def main():
logging.basicConfig(level=logging.INFO)
global motor_state
try:
motor_state = 0
hub = MoveHub()
hub.button.subscribe(button_callback)
#hub.vision_sensor.subscribe(callback, mode=VisionSensor.COLOR_DISTANCE_FLOAT)
while True:
moveslow(hub)
#if motor_state == 1:
# hub.button.unsubscribe()
# hub.disconnect()
#if not hub.connection.is_alive():
# connect()
# hub.vision_sensor.subscribe(callback, mode=VisionSensor.COLOR_DISTANCE_FLOAT)
# print("Reconnection!")
#else:
# print("Connected!")
sleep(3)
except:
print("ex!")
sleep(5)
main()
finally:
#hub.vision_sensor.unsubscribe(callback)
#hub.disconnect()
hub.disconnect()
if known_face_name != nameOld:
shake_head()
say_text('Hello, ' + known_face_name)
nameOld = known_face_name
else:
# If an unknown face has been detected for a few times, add it to the list
unknown_face_count += 1
if unknown_face_count > unknown_face_limit:
unknown_face_count = 0
add_face(face_encoding)
process_this_frame = not process_this_frame
if __name__ == '__main__':
logging.basicConfig(
level=logging.INFO,
format='%(relativeCreated)d\t%(levelname)s\t%(name)s\t%(message)s')
try:
train_faces()
say_text('Hi, I\'m Verny! Please push on the green button')
movehub = MoveHub()
movehub.vision_sensor.subscribe(wave_callback)
dramatic_turn()
do_image_recognition()
finally:
# Release handle to the webcam
video_capture.release()
say_text('Okay, goodbye!')
movehub.disconnect()
class Joystick(object):
def __init__(self):
super(Joystick, self).__init__()
self._on_joystick = set()
self._hub = MoveHub()
self._reset_sensors()
self.button_pressed = False
self._hub.button.subscribe(self._on_btn)
self._angle_A = 0
self._on_motor_a(self._on_a)
self.angle_B = 0
self.on_rotation(self._on_b)
self._angle_C = 0
self._on_motor_c(self._on_c)
logging.info("Done initializing")
def disconnect(self):
self._hub.disconnect()
def _reset_sensors(self):
logging.info("Resetting motor encoders")
self._hub.motor_A.preset_encoder()
self._hub.motor_B.preset_encoder()
self._hub.motor_external.preset_encoder()
def on_button(self, callback):
"""
Notifies about button state change. ``callback(state)`` gets single bool parameter
"""
def wrapper(state):
if state in (0, 1):
callback(bool(state))
self._hub.button.subscribe(wrapper)
def _on_motor_a(self, callback):
def wrapper(angle):
logging.debug("Raw angle: %s", angle)
spread = 25
angle = _clamp(-spread, angle, spread)
callback(angle)
self._hub.motor_A.subscribe(wrapper)
def on_rotation(self, callback):
"""
Notifies about B motor rotation. ``callback(state)`` gets single int parameter from 0 to 359
"""
def wrapper(angle):
logging.debug("Raw angle: %s", angle)
val = angle % 360
callback(val if val >= 0 else 360 - val)
self._hub.motor_B.subscribe(wrapper)
def _on_motor_c(self, callback):
def wrapper(angle):
logging.debug("Raw angle: %s", angle)
spread = 25
angle = _clamp(-spread, angle, spread)
callback(angle)
self._hub.motor_external.subscribe(wrapper)
def _on_btn(self, state):
self.button_pressed = bool(state)
def _on_a(self, angle):
logging.debug("A rotated: %s", angle)
self._angle_A = angle
self._calc_joystick()
def _on_b(self, angle):
logging.debug("B rotated: %s", angle)
self.angle_B = angle
def _on_c(self, angle):
logging.debug("C rotated: %s", angle)
self._angle_C = angle
self._calc_joystick()
def on_joystick(self, callback):
"""
Notifies about joystick change. ``callback(speed, direction)`` gets parameters:
- ``speed`` - float value from 0.0 to 1.0
- ``direction`` - int value from 0 to 359
"""
self._on_joystick.add(callback)
def _calc_joystick(self):
norm_a = self._angle_A / 25
norm_b = self._angle_C / 25
logging.info("%s / %s", self._angle_A, self._angle_C)
logging.info("%s / %s", norm_a, norm_b)
speed = math.sqrt(norm_a**2 + norm_b**2) / math.sqrt(2)
speed = _clamp(-1.0, speed, 1.0)
maxsize = sys.maxsize if norm_a >= 0 else -sys.maxsize
direction = math.atan(norm_a / norm_b if norm_b else maxsize)
direction *= 180 / math.pi
if norm_a >= 0 and norm_b >= 0:
logging.info("Sector 1")
direction = 90 - direction
elif norm_a < 0 and norm_b >= 0:
logging.info("Sector 2")
direction = 90 - direction
elif norm_a < 0 and norm_b < 0:
logging.info("Sector 3")
direction = 270 - direction
else:
logging.info("Sector 4")
direction = 270 - direction
for callback in self._on_joystick:
callback(speed, 359 - int(direction))
log.info("Voltage: %s", value)
movehub.current.subscribe(callback1, mode=Current.CURRENT_L, granularity=0)
movehub.current.subscribe(callback1, mode=Current.CURRENT_L, granularity=1)
movehub.voltage.subscribe(callback2, mode=Voltage.VOLTAGE_L, granularity=0)
movehub.voltage.subscribe(callback2, mode=Voltage.VOLTAGE_L, granularity=1)
time.sleep(5)
movehub.current.unsubscribe(callback1)
movehub.voltage.unsubscribe(callback2)
def demo_all(movehub):
demo_voltage(movehub)
demo_led_colors(movehub)
demo_motors_timed(movehub)
demo_motors_angled(movehub)
demo_port_cd_motor(movehub)
demo_tilt_sensor_simple(movehub)
demo_tilt_sensor_precise(movehub)
demo_color_sensor(movehub)
demo_motor_sensors(movehub)
if __name__ == '__main__':
logging.basicConfig(level=logging.INFO)
hub = MoveHub()
demo_all(hub)
hub.disconnect()
class Joystick(object):
RANGE_A = 40
RANGE_C = 30
def __init__(self):
super(Joystick, self).__init__()
self._on_joystick = set()
self.button_pressed = False
self._angle_A = 0
self.angle_B = 0
self._angle_C = 0
print("Starting search for Joystick...")
self._hub = MoveHub()
self._reset_sensors()
self._hub.button.subscribe(self._on_btn)
self._on_motor_a(self._on_a)
self.on_rotation(self._on_b)
self._on_motor_c(self._on_c)
print("Joystick is ready")
def disconnect(self):
print("Joystick disconnects")
self._hub.disconnect()
def _reset_sensors(self):
logging.info("Resetting motor encoders")
self._hub.motor_A.preset_encoder()
self._hub.motor_B.preset_encoder()
self._hub.motor_external.preset_encoder()
def on_button(self, callback):
"""
Notifies about button state change. ``callback(state)`` gets single bool parameter
"""
def wrapper(state):
if state in (0, 1):
callback(bool(state))
self._hub.button.subscribe(wrapper)
def _on_motor_a(self, callback):
def wrapper(angle):
logging.debug("Raw angle: %s", angle)
angle = _clamp(-self.RANGE_A, angle, self.RANGE_A)
callback(angle)
self._hub.motor_A.subscribe(wrapper)
def on_rotation(self, callback):
"""
Notifies about B motor rotation. ``callback(state)`` gets single int parameter from 0 to 359
"""
def wrapper(angle):
logging.debug("Raw angle: %s", angle)
val = angle % 360
val = val if val >= 0 else 360 - val - 1
val = 359 - val
callback(val)
self._hub.motor_B.subscribe(wrapper)
def _on_motor_c(self, callback):
def wrapper(angle):
logging.debug("Raw angle: %s", angle)
angle = _clamp(-self.RANGE_C, angle, self.RANGE_C)
callback(angle)
self._hub.motor_external.subscribe(wrapper)
def _on_btn(self, state):
self.button_pressed = bool(state)
def _on_a(self, angle):
logging.debug("A rotated: %s", angle)
self._angle_A = angle
self._calc_joystick()
def _on_b(self, angle):
logging.debug("B rotated: %s", angle)
self.angle_B = angle
def _on_c(self, angle):
logging.debug("C rotated: %s", angle)
self._angle_C = angle
self._calc_joystick()
def on_joystick(self, callback):
"""
Notifies about joystick change. ``callback(speed, direction)`` gets parameters:
- ``speed`` - int value from 0 to 10
- ``direction`` - int value from 0 to 359
"""
self._on_joystick.add(callback)
def _calc_joystick(self):
norm_a = self._angle_A / self.RANGE_A
norm_b = self._angle_C / self.RANGE_C
logging.debug("%s / %s", self._angle_A, self._angle_C)
logging.debug("%s / %s", norm_a, norm_b)
speed = math.sqrt(norm_a**2 + norm_b**2) # / math.sqrt(2)
speed = _clamp(-1.0, speed, 1.0)
maxsize = sys.maxsize if norm_a >= 0 else -sys.maxsize
direction = math.atan(norm_a / norm_b if norm_b else maxsize)
direction *= 180 / math.pi
if norm_a >= 0 and norm_b >= 0:
direction = 90 - direction
elif norm_a < 0 and norm_b >= 0:
direction = 90 - direction
elif norm_a < 0 and norm_b < 0:
direction = 270 - direction
else:
direction = 270 - direction
for callback in self._on_joystick:
callback(int(round(10 * speed)), int(direction))