def move0():
times = []
lShoulder, rShoulder, lElbow, rElbow, rTouch, lTouch = initializeSensors()
ev3.Sound.set_volume(100)
ev3.Sound.speak("Let's play a game!")
sleep(1.5)
hp.setMotors([rShoulder, lShoulder], [450, -450])
times.append(hp.waitForTouch([rTouch, lTouch], "both"))
hp.setMotors([rShoulder, lShoulder], [0, 0])
ev3.Sound.speak('Well Done!')
client2.publish("topic/rpi/dt", str(times))
def move1():
lShoulder, rShoulder, lElbow, rElbow, rTouch, lTouch = initializeSensors()
# ev3.Sound.speak('Hello!')
# sleep(1)
t = time()
print(t)
hp.setMotors([rElbow, lElbow], [-100, -100])
hp.setMotors([rElbow, lElbow], [0, 0])
hp.setMotors([rElbow, lElbow], [-100, -100])
hp.setMotors([rElbow, lElbow], [0, 0])
client2.publish("topic/rpi/dt", "Robot said Hello Message")
def move3():
times = []
for i in range(3):
lShoulder, rShoulder, lElbow, rElbow, rTouch, lTouch = initializeSensors(
)
hp.setMotors([rShoulder, rElbow], [-300, 150])
times.append(hp.waitForTouch([rTouch], "right"))
hp.setMotors([lShoulder, lElbow], [+300, 150])
times.append(hp.waitForTouch([lTouch], "left"))
hp.setMotors([rShoulder, rElbow], [0, 0])
hp.setMotors([lShoulder, lElbow], [0, 0])
client2.publish("topic/rpi/dt", str(times))
def move1():
lShoulder, rShoulder, lElbow, rElbow, rTouch, lTouch = initializeSensors()
t = time()
print(t)
ev3.Sound.speak("Hello!")
sleep(0.4)
hp.setMotors([rElbow, lElbow], [350, 350])
hp.setMotors([rElbow, lElbow], [-50, -50])
hp.setMotors([rElbow, lElbow], [350, 350])
hp.setMotors([rElbow, lElbow], [0, 0])
client2.publish("topic/rpi/dt", "Robot said Hello Message")
def move2():
times = []
lShoulder, rShoulder, lElbow, rElbow, rTouch, lTouch = initializeSensors()
t1 = time()
for i in range(5):
hp.setMotors([rShoulder, lShoulder], [-300, +300])
hp.setMotors([rShoulder, lShoulder], [+550, -550])
hp.setMotors([rShoulder, lShoulder], [0, 0])
hp.setMotors([rElbow, lElbow], [-150, -150])
hp.setMotors([rElbow, lElbow], [0, 0])
hp.setMotors([rElbow, lElbow], [150, 150])
hp.setMotors([rShoulder, lShoulder, rElbow, lElbow],
[+550, -550, -150, -150])
times.append(hp.waitForTouch([rTouch, lTouch], "both"))
hp.setMotors([rElbow, lElbow], [150, 150])
hp.setMotors([rShoulder, lShoulder], [0, 0])
hp.setMotors([rShoulder, lShoulder, rElbow, lElbow],
[-250, +250, +150, +150])
hp.setMotors([rElbow, lElbow], [0, 0])
hp.setMotors([rShoulder, lShoulder], [0, 0])
client2.publish("topic/rpi/dt", str(times))
def move13():
lShoulder, rShoulder, lElbow, rElbow, rTouch, lTouch = initializeSensors()
hp.setMotors([rElbow], [350])
hp.setMotors([rElbow], [-50])
hp.setMotors([rElbow], [350])
hp.setMotors([rElbow], [-50])
hp.setMotors([rElbow], [350])
hp.setMotors([rElbow], [0])
client2.publish("topic/rpi/dt", "Robot wiggled hand")
def move5():
times = []
lShoulder, rShoulder, lElbow, rElbow, rTouch, lTouch = initializeSensors()
for i in range(3):
r = random.randint(2, 5)
if r == 2:
hp.setMotors([rShoulder, lShoulder], [-300, +300])
times.append(hp.waitForTouch([rTouch, lTouch], "both"))
hp.setMotors([rElbow, lElbow], [150, -150])
hp.setMotors([rElbow, lElbow], [-150, 150])
hp.setMotors([rElbow, lElbow], [0, 0])
times.append(hp.waitForTouch([rTouch, lTouch], "both"))
hp.setMotors([rShoulder, lShoulder], [300, -300])
times.append(hp.waitForTouch([rTouch, lTouch], "both"))
hp.setMotors([rElbow, lElbow], [150, -150])
hp.setMotors([rElbow, lElbow], [-150, 150])
hp.setMotors([rElbow, lElbow], [0, 0])
times.append(hp.waitForTouch([rTouch, lTouch], "both"))
hp.setMotors([rShoulder, rShoulder], [0, 0])
elif r == 3:
lShoulder, rShoulder, lElbow, rElbow, rTouch, lTouch = initializeSensors(
)
hp.setMotors([rShoulder, rElbow], [-300, 150])
times.append(hp.waitForTouch([rTouch], "right"))
hp.setMotors([lShoulder, lElbow], [+300, 150])
times.append(hp.waitForTouch([lTouch], "left"))
hp.setMotors([rShoulder, rElbow], [0, 0])
hp.setMotors([lShoulder, lElbow], [0, 0])
elif r == 4:
hp.setMotors([rShoulder, lShoulder], [-300, +300])
hp.setMotors([rShoulder, lShoulder], [+300, -300])
hp.setMotors([rShoulder, lShoulder], [0, 0])
hp.setMotors([rElbow, lElbow], [-150, -150])
hp.setMotors([rElbow, lElbow], [0, 0])
hp.setMotors([rElbow, lElbow], [150, 150])
hp.setMotors([rShoulder, lShoulder, rElbow, lElbow],
[+300, -300, -150, -150])
times.append(hp.waitForTouch([rTouch, lTouch], "both"))
hp.setMotors([rElbow, lElbow], [150, 150])
hp.setMotors([rShoulder, lShoulder], [0, 0])
hp.setMotors([rShoulder, lShoulder, rElbow, lElbow],
[-250, +250, +150, +150])
hp.setMotors([rElbow, lElbow], [0, 0])
hp.setMotors([rShoulder, lShoulder], [0, 0])
client2.publish("topic/rpi/dt", str(times))