class Tango:
# ports with which to access servos on the robot
WAIST = 0
SAME = 1 # wheels spinning in the same direction
DIFF = 2 # wheels spinning in the opposite direction
SIDE = 3 # head moving side-to-side
UPDOWN = 4 # head moving up/down
CENTER = 6000 # where the Tango bot's joints are centered and speed is at 0
TO_EXT = 3000 # the farthest from self.CENTER the joints and speed can go
def __init__(self):
self.tango = Bot() # bot instance for Tango bot
# center brings the given joint back to center
def center(self, port):
self.tango.bendTurn(port, self.CENTER)
# drive allows the tango bot to drive forwards or backwards at 3 different speeds
def drive(self, direction):
pos = self.tango.position(
self.SAME) # determine the wheels' current position
inc = self.TO_EXT // 3 # accelerate with 3 speeds
# backward direction
if direction == False:
# negatively accelerate the tango bot as long as it is not moving at its' maximum backward speed
if pos < self.CENTER + self.TO_EXT:
self.tango.accelerate(self.SAME, pos + inc, .0005)
# forward direction
elif direction == True:
# positively accelerate the tango bot as long as it is not moving at its' maximum forward speed
if pos > self.CENTER - self.TO_EXT:
self.tango.accelerate(self.SAME, pos - inc, .0005)
# head allows the Tango bot's head to turn or tilt with 5 degrees of resolution
def head(self, direction, port):
pos = self.tango.position(
port) # determine the head's current position on the desired axis
inc = self.TO_EXT // 5 # turn on 5 degrees/steps of resolution
# tilt the head down / turn it right
if direction == False:
if pos > self.CENTER - self.TO_EXT:
self.tango.bendTurn(port, pos - inc)
# tilt the head up / turn it left
elif direction == True:
if pos < self.CENTER + self.TO_EXT:
self.tango.bendTurn(port, pos + inc)
# reset sets all joints and wheel speeds to their central setting
def reset(self):
self.stop()
self.center(self.WAIST)
self.center(self.SIDE)
self.center(self.UPDOWN)
def speak(self, phrase):
''' speak sends the given message to Android to convert to speech '''
Client.sendMessage('<speak> ' + phrase)
# stop brings a moving Tango bot to a stop
def stop(self):
self.tango.accelerate(self.DIFF, self.CENTER, 0)
self.tango.accelerate(self.SAME, self.CENTER, .0005)
# turn allows the Tango bot to turn left or right
def turn(self, direction):
pos = self.tango.position(
self.DIFF) # determine the wheels' current position
inc = self.TO_EXT // 3 # accelerate with 3 speeds
# left turn
if direction == False:
# accelerate the wheels (L:-, R:0), leading to a left turn
if pos < self.CENTER + self.TO_EXT:
self.tango.accelerate(self.DIFF, pos + inc, 0)
# right direction
elif direction == True:
# accelerate the wheels (L:0, R:-), leading to a right turn
if pos > self.CENTER - self.TO_EXT:
self.tango.accelerate(self.DIFF, pos - inc, 0)
# twist allows the Tango bot to twist at the waist along 3 degrees of resolution
def twist(self, direction):
pos = self.tango.position(
self.WAIST) # determine the waist's current position
inc = self.TO_EXT // 3 # twist on 3 degrees of resolution
# twist left
if direction == False:
if pos < self.CENTER + self.TO_EXT:
self.tango.bendTurn(self.WAIST, pos + inc)
# twist right
elif direction == True:
if pos > self.CENTER - self.TO_EXT:
self.tango.bendTurn(self.WAIST, pos - inc)
