class ShowTimeThread (Thread):
def __init__(self):
Thread.__init__(self)
self.c = 1
self.servo = Servo(12)
def run(self):
global milltime
while True:
if milltime == 0:
continue
dt = datetime.fromtimestamp(milltime)
lcd.printString(dt.strftime('%Y/%m/%d'), 0, 0)
lcd.printString(dt.strftime('%H:%M'), 0, 1)
self.servo.write(90 + (30 * self.c))
self.c *= -1
time.sleep(1)
#!/usr/bin/env python
# Author: Andrea Stagi <*****@*****.**>
# Description: move a servo motor
# Dependencies: None
from nanpy import Servo
import time
servo = Servo(7)
for move in [0, 90, 180, 90, 0]:
servo.write(move)
time.sleep(1)
flKnee = Servo(2) #knee flFoot = Servo(13) #foot brHip = Servo(12) #hip brKnee = Servo(11) #knee brFoot = Servo(10) #foot blHip = Servo(9) #hip blKnee = Servo(8) #knee blFoot = Servo(7) #foot # Zero time.sleep(1) print "Zeroing" frHip.write(100) frKnee.write(100) #lower is forward frFoot.write(90) #lower is forward flHip.write(100) flKnee.write(95) #lower is back flFoot.write(80) #lower is back brHip.write(100) brKnee.write(95) #lower is inward brFoot.write(95) #lower is outward blHip.write(100) blKnee.write(95) #lower is outward blFoot.write(115) #lower is outward
from time import sleep from std_msgs.msg import Bool from std_msgs.msg import String import os from nanpy import ArduinoApi from nanpy import SerialManager from nanpy import Servo import logging logging.basicConfig(level=logging.DEBUG) SERVO_PAN = 7 SERVO_TILT = 8 connection = SerialManager(device='/dev/ttyACM0') panservo=Servo(SERVO_PAN) tiltservo=Servo(SERVO_TILT) panservo.write(40) tiltservo.write(55) sleep(1) panservo.write(40) tiltservo.write(55) sleep(1) panservo.write(40) tiltservo.write(55) r = sr.Recognizer() rospack = rospkg.RosPack() FORMAT = pyaudio.paInt16 CHANNELS = 1 RATE = 16000 CHUNK = 1024 RECORD_SECONDS = 3
servoPin = 3
buttonPin = 8
buttonState = 0
servoRun = servoIncriment
try:
connection = SerialManager()
a = ArduinoApi(connection=connection)
except:
print("Failed to connect to Arduino")
#Setup arduino pins like in arduino IDE
servo = Servo(servoPin)
a.pinMode(buttonPin, a.INPUT)
servo.write(0)
try:
while True:
buttonState = a.digitalRead(buttonPin)
print(" Button State: {}".format(buttonState))
if buttonState:
if servoRun > 180:
servoRun = 0
servo.write(servoRun)
print("Servo Runs to: {}".format(servoRun))
servoRun += servoIncriment
sleep(sleepTime)
buttonState = False
except:
from nanpy import (ArduinoApi, SerialManager, Servo)
import urllib.request
try:
connection = SerialManager()
a = ArduinoApi(connection=connection)
except:
print("Failed to connect to Arduino")
counter = 0
servo = Servo(3)
link = "http://192.168.1.85:1337/"
f = urllib.request.urlopen(link)
servo.write(0)
while (True):
f = urllib.request.urlopen(link)
myfile = f.read()
full_rot_bool = True
if (full_rot_bool):
servo.write(180)
full_rot_bool = False
else:
servo.write(0)
full_rot_bool = True
Mem1.add(int(Sensor3_feild_sense))
Mem1.add(int(Sensor4_feild_sense))
Mem1.add(int(Sensor5_feild_sense))
Mem1.add(int(Sensor6_feild_sense))
print(Mem1)
print(
"Number of sensor" + str(int(len(Mem1)) - 1)
) # Len will detected and calculate the joint number to running 1 time for the detection
#stop_listening = r.listen_in_background(m,callback)
# Sensor1 condition working control application
if int(Sensor1_feild_sense) >= 600:
#if 4095 in Mem1 == "True":
engine.say('I feel touch ')
engine.runAndWait()
for move in [45, 90]:
servo.write(move)
servo2.write(move + 20)
servo3.write(move + 30)
servo4.write(90 - move)
servo5.write(move + 10)
servo6.write(move)
print("finger1 Angle:" + str(move))
time.sleep(0.1)
else:
print("Sensor1 feild sense waiting status......." + "[" +
str(Sensor1_feild_sense) + "]")
print("Sensor2 feild sense waiting status......." + "[" +
str(Sensor2_feild_sense) + "]")
print("Sensor3 feild sense waiting status......." + "[" +
str(Sensor3_feild_sense) + "]")
"""
An entire file for you to expand. Add methods here, and the client should be
able to call them with json-rpc without any editing to the pipeline.
"""
from nanpy import (Servo, ArduinoApi, SerialManager)
from time import sleep
lightsPin = 7
ledState = False
servo = Servo(9)
servo.write(0)
tempPin = 6
try:
connection = SerialManager()
a = ArduinoApi(connection=connection)
except:
print("Failed to connect to Arduino")
a.pinMode(lightsPin, a.OUTPUT)
a.pinMode(tempPin, a.OUTPUT)
def toggle_led(on):
if on:
a.digitalWrite(lightsPin, a.HIGH)
else:
a.digitalWrite(lightsPin, a.LOW)
#!/usr/bin/env python
import rospy
from time import sleep
from std_msgs.msg import String
from nanpy import ArduinoApi
from nanpy import SerialManager
from nanpy import Servo
import logging
logging.basicConfig(level=logging.DEBUG)
SERVO_PAN = 7
SERVO_TILT = 8
connection = SerialManager(device='/dev/ttyACM0')
panservo=Servo(SERVO_PAN)
tiltservo=Servo(SERVO_TILT)
panservo.write(100)
tiltservo.write(40)
sleep(1)
panservo.write(100)
tiltservo.write(40)
sleep(1)
panservo.write(100)
tiltservo.write(40)
def move_servo(data):
global panservo
global tiltservo
if('move left' in data.data):
panservo.write(panservo.read()+10)
#tiltservo.write(tiltservo.read())
if('move right' in data.data):
panservo.write(panservo.read()-10)
a.digitalWrite(11, a.LOW)
a.digitalWrite(2, a.HIGH)
for i in range(0, 450, 1):
print(i)
a.digitalWrite(12, a.HIGH)
a.digitalWrite(6, a.HIGH)
time.sleep(0.00002)
a.digitalWrite(6, a.LOW)
a.digitalWrite(12, a.LOW)
time.sleep(0.00002)
for move in range(20, 180, 1):
print(move)
#print(ser.readline())
servo3e.write(10 - move)
servo3u.write(move)
servo1u.write(4 + move)
servo1e.write(5 + move)
servo2u.write(170 - move)
servo2e.write(move)
time.sleep(0.01)
time.sleep(0.1)
StepperFoward()
for move in range(180, 19, -1):
print(move)
# print(ser.readline())
servo3e.write(move)
servo3u.write(move)
servo1u.write(4 + move)
from mcpi import minecraft
from nanpy import Servo, SerialManager
import time
mc = minecraft.Minecraft.create()
def get_angle(pos_player, max_alt=180):
angle = pos_player.y * (90.0/max_alt) + 90
return int(angle)
connection = SerialManager(
device='/dev/ttyACM0',
rtscts=True
)
servo = Servo(
7,
connection=connection
)
while True:
pos_player = mc.player.getPos()
angle = get_angle(pos_player)
servo.write(angle)
encoded = r.get(n)
h, w = struct.unpack('>II', encoded[:8])
a = np.frombuffer(encoded, dtype=np.uint8, offset=8).reshape(h, w, 3)
return a
while True:
a = 0
b = 0
img = fromRedis(r, 'image')
img = cv2.resize(img, (360, 200))
cv2.imwrite('image.jpg', img)
image = face_recognition.load_image_file("image.jpg")
face_locations = face_recognition.face_locations(image)
print(face_locations)
try:
loc = face_locations[0]
print(loc[1])
if prev > loc[1]:
a = loc[1]
b = prev
else:
a = prev
b = loc[1]
for i in range(a, b):
servo.write(160 - loc[1] / 2)
print(160 - loc[1] / 2)
prev = 180 - loc[1]
except:
print("No body there")
from nanpy import (ArduinoApi, SerialManager, Servo)
from time import sleep
import sys
try:
connection = SerialManager()
a = ArduinoApi(connection=connection)
a.pinMode(13, a.OUTPUT)
servo = Servo(9)
except:
print("Can't connect to arduino")
sys.exit(0)
try:
while True:
a.digitalWrite(13, a.HIGH)
servo.write(90)
sleep(0.1)
a.digitalWrite(13, a.LOW)
servo.write(80)
sleep(0.1)
except Exception:
a.digitalWrite(13, a.LOW)
servo.write(90)
sys.exit(0)
return (compensation_angle_x, compensation_angle_y)
### Setup of camera and pan-tilt ###
camera = create_video_stream()
camera_center = map(lambda x: x/2, camera.resolution) # from camera resolution
# Face detection Haar cascade file
face_cascade = cv2.CascadeClassifier('/usr/share/opencv/haarcascades/haarcascade_frontalface_alt.xml')
# Initial pan-tilt angles
angle_x = 90
angle_y = 90
servo_x.write(angle_x)
servo_y.write(angle_y)
while True:
try:
# Create a memory stream to avoid photos needing to be saved in a file
p_stream = io.BytesIO()
camera.capture(p_stream, format='jpeg', use_video_port=True, thumbnail=None)
buff = numpy.fromstring(p_stream.getvalue(), dtype=numpy.uint8)
image = cv2.imdecode(buff, 1)
# Convert to grayscale
gray = cv2.cvtColor(image, cv2.COLOR_BGR2GRAY)
def main():
# GPIO setup
GPIO.setmode(GPIO.BCM)
GPIO.setwarnings(False)
GPIO.setup(FACE_DETECTION_STATUS_PIN, GPIO.OUT)
# Serial connection setup (for the servos)
connection = SerialManager()
ArduinoApi(connection=connection)
servo_x = Servo(SERVO_X_ARDUINO_PIN)
servo_y = Servo(SERVO_Y_ARDUINO_PIN)
# Threaded Video stream setup
vs = create_video_stream(CAMERA_RESOLUTION, CAMERA_FRAMERATE,
CAMERA_ROTATION)
camera_center = map(lambda x: x / 2,
CAMERA_RESOLUTION) # from camera resolution
# Face detection Haar cascade file
face_cascade = cv2.CascadeClassifier(
'/usr/share/opencv/haarcascades/haarcascade_frontalface_alt.xml')
# Initial pan-tilt angles
angle_x = 90
angle_y = 90
servo_x.write(angle_x)
servo_y.write(angle_y)
def stop():
vs.stop()
GPIO.output(FACE_DETECTION_STATUS_PIN, False)
GPIO.cleanup()
connection.close()
def exit_handler(signum, frame):
stop()
print "\nBye!"
sys.exit(0)
# Clean manual stop
signal.signal(signal.SIGINT, exit_handler)
while True:
try:
# grab the frame from the threaded video stream
frame = vs.read()
# Convert to grayscale
gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
# Look for faces in the image
faces = face_cascade.detectMultiScale(gray, 1.5, 2)
if faces is not ():
# Display face detection on a led
GPIO.output(FACE_DETECTION_STATUS_PIN, True)
# Look for the biggest face
biggest_face = get_biggest_face(faces)
# Compute pan-tilt angle to adjust centring
ax, ay = get_compensation_angle(biggest_face, camera_center,
CAMERA_RESOLUTION,
CAMERA_ANGLE_OF_VIEW)
# Update angles values
angle_x = angle_x + ax
angle_y = angle_y + ay
servo_x.write(angle_x)
servo_y.write(angle_y)
else:
GPIO.output(FACE_DETECTION_STATUS_PIN, False)
except Exception as e:
print e
stop()
sys.exit(1)
