Runtime.createAndStart("tilt","Servo")
joystick = Runtime.createAndStart("joystick","Joystick")
arduino.connect("COM10", 57600, 8, 1, 0)
sleep(2)
# attach servos to Arduino
pan.attach(arduino.getName(), 9)
tilt.attach(arduino.getName(), 10)
# attach joystick to servos
joystick.attach(pan, Joystick.Z_AXIS)
joystick.attach(tilt, Joystick.Z_ROTATION)
joystick.setController(2);
joystick.startPolling();
from org.myrobotlab.service import Runtime
from org.myrobotlab.service import AudioCapture
from time import sleep
audiocapture = Runtime.createAndStart("audiocapture","AudioCapture")
#it starts capturing audio
audiocapture.captureAudio()
# it will record for 5 seconds
sleep(5)
#then it stops recording audio
audiocapture.stopAudioCapture()
#it plays audio recorded
audiocapture.playAudio()
# the best interface to do finely controlled actuation. But, it is very
# convenient to express high-level (e.g. go to center of the room) commands
#
# FYI - The memory requirements for Sphinx are a bit hefty and depending on the
# platform additional JVM arguments might be necessary e.g. -Xmx256m
# create an ear
ear = Runtime.create("ear","Sphinx")
# create the grammar you would like recognized
# this must be done before the service is started
ear.createGrammar("all open | hand close | pinch mode | open pinch | hand open | hand rest | hand open two ")
ear.startService()
# start the mouth
mouth = Runtime.createAndStart("mouth","Speech")
# set up a message route from the ear --to--> python method "heard"
ear.addListener("recognized", python.name, "heard", String().getClass());
# this method is invoked when something is
# recognized by the ear - in this case we
# have the mouth "talk back" the word it recognized
# prevent infinite loop - this will suppress the
# recognition when speaking - default behavior
# when attaching an ear to a mouth :)
ear.attach("mouth")
#create an Arduino & name arduino & index
#Nolan B. 1/8/16
from org.myrobotlab.service import Joystick
from org.myrobotlab.service import Arduino
from org.myrobotlab.service import Runtime
from time import sleep
#----------------------------------Web Gui--------------------------
webgui = Runtime.create("webgui", "WebGui")
webgui.autoStartBrowser(False)
Runtime.start("webgui", "WebGui")
#---------------------------------Create Services----------------------
arduino = Runtime.createAndStart("arduino","Arduino")
joystick = Runtime.createAndStart("joystick","Joystick")
motorL = Runtime.start("motorL","Motor")
motorR = Runtime.start("motorR","Motor")
log = Runtime.start("log","Log")
#----------------------Connect Peripherals-----------------------------------
joystick.setController(0); #PC only - Pi needs new
joystick.addInputListener(python)
arduino.connect("/dev/ttyACM0");
# Tell the joystick to turn on
joystick.startPolling()
##############################################
# This script creates 2 servos of a pan / tilt kit
# attaches them to an Arduino and attaches
# a joystick to control the servos
from org.myrobotlab.service import Arduino
from org.myrobotlab.service import Servo
from org.myrobotlab.service import Joystick
from org.myrobotlab.service import Runtime
from time import sleep
# create the services
arduino = Runtime.createAndStart("arduino", "Arduino")
pan = Runtime.createAndStart("pan", "Servo")
tilt = Runtime.createAndStart("tilt", "Servo")
joystick = Runtime.createAndStart("joystick", "Joystick")
arduino.connect("COM10", 57600, 8, 1, 0)
sleep(2)
# attach servos to Arduino
pan.attach(arduino.getName(), 9)
tilt.attach(arduino.getName(), 10)
# attach joystick to servos
joystick.attach(pan, Joystick.Z_AXIS)
joystick.attach(tilt, Joystick.Z_ROTATION)
joystick.setController(2)
joystick.startPolling()
from jarray import array
from java.lang import String
from java.lang import Class
from org.myrobotlab.service import Runtime
from org.myrobotlab.framework import Message
catcher = Runtime.createAndStart("catcher", "TestCatcher")
thrower = Runtime.createAndStart("thrower", "TestThrower")
def input():
# python catches data from thrower - then throws to catcher
print "thrower sent me ", msg_thrower_send.data[0]
print "modifying the ball"
msg_thrower_send.data[0] = "throw from python->catcher"
print "throwing to catcher now"
python.send("catcher", "catchString", msg_thrower_send.data[0])
# thrower sends data to python
thrower.throwString("python", "input", "throw from thrower->python")
from org.myrobotlab.service import Runtime
from org.myrobotlab.service import WebServer
from org.myrobotlab.net import BareBonesBrowserLaunch
#It creates and starts webserver service
webserver = Runtime.createAndStart("webserver","WebServer")
#Launch your web browser to the URL of localhost, by default port is 19191
#helloworl.htm file is in your MRL main folder
#you can add files there and change the URL below as you desire
BareBonesBrowserLaunch.openURL("http://localhost:19191/helloworld.htm")
from java.lang import String
from org.myrobotlab.service import Sphinx
from org.myrobotlab.service import Runtime
from ispyMotors import Motors
m = Motors()
#connect to the Tank Control port
m.init_connection()
#once we're connected
if m.is_connected:
ear = Runtime.createAndStart("ear", "Sphinx")
# start listening for the words we are interested in
ear.startListening(
"go forward|go backward|turn left|turn right|head up|head down|stop")
# set up a message route from the ear --to--> python method "heard"
ear.addListener("recognized", python.name, "heard",
String().getClass())
# this method is invoked when something is
# recognized by the ear
def heard(phrase):
print "heard ", phrase
if phrase == "go forward":
m.moveForward()
elif phrase == "go backward":
# This is a little speech recognition script.
# Use "Led On" or "Led off" to control the led .
# The led is connected on pin 13 by default
# Change the value of the variable "ledPin" if you connect the led on an other pin
# Set the right com port in the variable " comPort " and the right arduino board
# set the pin for the led
ledPin = 13
# set the com port for the arduino
comPort = "COM4"
# create ear and mouth
ear = Runtime.createAndStart("ear", "Sphinx")
mouth = Runtime.createAndStart("mouth", "Speech")
# create an Arduino service named arduino
arduino = Runtime.createAndStart("arduino", "Arduino")
# set the board type
arduino.setBoard("atmega328") # atmega168 | mega2560 | etc
# set serial device
arduino.setSerialDevice(comPort, 57600, 8, 1, 0)
sleep(1) # give it a second for the serial device to get ready
# update the gui with configuration changes
arduino.publishState()
import random
from org.myrobotlab.service import Arduino
from org.myrobotlab.service import Servo
from org.myrobotlab.service import Runtime
from java.lang import String
from time import sleep
from org.myrobotlab.net import BareBonesBrowserLaunch
wdf = Runtime.createAndStart("wikiDataFetcher", "WikiDataFetcher")
holygrail = Runtime.createAndStart("holygrail", "WebGui")
wksr = Runtime.createAndStart("webkitspeechrecognition",
"WebkitSpeechRecognition")
elias = Runtime.createAndStart("elias", "ProgramAB")
elias.startSession("elias")
htmlfilter = Runtime.createAndStart("htmlfilter", "HtmlFilter")
acapelaSpeech = Runtime.createAndStart("speech", "AcapelaSpeech")
voices = acapelaSpeech.getVoices()
for voice in voices:
acapelaSpeech.setVoice("Graham")
wksr.addTextListener(elias)
elias.addTextListener(htmlfilter)
htmlfilter.addTextListener(acapelaSpeech)
def BT():
global c
c = b - a
sleep(2)
print c
if (c == 2):
resp = elias.getResponse("AUTORESPOND1")
if (c == 4):
##############################################
# This script creates the parts of a ROFI and
# attaches them to MRL
#from org.myrobotlab.service import UltrasonicSensor
from org.myrobotlab.service import Arduino
from org.myrobotlab.service import Servo
from org.myrobotlab.service import Runtime
from org.myrobotlab.service import GUIService
from org.myrobotlab.service import Speech
from time import sleep
# we need a dictionary of arrays which store calibration data for each servo/joint
calib = {}
# create the services
speech = Runtime.createAndStart("speech","Speech") # For voice feedback
#ear = Runtime.createAndStart("listen","Sphinx") # For hearing spoken commands
gui = Runtime.start("gui", "GUIService")
keyboard = Runtime.start("keyboard", "Keyboard") # For getting user confirmation
#keyboard.addKeyListener(python)
# Arduino to connect everything to like a spinal cord
arduino = Runtime.createAndStart("arduino","Arduino")
#sr04 = Runtime.start("sr04", "UltrasonicSensor") # For an ultrasonic view of the world
# 6 joints in the Right leg
rAnkle = Runtime.createAndStart("R Ankle","Servo")
rLowLeg = Runtime.createAndStart("R Low Leg","Servo")
######################################
# Example Document Processing pipeline
######################################
from org.myrobotlab.service import Runtime
from org.myrobotlab.document.transformer import WorkflowConfiguration
from org.myrobotlab.document.transformer import StageConfiguration
# create the pipeline service
pipeline = Runtime.createAndStart("docproc", "DocumentPipeline")
# create a pipeline
# pipeline.workflowName = "default";
# create a workflow to load into that pipeline service
workflowConfig = WorkflowConfiguration();
workflowConfig.setName("default");
staticFieldStageConfig = StageConfiguration();
staticFieldStageConfig.setStageClass("org.myrobotlab.document.transformer.SetStaticFieldValue");
staticFieldStageConfig.setStageName("SetTableField");
# statically assign the value of "MRL" to the field "table" on the document
staticFieldStageConfig.setStringParam("table", "MRL");
workflowConfig.addStage(staticFieldStageConfig);
# a stage that sends a document to solr
openNLPConfig = StageConfiguration()
openNLPConfig.setStageClass("org.myrobotlab.document.transformer.OpenNLP")
openNLPConfig.setStageName("OpenNLP")
openNLPConfig.setStringParam("textField","description")
workflowConfig.addStage(openNLPConfig)
sendToSolrConfig = StageConfiguration();
sendToSolrConfig.setStageClass("org.myrobotlab.document.transformer.SendToSolr")
sendToSolrConfig.setStageName("SendToSolr")
sendToSolrConfig.setStringParam("solrUrl", "http://www.skizatch.org:8983/solr/graph")
from org.myrobotlab.service import Runtime
serial = Runtime.createAndStart("serial", "Serial")
serial.connect('COM4')
joystick = Runtime.start("joystick", "Joystick")
joystick.setController(0)
python.subscribe("joystick", "publishJoystickInput")
def onJoystickInput(data):
if (data.id == "R" and data.value == 1.0):
serial.write("255,0,0")
if (data.id == "G" and data.value == 1.0):
serial.write("0,255,0")
if (data.id == "B" and data.value == 1.0):
serial.write("0,0,255")
try:
mp3file = urllib2.urlopen('http://www.inmoov.fr/wp-content/uploads/2015/05/starting-mouth.mp3')
output = open(soundfilename,'wb')
output.write(mp3file.read())
output.close()
except IOError:
print "Check access right on the directory"
except Exception:
print "Can't get the sound File ! Check internet Connexion"
leftPort = "COM20" #modify port according to your board
i01 = Runtime.createAndStart("i01", "InMoov")
i01.startEar()
mouth = Runtime.createAndStart("mouth","Speech")
i01.startMouth()
##############
torso = i01.startTorso("COM20") #modify port according to your board
# tweaking default torso settings
torso.topStom.setMinMax(0,180)
torso.topStom.map(0,180,67,110)
torso.midStom.setMinMax(0,180)
torso.midStom.map(0,180,60,120)
#torso.lowStom.setMinMax(0,180)
#torso.lowStom.map(0,180,60,110)
#torso.topStom.setRest(90)
#torso.midStom.setRest(90)
from java.lang import Class
from java.awt import Rectangle
from org.myrobotlab.service import Runtime
from org.myrobotlab.service import OpenCV
from org.myrobotlab.opencv import OpenCVData
from com.googlecode.javacv.cpp.opencv_core import CvPoint;
from org.myrobotlab.service import OpenCV
from org.myrobotlab.service import Arduino
from org.myrobotlab.service import Servo
from time import sleep
# system specif variables
actservox = 90
actservoy = 90
xpid = Runtime.createAndStart("xpid","PID")
ypid = Runtime.createAndStart("ypid","PID")
xpid.setMode(1)
xpid.setOutputRange(-3, 3)
xpid.setPID(10.0, 0, 1.0)
xpid.setControllerDirection(1)
xpid.setSetpoint(160) # we want the target in the middle of the x
ypid.setMode(1)
ypid.setOutputRange(-3, 3)
ypid.setPID(10.0, 0, 1.0)
ypid.setControllerDirection(1)
ypid.setSetpoint(120)
arduino = Runtime.createAndStart("arduino","Arduino")
pan = Runtime.createAndStart("pan","Servo")
tilt = Runtime.createAndStart("tilt","Servo")
from org.myrobotlab.service import Arduino
# This is a little speech recognition script.
# Use "Led On" or "Led off" to control the led .
# The led is connected on pin 13 by default
# Change the value of the variable "ledPin" if you connect the led on an other pin
# Set the right com port in the variable " comPort " and the right arduino board
# set the pin for the led
ledPin = 13
# set the com port for the arduino
comPort = "COM4"
# create ear and mouth
ear = Runtime.createAndStart("ear", "Sphinx")
mouth = Runtime.createAndStart("mouth", "Speech")
# create an Arduino service named arduino
arduino = Runtime.createAndStart("arduino", "Arduino")
# set the board type
arduino.setBoard("atmega328") # atmega168 | mega2560 | etc
# set serial device
arduino.setSerialDevice(comPort, 57600, 8, 1, 0)
sleep(1) # give it a second for the serial device to get ready
# update the gui with configuration changes
arduino.publishState()
#from org.myrobotlab.service import Speech
from org.myrobotlab.service import Sphinx
from org.myrobotlab.service import Runtime
import smtplib
from email.MIMEMultipart import MIMEMultipart
from email.MIMEBase import MIMEBase
from email.MIMEText import MIMEText
from email import Encoders
import os
gmail_user = "******"
gmail_pwd = "
# create ear and mouth
ear = Runtime.createAndStart("ear","Sphinx")
mouth = Runtime.createAndStart("mouth","Speech")
opencv = Runtime.createAndStart("opencv","OpenCV")
opencv.addFilter("pdown","PyramidDown")
opencv.setDisplayFilter("pdown")
opencv.capture()
mouth.setLanguage("it")
# start listening for the words we are interested in
ear.startListening("hello robot|take photo|send email")
# set up a message route from the ear --to--> python method "heard"
ear.addListener("recognized", python.name, "heard", String().getClass());
def mail(to, subject, text, attach):
msg = MIMEMultipart()
# sayThings.py
# example script for MRL showing various methods
# of the Speech Service
# http://myrobotlab.org/doc/org/myrobotlab/service/Speech.html
# The preferred method for creating services is
# through the Runtime. This will allow
# the script to be rerun without creating a new
# Service each time. The initial delay from Service
# creation and caching voice files can be large, however
# after creation and caching methods should return
# immediately
# Create a running instance of the Speech Service.
# Name it "speech". And start it right away.
speech = Runtime.createAndStart("speech","Speech")
# Speak with initial defaults - Google en
speech.speak("hello brave new world")
# Google must have network connectivity
# the back-end will cache a sound file
# once it is pulled from Goole. So the
# first time it is slow but subsequent times its very
# quick and can be run without network connectivity.
speech.setBackendType("GOOGLE")
speech.setLanguage("en")
speech.speak("Hello World From Google.")
speech.setLanguage("pt") # Google supports some language codes
speech.speak("Hello World From Google.")
from java.lang import String
from java.lang import Class
from java.awt import Rectangle
from org.myrobotlab.service import Runtime
from org.myrobotlab.service import OpenCV
from org.myrobotlab.opencv import OpenCVData
from org.myrobotlab.opencv import OpenCVFilterInRange
from com.googlecode.javacv.cpp.opencv_core import CvPoint
global posx
global posy
global newx
global newy
opencv = Runtime.createAndStart("opencv", "OpenCV")
opencv.publishState()
opencv.addFilter("pd", "PyramidDown")
InRange = OpenCVFilterInRange("InRange")
InRange.useHue = True
InRange.hueMinValue = 22
InRange.hueMaxValue = 47
InRange.useSaturation = True
InRange.saturationMinValue = 88
InRange.saturationMaxValue = 246
InRange.useValue = True
InRange.valueMinValue = 178
InRange.valueMinValue = 255
opencv.addFilter(InRange)
opencv.setDisplayFilter("InRange")
opencv.addFilter("findcontours", "FindContours")
from org.myrobotlab.service import Runtime
serial = Runtime.createAndStart("serial","Serial")
serial.connect('COM4')
joystick = Runtime.start("joystick","Joystick")
joystick.setController(0)
python.subscribe("joystick","publishJoystickInput")
def onJoystickInput(data):
if (data.id=="R" and data.value == 1.0):
serial.write("255,0,0")
if (data.id=="G" and data.value == 1.0):
serial.write("0,255,0")
if (data.id=="B" and data.value == 1.0):
serial.write("0,0,255")
from java.lang import String
from org.myrobotlab.service import Speech
from org.myrobotlab.service import Sphinx
from org.myrobotlab.service import Runtime
# create mouth arduino and servo
ear = Runtime.createAndStart("ear","Sphinx")
arduino = Runtime.createAndStart("arduino","Arduino")
arduino.connect("COM4")
servo = Runtime.createAndStart("servo","Servo")
servo.attach(arduino, 10)
# start listening for the words we are interested in
ear.startListening("go forward|go backwards|stop")
# set up a message route from the ear --to--> python method "heard"
ear.addListener("recognized", python.name, "heard", String().getClass());
# this method is invoked when something is
# recognized by the ear - in this case we
# have the mouth "talk back" the word it recognized
def heard(phrase):
print("I heard ", phrase)
if phrase == "go forward":
servo.moveTo(170)
elif phrase == "go backwards":
servo.moveTo(10)
elif phrase == "stop":
servo.moveTo(90)
import random
from org.myrobotlab.service import Arduino
from org.myrobotlab.service import Servo
from org.myrobotlab.service import Runtime
from java.lang import String
from time import sleep
holygrail = Runtime.createAndStart("holygrail", "WebGui")
wksr = Runtime.createAndStart("webkitspeechrecognition",
"WebkitSpeechRecognition")
simple = Runtime.createAndStart("simple", "ProgramAB")
simple.startSession("default", "simple")
htmlfilter = Runtime.createAndStart("htmlfilter", "HtmlFilter")
acapelaSpeech = Runtime.createAndStart("speech", "AcapelaSpeech")
voices = acapelaSpeech.getVoices()
for voice in voices:
acapelaSpeech.setVoice("Ryan")
wksr.addTextListener(simple)
simple.addTextListener(htmlfilter)
htmlfilter.addTextListener(acapelaSpeech)
from java.lang import String
from java.lang import Class
from java.awt import Rectangle
from org.myrobotlab.service import Runtime
from org.myrobotlab.service import OpenCV
from org.myrobotlab.opencv import OpenCVData
from com.googlecode.javacv.cpp.opencv_core import CvPoint
from org.myrobotlab.service import OpenCV
from org.myrobotlab.service import Arduino
from org.myrobotlab.service import Servo
from time import sleep
xpid = Runtime.createAndStart("xpid", "PID")
ypid = Runtime.createAndStart("ypid", "PID")
xpid.setMode(1)
xpid.setOutputRange(-1, 1)
xpid.setPID(5.0, 0.0, 1.0)
xpid.setControllerDirection(0)
xpid.setSetpoint(
80) #setpoint now is 80 instead of 160 because of 2 PD filters
ypid.setMode(1)
ypid.setOutputRange(-1, 1)
ypid.setPID(5.0, 0.0, 1.0)
ypid.setControllerDirection(0)
ypid.setSetpoint(
60) #set point is now 60 instead of 120 because of 2 PD filters
xpid.invert()
#ypid.invert()
arduino = Runtime.createAndStart("arduino", "Arduino")
speech = Runtime.createAndStart("speech", "Speech")
pan = Runtime.createAndStart("pan", "Servo")
from org.myrobotlab.service import Runtime
from org.myrobotlab.service import OpenCV
from org.myrobotlab.service import VideoStreamer
from time import sleep
from org.myrobotlab.net import BareBonesBrowserLaunch
# create a video source (opencv) & a video streamer
opencv = Runtime.createAndStart("opencv","OpenCV")
streamer = Runtime.createAndStart("streamer","VideoStreamer")
# attache them
streamer.attach(opencv)
# add a pyramid down filter and gray to minimize the data
opencv.addFilter("pyramidDown", "PyramidDown");
opencv.addFilter("gray", "Gray");
# start the camera
opencv.capture();
#added sleep in order to give opencv the time to "warm up" the cam
sleep(3)
# go to http://localhost:9090/output
BareBonesBrowserLaunch.openURL("http://localhost:9090")
from time import sleep
from org.myrobotlab.service import Speech
from org.myrobotlab.service import Runtime
#Starting the required Services
serial = Runtime.createAndStart("serial","Serial")
chessgame = Runtime.createAndStart("chessgame", "ChessGame")
log = Runtime.createAndStart("log", "Log")
speech = Runtime.create("speech","Speech")
#Configureing Speech Service
speech.startService()
speech.setLanguage("en")
speech.speak("Game Begins!")
count = 0
chessMove = ""
#Connecting Arduino via Serial
if not serial.isConnected():
serial.connect("COM9")
# Adding Listeners
serial.addListener("publishByte", python.name, "input")
chessgame.addListener("computerMoved", python.name, "voice")
chessgame.addListener("computerMoved", log.name, "log")
chessgame.addListener("makeMove", serial.name, "write")
from java.lang import String
from org.myrobotlab.service import Sphinx
from org.myrobotlab.service import Runtime
from ispyMotors import Motors
m = Motors()
#connect to the Tank Control port
m.init_connection()
#once we're connected
if m.is_connected:
ear = Runtime.createAndStart("ear","Sphinx")
# start listening for the words we are interested in
ear.startListening("go forward|go backward|turn left|turn right|head up|head down|stop")
# set up a message route from the ear --to--> python method "heard"
ear.addListener("recognized", python.name, "heard", String().getClass());
# this method is invoked when something is
# recognized by the ear
def heard(phrase):
print "heard ", phrase
if phrase == "go forward":
m.moveForward()
elif phrase == "go backward":
m.moveBackward()
elif phrase == "turn left":
import random
from org.myrobotlab.service import Arduino
from org.myrobotlab.service import Servo
from org.myrobotlab.service import Runtime
from java.lang import String
from time import sleep
from org.myrobotlab.net import BareBonesBrowserLaunch
wdf = Runtime.createAndStart("wikiDataFetcher", "WikiDataFetcher")
holygrail = Runtime.createAndStart("holygrail", "WebGui")
wksr = Runtime.createAndStart("webkitspeechrecognition", "WebkitSpeechRecognition")
elias = Runtime.createAndStart("elias", "ProgramAB")
elias.startSession("elias")
htmlfilter = Runtime.createAndStart("htmlfilter", "HtmlFilter")
acapelaSpeech = Runtime.createAndStart("speech", "AcapelaSpeech")
voices = acapelaSpeech.getVoices()
for voice in voices:
acapelaSpeech.setVoice("Graham")
wksr.addTextListener(elias)
elias.addTextListener(htmlfilter)
htmlfilter.addTextListener(acapelaSpeech)
def BT():
global c
c = b - a
sleep(2)
print c
if (c == 2):
resp = elias.getResponse("AUTORESPOND1")
if (c == 4):
resp = elias.getResponse("AUTORESPOND2")
if (c == 6):
from org.myrobotlab.service import Arduino
from org.myrobotlab.service import Servo
from org.myrobotlab.service import Runtime
from time import sleep
# create the services
arduino = Runtime.createAndStart("arduino","Arduino")
mouth = Runtime.createAndStart("mouth","Servo")
eyes_ud = Runtime.createAndStart("eyes_ud","Servo")
eyes_lr = Runtime.createAndStart("eyes_lr","Servo")
joystick = runtime.createAndStart("joystick","Joystick")
joystick.setController(3) # Set controller index
joystick.startPolling() # Start the polling of the device this
# initialize arduino
arduino.setSerialDevice("COM4", 115200, 8, 1, 0)
# attach servo
arduino.attach("mouth",10)
arduino.attach("eyes_ud",11)
arduino.attach("eyes_lr",9)
# servo position at start
mouth.moveTo(120)
sleep(0.5)
eyes_ud.moveTo(90)
sleep(0.5)
eyes_lr.moveTo(90)
sleep(0.5)
