#!/usr/bin/python3
from ububot.Initializer import UBUBOT
from ububot.Comms.Serial import SerialCommunication, SerialCapture
from ububot.Comms.Socket import SocketCommunication
import argparse
import time
if __name__ == '__main__':
parser = argparse.ArgumentParser(description=__doc__)
parser.add_argument('N', type=int, default=4)
forw = True
with UBUBOT(serial_socket_capture=True) as ububot:
for i in range(parser.parse_args().N * 2):
if forw:
ububot.serial.send("MOVB;B;180;50")
print('FORWARDS')
else:
ububot.serial.send("MOVB;B;-180;50")
print('BACKWARDS')
forw = not forw
time.sleep(1)
#!/usr/bin/python3
from ububot.Initializer import UBUBOT
from ububot.Motor.MotorPair import MotorIdentifier, MotorPairDirection
from time import sleep
if __name__ == '__main__':
with UBUBOT(motors=True, servos=True) as ububot:
ububot.servos.get(7).angle(45)
sleep(1)
ububot.motors.turn_sharp(MotorPairDirection.SHARP_LEFT,
speed=60,
angle=45 * 2.2)
sleep(2)
ububot.motors.advance_cm(50, speed=60)
sleep(2)
ububot.motors.turn_sharp(MotorPairDirection.SHARP_RIGHT,
speed=60,
angle=45 * 2.2)
sleep(2)
ububot.motors.advance_cm(70, speed=60)
sleep(4)
ububot.motors.advance_cm(70, speed=60)
sleep(4)
ububot.motors.turn_sharp(MotorPairDirection.SHARP_RIGHT,
speed=60,
angle=45 * 2.2)
sleep(2)
ububot.motors.advance_cm(20, speed=60)
sleep(3)
ububot.motors.turn_sharp(MotorPairDirection.SHARP_LEFT,
speed=60,
#!/usr/bin/python3
from ububot.Motor.Servo import Servo, ChannelOutOfBoundsError
from ububot.Initializer import UBUBOT
from argparse import ArgumentParser
from time import sleep
from sys import stdout
if __name__ == '__main__':
parser = ArgumentParser(description=__doc__)
parser.add_argument('-c', '--channel', type=int, default=7)
parser.add_argument('-a', '--angle', type=float, nargs='+', default=[0, 60, 120])
parser.add_argument('-sio', '--socket', dest='socket', action='store_const', const=True, default=False)
parser.add_argument('N', nargs='?', type=int, default=4)
args = parser.parse_args()
if not 0 <= args.channel <= 15:
raise ChannelOutOfBoundsError("Channel = " + str(args.channel) + ". Range = [0, 15]")
with UBUBOT(servos=True, status_socket=args.socket) as ububot:
for i in range(args.N):
for angle in args.angle:
ububot.servos.get(args.channel).angle(angle)
print("{}°".format(angle))
sleep(1)
stdout.write("\033[F\033[K")
#!/usr/bin/python3
from ububot.Initializer import UBUBOT
from ububot.Motor.MotorPair import MotorIdentifier, MotorPairDirection
from time import sleep
if __name__ == '__main__':
with UBUBOT(motors=True, relays=True, serial_socket_capture=True, status_socket=True) as ububot:
ububot.motors.advance_cm(61, speed=100)
sleep(4)
ububot.motors.turn_sharp(MotorPairDirection.SHARP_LEFT, speed=100, angle=90*2.5)
sleep(2)
ububot.motors.advance_cm(40, speed=100)
sleep(3)
ububot.relays.get_motor_1().off()
sleep(1)
ububot.relays.get_motor_1().on()
elif key == '3':
relays[2] = not relays[2]
ububot.relays.get_light().set_state(relays[2])
direction = "Relay 3"
elif key == '4':
relays[3] = not relays[3]
ububot.relays.get_buzzer().set_state(relays[3])
direction = "Relay 4"
elif key == '5':
sound = player.play_random()
direction = "Playing " + sound.name
elif key == '6':
player.stop()
direction = "Stopping sound"
else:
ububot.motors.stop()
direction = "STOP"
stdout.write("\033[F\033[K")
print("Direction =", direction)
key = getChar()
ububot.motors.stop()
if __name__ == '__main__':
parser = ArgumentParser(description=__doc__)
parser.add_argument('-s', '--speed', type=int, default=200)
parser.add_argument('-sio', '--socket', dest='socket', action='store_const', const=True, default=False)
args = parser.parse_args()
with UBUBOT(motors=True, relays=True, serial_socket_capture=args.socket, motors_socket=args.socket, status_socket=args.socket, sensors=args.socket) as ububot, Player() as player:
main(ububot, args.speed, player)
#!/usr/bin/python3
from ububot.Initializer import UBUBOT
from ububot.Motor.MotorPair import MotorIdentifier, MotorPairDirection
from time import sleep
if __name__ == '__main__':
with UBUBOT(motors=True) as ububot:
ububot.motors.advance_cm(30, speed=100)
sleep(1)
ububot.motors.turn_sharp(MotorPairDirection.SHARP_LEFT,
speed=60,
angle=90 * 2.3)
sleep(3)
ububot.motors.advance_cm(200, speed=100)
sleep(3)
ububot.motors.turn_sharp(MotorPairDirection.SHARP_RIGHT,
speed=60,
angle=90 * 2.3)
sleep(3)
ububot.motors.advance_cm(180, speed=100)
sleep(3)
ububot.motors.turn_sharp(MotorPairDirection.SHARP_RIGHT,
speed=60,
angle=90 * 2.3)
sleep(3)
ububot.motors.advance_cm(210, speed=100)
sleep(3)
ububot.motors.stop()
#!/usr/bin/python3
from ububot.Initializer import UBUBOT
from ububot.Sensor.IR import SensorEvent
from ububot.Motor.MotorPair import MotorIdentifier, MotorPairDirection
from ububot.Sound.Player import Player, Sounds
from time import sleep
from argparse import ArgumentParser
if __name__ == '__main__':
parser = ArgumentParser(description=__doc__)
parser.add_argument('mode', nargs='?', type=int, default=1)
mode = parser.parse_args().mode
with UBUBOT(motors=True, sensors=True, motors_socket=True, serial_socket_capture=True, status_socket=True) as ububot, Player() as player:
if mode == 1:
ububot.motors.turn_sharp(MotorPairDirection.SHARP_LEFT, 200, 120 * 4)
sleep(1.2)
ububot.motors.advance_cm(40, speed=200)
sleep(1.2)
ububot.motors.run(MotorIdentifier.LEFT, -200)
ububot.motors.run(MotorIdentifier.RIGHT, 200)
input("Press Enter to finish...")
if mode == 2:
ububot.motors.run(MotorIdentifier.LEFT, -100)
ububot.motors.run(MotorIdentifier.RIGHT, -180)
sleep(1.2)
ububot.motors.run(MotorIdentifier.LEFT, 180)
ububot.motors.run(MotorIdentifier.RIGHT, 110)
sleep(0.8)
print("Press Ctrl+C to finish...")
try:
while True:
t_speeds = [50, 100, 150, 200]
if args.advance_speed is not None:
a_speeds = []
for speed in args.advance_speed:
if speed not in a_speeds and speed > 0:
a_speeds.append(speed)
if len(a_speeds) == 0:
raise ValueError('Expected at least one non-zero positive integer')
else:
a_speeds = [50, 100, 150, 200]
print("Starting calibration.")
print("Press 'c' at any moment to cancel the calibration process.")
with UBUBOT(motors=True,
serial_socket_capture=args.socket,
motors_socket=args.socket) as ububot:
t_ratios = sharp(ububot, t_speeds, args.angle)
if t_ratios is None:
exit(-1)
a_ratios = advance(ububot, a_speeds, args.distance)
print()
print('Turn ratios:')
for speed, ratio in zip(t_speeds, t_ratios):
print("SPEED [ {} ] : {:.3f}".format(str(speed).rjust(3), ratio))
if a_ratios is None:
exit(-1)
print('Distance ratios:')
for speed, ratio in zip(a_speeds, a_ratios):
print("SPEED [ {} ] : {:.3f}".format(str(speed).rjust(3), ratio))
print()
#!/usr/bin/python3
from ububot.Sensor.IR import SensorEvent
from ububot.Sensor.SensorGroup import CardinalPosition
from ububot.Initializer import UBUBOT
from time import sleep
from sys import stdout
def callback(pin, state):
for position in remaining:
if ububot.sensors.get(position)._pin == pin:
remaining.remove(position)
break
if __name__ == '__main__':
with UBUBOT(sensors=True) as ububot:
remaining = [position for position in CardinalPosition]
ububot.sensors.get_east().add_callback(SensorEvent.DETECT_START, callback)
ububot.sensors.get_north().add_callback(SensorEvent.DETECT_START, callback)
ububot.sensors.get_south().add_callback(SensorEvent.DETECT_START, callback)
ububot.sensors.get_west().add_callback(SensorEvent.DETECT_START, callback)
while len(remaining) > 0:
print("Remaining:", ", ".join([position.name for position in remaining]))
sleep(0.1)
stdout.write("\033[F\033[K")
resolution = (640, 480)
framerate = 12
socket_framerate = 10
claw_channel = 8
plow_channel = 7
def change_light(ububot):
ububot.relays.get_light().off()
sleep(0.1)
ububot.relays.get_light().on()
if __name__ == '__main__':
with UBUBOT(all=True) as ububot, Player() as player:
#CameraStream(resolution=resolution, framerate=framerate) as camera, \
#Streamer(framerate=socket_framerate) as streamer, Player() as player:
input("Press Enter to continue...")
ububot.relays.get_buzzer().off()
sleep(1)
#camera.add_callback(streamer.set_image)
player.play(Sounds.WIN_XP_ON)
ububot.servos.get(plow_channel).angle(50)
sleep(2)
ububot.relays.get_buzzer().on()
ububot.motors.advance_cm(40, speed=100)
sleep(3)
ububot.motors.turn_sharp(MotorPairDirection.SHARP_LEFT,
speed=200,
angle=180 * 4)
#!/usr/bin/python3
from ububot.Relay.Relay import Relay
from ububot.Initializer import UBUBOT
from argparse import ArgumentParser
from time import sleep
if __name__ == '__main__':
parser = ArgumentParser(description=__doc__)
parser.add_argument('N', nargs='?', type=int, default=4)
parser.add_argument('-sio',
'--socket',
dest='socket',
action='store_const',
const=True,
default=False)
args = parser.parse_args()
with UBUBOT(relays=True, status_socket=args.socket) as ububot:
for i in range(args.N):
print("off")
ububot.relays.off()
sleep(1)
print("on")
ububot.relays.on()
sleep(1)