def off():
GPIO.output(17, 0)
#return "The Light is now Off!"
with Kulka(ADDR) as kulka:
print "Inside With"
do_a_square(kulka)
return "The Light is now Off!"
def align_zeros(addrs, kulkas=[]):
def test_offset(kulka):
happy = False
kulka.roll(50, 0)
time.sleep(1)
kulka.roll(0, 0)
offset_est = int(input("Enter offset estimate:"))
kulka.roll(50, offset_est)
happy_str = input("Happy with offset?\n")
if happy_str != "y":
test_offset(kulka)
else:
return offset_est
addr = addrs.pop()
with Kulka(addr) as kulka:
kulkas.append(kulka)
print("Sphero " + str(len(kulkas)) + " online")
kulka.set_inactivity_timeout(30)
kulka.set_rgb(0xFF, 0, 0)
if len(addrs) > 0:
align_zeros(addrs, kulkas)
else:
offsets = []
for kulka in kulkas:
offsets.append(test_offset(kulka))
return (offsets, kulkas)
def __init__(self, address):
self._addr = address
self._kulka = Kulka(address)
for _ in range(5):
self.change_ball_color(randint(0, 255), randint(0, 255), randint(0, 255))
time.sleep(0.1)
def main():
with Kulka(ADDR) as kulka:
for _ in range(3):
do_the_dance(kulka)
time.sleep(0.1)
print("The end. Sphero goes to bed.")
kulka.sleep()
def main():
with Kulka(ADDR) as kulka:
blink_rate = 0.001
for _ in range(10):
kulka.set_rgb(255, 255, 255)
time.sleep(blink_rate)
kulka.set_rgb(0, 0, 0)
time.sleep(blink_rate)
def func1(labelPredXD):
#print("HELP")
with Kulka(ADDR) as kulka:
while (True):
#print(labelPredXD.value)
if (labelPredXD.value == 1):
print('Do something')
make_a_circle(kulka, STEPS)
elif (labelPredXD.value == 0):
print('Do nothing')
def main(addr):
with Kulka(addr) as kulka:
print("Connected to Sphero ", addr)
kulka.set_inactivity_timeout(300)
for _ in range(6):
speed = randint(30, 100)
direction = randint(0, 359)
print("Rolling")
print(speed, direction)
kulka.roll(speed, direction)
time.sleep(5)
kulka.sleep()
def main():
with open('mykulka.txt') as file_:
addr = file_.readline().strip()
with Kulka(addr) as kulka:
kulka.set_inactivity_timeout(3600)
for _ in repeat(None, 600):
kulka.roll(randint(30, 100), randint(0, 359))
time.sleep(1)
kulka.sleep()
def main():
with Kulka(ADDR) as kulka:
kulka.set_inactivity_timeout(3600)
blink_rate = 1
for _ in range(5):
blink_rate = abs(blink_rate - 0.05)
kulka.set_rgb(random.randint(0, 255), random.randint(0, 255),
random.randint(0, 255))
time.sleep(blink_rate)
kulka.set_rgb(0, 0, 0)
time.sleep(blink_rate)
def main():
addr = '68:86:E7:06:FD:1D'
with Kulka(addr) as kulka:
kulka.set_inactivity_timeout(3600)
for _ in range(10):
kulka.set_rgb(0, 0xFF, 0)
time.sleep(0.1)
kulka.set_rgb(0, 0, 0)
time.sleep(0.1)
print(kulka.sequence())
kulka.sleep()
def main():
with open('mykulka.txt') as file_:
addr = file_.readline().strip()
with Kulka(addr) as kulka:
kulka.set_inactivity_timeout(3600)
for _ in xrange(10):
kulka.set_rgb(0xFF, 0, 0)
time.sleep(0.1)
kulka.set_rgb(0, 0, 0)
time.sleep(0.1)
kulka.sleep()
def main():
ADDR0 = '68:86:E7:07:07:6B'
ADDR1 = '68:86:E7:06:FD:1D'
ADDR2 = '68:86:E7:08:0E:DF'
with Kulka(ADDR0) as kulka0:
print("Sphero 0 online")
with Kulka(ADDR1) as kulka1:
print("Sphero 1 online")
with Kulka(ADDR2) as kulka2:
print("Sphero 2 online")
kulka0.set_inactivity_timeout(30)
kulka1.set_inactivity_timeout(30)
kulka2.set_inactivity_timeout(30)
kulka0.set_rgb(0, 0, 0xFF)
kulka1.set_rgb(0, 0xFF, 0)
kulka2.set_rgb(0xFF, 0, 0)
time.sleep(20)
kulka0.set_rgb(0xFF, 0xFF, 0xFF)
kulka1.set_rgb(0xFF, 0xFF, 0xFF)
kulka2.set_rgb(0xFF, 0xFF, 0xFF)
time.sleep(20)
# for i in range(20):
# kulka0.roll(15, i*45 % 360)
# kulka1.roll(15, i*45 % 360)
# kulka2.roll(15, i*45 % 360)
# time.sleep(3)
# kulka0.roll(0, i*45 % 360)
# kulka1.roll(0, i*45 % 360)
# kulka2.roll(0, i*45 % 360)
kulka0.sleep()
kulka1.sleep()
kulka2.sleep()
def func1(labelPredXD):
#print("HELP")
with Kulka(ADDR) as kulka:
while(True):
#print(labelPredXD.value)
if(labelPredXD.value == 3):
print ('Do something')
make_it_go_1(kulka)
elif(labelPredXD.value == 2):
print ('spread')
make_it_go_180(kulka)
elif(labelPredXD.value == 1):
print ('dance')
make_it_dance(kulka)
else:
print ('Do nothing')
def main(addr, limit=10, max_distance=100, speed=50):
print("Connecting to Sphero at ", addr)
with Kulka(addrs[i]) as kulka:
kulka.set_inactivity_timeout(300)
t0 = time.time()
t1 = time.time()
steps = 0
direction = 0
while (t1 - t0) < limit * 60:
print("Step ", steps)
steps += 1
roll_until_stuck(kulka, direction)
time.sleep(0.1)
direction = randint(0, 359)
t1 = time.time()
kulka.close()
def main():
addr = '68:86:E7:08:0E:DF'
with Kulka(addr) as kulka:
kulka.set_inactivity_timeout(300)
kulka.set_streaming()
for i in range(10):
kulka.set_rgb(0, 0, 0xFF)
time.sleep(0.1)
kulka.set_rgb(0, 0, 0)
time.sleep(0.1)
kulka.set_rgb(0xFF, 0, 0)
# kulka._connection.recv(1024)
print(kulka._recv_buffer)
time.sleep(1)
kulka.sleep()
def classifySignal():
global interpreter
global input_details
global output_details
arrayXD = np.empty((1, 150, 8), dtype="float32")
super_inp = np.asarray(dataRecollectedPerIteration, dtype="float32")
arrayXD[0] = super_inp
interpreter.set_tensor(input_details[0]['index'], arrayXD)
interpreter.invoke()
output_data = interpreter.get_tensor(output_details[0]['index'])
if (np.argmax(output_data) == 1):
with Kulka(ADDR) as kulka:
make_a_circle(kulka, STEPS)
else:
print("nothing")
def main(addr, limit = 1, max_distance = 100, speed = 50):
print("Connecting to Sphero at ", addr)
with Kulka(addr) as kulka:
kulka.set_inactivity_timeout(300)
t0 = time.time()
t1 = time.time()
print("Moving to random position")
for _ in range(3):
direction = randint(0, 359)
kulka.roll(speed, direction)
while ((t1 - t0) < limit * 60):
time.sleep(3)
distance = distance_from_point(kulka)
# print(steps, distance)
if distance > 100:
print("outside range, rolling home")
taxicab_homing(kulka)
break
kulka.roll(speed, direction)
t1 = time.time()
kulka.close()
def main():
addr = '68:86:E7:06:FD:1D'
with Kulka(addr) as kulka:
kulka.set_inactivity_timeout(300)
for i in range(5):
kulka.set_rgb(0, 0, 0xFF)
time.sleep(0.1)
kulka.set_rgb(0, 0, 0)
time.sleep(0.1)
kulka.set_rgb(0xFF, 0, 0)
direction = input('What direction?\n')
if int(direction) == -1:
break
speed = input('What speed?\n')
kulka.roll(int(speed), int(direction))
for i in range(10):
kulka.read_locator()
data = kulka.data_poll()
# print("Raw output:\n", data[2])
output = parse_locator(data)
print(output)
kulka.sleep()
from kulka import Kulka
import time
sphero = Kulka('68:86:E7:09:23:79')
count = 0
while (count < 5):
sphero.set_rgb(0xFF, 0, 0)
sphero.roll(35, 0)
time.sleep(10)
sphero.roll(35, 180)
time.sleep(10)
count += 1
"""
Cześć! To Twój pierwszy program Sphero. Uruchom go, wywołując w
konsoli następującą komendę:
$ python 1_hello_sphero.py
I zaobseruj co się dzieje z Kuleczką.
"""
ADDR = os.environ["SPHERO"]
with Kulka(ADDR) as kulka:
# nadaj Sphero kolor
kulka.set_rgb(255, 0, 0)
print("czerwono!")
time.sleep(5)
kulka.set_rgb(0, 255, 0)
print("zielono!")
time.sleep(5)
kulka.set_rgb(0, 0, 255)
print("niebiesko!")
time.sleep(5)
print("koniec.")
#sudo pip install kulka
import time
from kulka import Kulka
from random import randint
with Kulka('00:06:66:47:37:C7') as kulka:
while True:
kulka.roll(60 , randint(0, 359))
time.sleep(.5)
def game_loop_Simon():
global pause, pattern, index, waitinginput, play
clock = pygame.time.Clock()
play = True
index = 0
pattern = []
waitinginput = False
score = 0
clicked = None
gameDisplay.fill(black)
#drawbutton_Simon()
displayscore(score)
pygame.display.update()
with Kulka(ADDR) as kulka: #Conecta
while play:
#gameDisplay.fill(black)
#drawbutton_Simon()
#displayscore(score)
#pygame.display.update()
clock.tick(60)
clicked = None
for event in pygame.event.get():
if (event.type == pygame.QUIT):
quitgame()
if (event.type == pygame.KEYDOWN): #Entrada do teclado
if (event.key == pygame.K_q):
clicked = YELLOW
elif (event.key == pygame.K_w):
clicked = BLUE
elif (event.key == pygame.K_a):
clicked = RED
elif (event.key == pygame.K_s):
clicked = GREEN
if (event.key == pygame.K_p):
pause = True
paused()
if not waitinginput:
gameDisplay.fill(black)
#drawbutton_Simon()
displayscore(score)
pygame.display.update()
#pygame.display.update()
pygame.time.wait(1000)
pattern.append(random.choice((YELLOW, BLUE, RED, GREEN)))
#origsurf = gameDisplay.copy()
for button in pattern:
#print (button)
kulka.set_rgb(button[0], button[1], button[2]) #Sphero cor
pygame.time.wait(300)
kulka.set_rgb(0, 0, 0)
#drawbutton_Simon()
#pygame.display.update()
pygame.time.wait(500)
#gameDisplay.blit(origsurf,(0,0))
waitinginput = True
drawbutton_Simon()
pygame.display.update()
else:
if clicked and clicked == pattern[index]:
drawsibutton_Simon(clicked)
pygame.display.update()
drawbutton_Simon()
pygame.display.update()
pygame.time.wait(200)
index += 1
if index == len(pattern):
score += 1
waitinginput = False
index = 0
gameDisplay.fill(black)
drawbutton_Simon()
displayscore(score)
pygame.display.update()
elif clicked and clicked != pattern[index]:
crash(score)
def game_loop_Circle():
global pause, pattern, index, waitinginput, play
clock = pygame.time.Clock()
play = True
steps = 5
stepsANT = steps
direction = 1
directionANT = direction
waitinginput = False
color = None
colorANT = None
score = 0
# gameDisplay.fill(black)
# displayscore(score)
# pygame.display.update()
clock.tick(60)
with Kulka(ADDR) as kulka:
while play:
clicked = None
displayscore(score)
clock.tick(60)
for event in pygame.event.get(
): #leitura do teclado para colher a resposta
if (event.type == pygame.QUIT):
quitgame()
if (event.type == pygame.KEYDOWN):
if (event.key == pygame.K_q):
clicked = "YES"
resUser = "******"
elif (event.key == pygame.K_w):
clicked = "NO"
resUser = "******"
if (event.key == pygame.K_p):
pause = True
paused()
if not waitinginput: #chamar funcao do circle
pygame.time.wait(1000)
Color = random.choice((YELLOW, BLUE, RED, GREEN))
direction = random.choice((1, -1))
steps = random.choice((5, 10, 15, 20))
make_a_circle(kulka, steps, direction, Color)
question = random.choice(
("A cor e a mesma que a anterior?", "A cor era amarelo?",
"A cor era verde?", "A cor era vermelho?",
"A cor era azul?", "A direcao foi a mesma?",
"A bola foi para a esquerda?",
"A bola foi para a direita?",
"O tamanho era maior que o anterior?",
"O tamanho era o mesmo anterior?",
"O tamanho era menor que o anterior?"
)) #Perguntas possiveis
if question == "A cor e a mesma que a anterior?":
if color == colorANT:
res = "YES"
else:
res = "NO"
if question == "A cor era amarelo?":
if color == YELLOW:
res = "YES"
else:
res = "NO"
if question == "A cor era verde?":
if color == GREEN:
res = "YES"
else:
res = "NO"
if question == "A cor era vermelho?":
if color == RED:
res = "YES"
else:
res = "NO"
if question == "A cor era azul?":
if color == BLUE:
res = "YES"
else:
res = "NO"
if question == "A direcao foi a mesma?":
if direction == directionANT:
res = "YES"
else:
res = "NO"
if question == "A bola foi para a direita?":
if direction == 1:
res = "YES"
else:
res = "NO"
if question == "A bola foi para a esquerda?":
if direction == -1:
res = "YES"
else:
res = "NO"
if question == "O tamanho era o mesmo anterior?":
if steps == stepsANT:
res = "YES"
else:
res = "NO"
if question == "O tamanho era menor que o anterior?":
if steps < stepsANT:
res = "YES"
else:
res = "NO"
if question == "O tamanho era maior que o anterior?":
if steps > stepsANT:
res = "YES"
else:
res = "NO"
#Faz a tela de resposta
gameDisplay.fill(bgcolor)
fontText = pygame.font.SysFont("cooperblack", 25)
TextSurf, TextRect = text_objects(question, fontText)
TextRect.center = (400, 100)
gameDisplay.blit(TextSurf, TextRect)
button("SIM", 150, 450, 100, 30, GREEN, bright_green, None)
button("NAO", 550, 450, 100, 30, RED, bright_red, None)
pygame.display.update()
waitinginput = True
else:
if clicked and res == resUser: #Certa a resposta
#drawsibutton_Simon(clicked)
#pygame.display.update()
pygame.time.wait(200)
score += 1
waitinginput = False
clicked = None
displayscore(score)
button("ACERTOU", 150, 450, 100, 30, GREEN, bright_green,
None)
pygame.display.update()
colorANT = color
directionANT = direction
stepsANT = steps
pygame.time.wait(500)
displayscore(score)
gameDisplay.fill(black)
pygame.display.update()
elif clicked and res != resUser:
crash(score) #errou
for layer in l:
model.add(Dense(layer['size'], activation=layer['activation']))
# the output layer
model.add(Dense(num_outputs, activation='tanh'))
model.compile(optimizer=optimizer, loss="mean_squared_error")
return model
if __name__ == "__main__":
addrs = ['68:86:E7:06:FD:1D', '68:86:E7:07:07:6B', '68:86:E7:08:0E:DF']
while True:
i = int(input("Enter Sphero #: "))
n = int(input("Enter number of steps: "))
epi = int(input("Enter number of episodes: "))
model = baseline_model()
with Kulka(addrs[i]) as kulka:
for _ in range(epi):
if os.path.isfile("sphero_model.h5") == True:
print("Loading existing model")
model.load_weights("sphero_model.h5")
output = play_game(kulka=kulka, model=model, steps=n)
i = 0
model.save("sphero_model.h5")
model_filestr = "models/autosaved_model_" + str(i) + ".h5"
data_filestr = "episodes/autosaved_data_" + str(i) + ".p"
while (os.path.isfile(model_filestr) == True):
i += 1
model_filestr = "models/autosaved_model_" + str(i) + ".h5"
data_filestr = "episodes/autosaved_data_" + str(i) + ".p"
if model != None:
replay_loss = model.train_on_batch(output[0], output[1])
class Codesphere(object):
def __init__(self, address):
self._addr = address
self._kulka = Kulka(address)
for _ in range(5):
self.change_ball_color(randint(0, 255), randint(0, 255), randint(0, 255))
time.sleep(0.1)
def __enter__(self):
return self
def __exit__(self, type_, value, traceback):
self._kulka.close()
def set_inactivity_timeout(self, timeout):
return self._kulka.set_inactivity_timeout(timeout)
def change_ball_color(self, red, green, blue):
return self._kulka.set_rgb(red, green, blue)
def change_tail_brightness(self, bright):
return self._kulka.set_back_led(bright)
def set_heading(self, heading):
return self._kulka.set_heading(heading)
def roll(self, heading, wait):
self._kulka.roll(175, heading, 1)
time.sleep(wait + 0.5)
return
def roll_for_one_second(self, heading):
self._kulka.roll(175, heading, 1)
time.sleep(1 + 0.5)
return
def stop(self):
self._kulka.roll(0, 0, 1)
time.sleep(0.5)
return
def sleep(self, wakeup=0, macro=0, orb_basic=0):
return self._kulka.sleep(wakeup, macro, orb_basic)
def main():
with open('mykulka.txt') as file_:
addr = file_.readline().strip()
with Kulka(addr) as kulka:
kulka.sleep()
def main():
with Kulka(ADDR) as kulka:
make_a_circle(kulka, STEPS)
