def main(argv):
ohbot.reset()
ohbot.move(2, 7, 1) # eyes
ohbot.wait(0.5)
while 1:
head_tracking_move()
def moveLoop():
while True:
ohbot.move(randint(0, 2), randint(0, 9))
ohbot.wait(randint(0, 3))
def randomTurn():
global moving
while True:
if moving:
# Move Ohbot's HEADTURN motor to a random position between 3 and 7.
ohbot.move(ohbot.HEADTURN, randint(3, 7))
# wait for a random amount of time before moving again.
ohbot.wait(random() * 4)
def randomNod():
global moving
while True:
if moving:
# Move Ohbot's HEADNOD motor to a random position between 4 and 7.
ohbot.move(ohbot.HEADNOD, randint(4, 7))
# wait for a random amount of time before moving again.
ohbot.wait(random() * 4)
def blinking():
while True:
ohbot.move(ohbot.LIDBLINK, 0, 10)
ohbot.wait(random() / 3)
ohbot.move(ohbot.LIDBLINK, 10, 10)
ohbot.wait(randint(0, 6))
def randomLook():
global moving
while True:
# if moving is True.
if moving:
# Look in a random direction.
ohbot.move(ohbot.EYETILT, randint(2, 8))
ohbot.move(ohbot.EYETURN, randint(2, 8))
# Wait for between 0 and 5 seconds.
ohbot.wait(random() * 5)
def lookatPerson(face_rect, windowSize):
window_width, window_height = windowSize[2], windowSize[3]
if face_rect is not None:
x, w, y, h = face_rect
xm, ym = x + w, y + h
if not (xm == 0 or ym == 0):
xm = xm // (window_width // 10)
ym = ym // (window_height // 10)
print(xm, ym)
ohbot.move(ohbot.HEADTURN, abs(10 - xm) + 1)
ohbot.move(ohbot.HEADNOD, abs(10 - ym) + 1)
ohbot.move(ohbot.EYETURN, xm)
ohbot.move(ohbot.EYETILT, abs(10 - ym) + 1)
ohbot.setEyeColour(10 - ym, ym, xm)
ohbot.wait(0.1)
def doEmo():
ohbot.wait(1.2543763625714643)
ohbot.move(2, 2, 9)
ohbot.wait(1.2543763625714643)
ohbot.move(2, 5, 9)
ohbot.wait(1.4261171080663775)
ohbot.move(2, 6, 1)
ohbot.wait(1.4261171080663775)
ohbot.move(2, 5, 1)
def speak():
sentence = ""
f = open('/home/gal/toibot_ws/src/ToiBot1/src/motors/lips_speak.txt', 'r')
out = f.readlines()
count = 0
for line in out:
if count == 0:
sentence = str(line)
f.close()
print(str(sentence))
words = sentence.split()
while i < len(words):
ohbot.move(4, 7, 1) # TOPLIP
ohbot.wait(0.5)
ohbot.move(4, 2, 1) # TOPLIP
def blinkLids():
global blinking
# While True - Loop forever.
while True:
# if blinking is True.
if blinking:
# for the numbers 10 to 0 set the lidblink position.
for x in range(10, 0, -1):
ohbot.move(ohbot.LIDBLINK, x)
ohbot.wait(0.01)
# for the numbers 0 to 10 set the lidblink position.
for x in range(0, 10):
ohbot.move(ohbot.LIDBLINK, x)
ohbot.wait(0.01)
# wait for a random amount of time for realistic blinking
ohbot.wait(random() * 6)
sleep(1.0)
ohbot.eyeColour(0, 0, 0)
# Start a thread for the blinking.
blinking = True
t = threading.Thread(target=blinkLids, args=())
t.start()
sleep(2.0)
ohbot.say(
"The ohbot pi library now supports e speak meaning i can speak different languages and in different voices"
)
ohbot.move(ohbot.HEADTURN, 4)
ohbot.wait(0.2)
ohbot.move(ohbot.HEADTURN, 6)
ohbot.wait(0.2)
# Set the voice to English female medium speed.
ohbot.setVoice("-ven+f2 -s150")
ohbot.eyeColour(3, 10, 2)
ohbot.say("you can even change voice mid program")
# Set the voice to French female.
ohbot.setVoice("-vfr+f2")
ohbot.say("bonjour")
# Set the voice to Spanish female.
# import the ohbot module
from ohbot import ohbot
# Reset Ohbot
ohbot.reset()
# Move turn ohbot's head and eyes.
ohbot.move(1,2)
ohbot.move(3,1)
# Wait a few seconds for the motors to move
ohbot.wait(2)
# Move head back to the centre and say "Hello World"
ohbot.move(1,5,1)
ohbot.say("Hello World")
# Slowly increase the brightness of the eyes.
for x in range(0,10):
ohbot.eyeColour(x,x,x)
ohbot.wait(0.1)
ohbot.eyeColour(0,0,0)
ohbot.wait(0.2)
from ohbot import ohbot
## Example program for using sensors with ohbot.
## Tilt sensor - a3
## Light sensor - a4
ohbot.reset()
while True:
val1 = ohbot.readSensor(4)
val2 = ohbot.readSensor(3)
ohbot.setEyeColour(val2, 10 - val2, 0, True)
ohbot.move(ohbot.HEADTURN, val2)
print(val2)
if val1 > 2:
ohbot.say("put me down")
if val2 < 2:
ohbot.say("who turned out the lights")
ohbot.wait(0.1)
def head_tracking_move():
detlatX = 0
detlatY = 0
faceArea = 0
f = open('/home/gal/toibot_ws/src/ToiBot1/src/motors/headTracking.txt',
'r')
out = f.readlines()
count = 0
for line in out:
if count == 0:
detlatX = int(line)
if count == 1:
detlatY = int(line)
if count == 2:
faceArea = int(line)
count = count + 1
#print(str(detlatX) +', '+ str(detlatY) )
f.close()
global currentStateX
global currentStateY
print('faceArea' + str(faceArea))
if faceArea > 20000:
threshold = 150
elif faceArea > 10000:
threshold = 100
else:
threshold = 75
waiting = 2
if detlatX == 100000:
print('init ')
ohbot.move(1, 5, 1)
currentStateX = 5
elif abs(detlatX) < threshold:
print('dont move ')
elif detlatX > threshold:
print('my right ' + str(currentStateX))
currentStateX = currentStateX + 1
ohbot.move(1, currentStateX, 1)
elif detlatX < -threshold:
currentStateX = currentStateX - 1
ohbot.move(1, currentStateX, 1)
if detlatY == 100000 or abs(detlatY) < threshold:
#print('dont move')
ohbot.move(0, 5, 1)
currentStateY = 5
ohbot.wait(waiting)
elif detlatY > threshold:
currentStateY = currentStateY + 1
ohbot.move(0, currentStateY, 1)
ohbot.wait(waiting)
elif detlatY < -threshold:
currentStateY = currentStateY - 1
ohbot.move(0, currentStateY, 1)
ohbot.wait(waiting)
ohbot.move(3, 8, 1)
ohbot.wait(2)
ohbot.move(3, 2, 1)
ohbot.move(ohbot.HEADNOD, 9)
ohbot.say("head nod to 9")
# Move the HEADNOD motor to 5.
ohbot.move(ohbot.HEADNOD, 5)
ohbot.say("head nod to 5")
'''
The ohbot.move() function can also take an optional third arguement 'spd'
to change the speed of the movement. If unspecified speed defaults to 5.
'''
# Move HEADTURN motor to position 0 at speed 1.
ohbot.move(ohbot.HEADTURN, 0, spd=1)
ohbot.say("Head turn to 0, speed 1")
# Wait for motor to move
ohbot.wait(2)
# Move HEADTURN motor to position 10 at speed 1.
ohbot.move(ohbot.HEADTURN, 10, spd=1)
ohbot.say("Head turn to 10, speed 1")
# Wait for motor to move
ohbot.wait(1)
# Move HEADTURN motor to position 0 at speed 10.
ohbot.move(ohbot.HEADTURN, 0, spd=10)
ohbot.say("Head turn to 0, speed 10")
# Wait for motor to move
ohbot.wait(0.5)
def on_closing():
ohbot.reset()
ohbot.wait(1)
ohbot.close()
win.destroy()
ohbot.setVoice("-r-4")
ohbot.say("Do you wanna ride? See yourself going by.")
# American
ohbot.setVoice("-vzira")
ohbot.say("The other side of the sky.")
# Default voice
ohbot.setVoice("")
ohbot.say("I got a silver machine.")
# Switch to espeak-ng - some of the voice attributes aren't supported
ohbot.setSynthesizer("espeak-ng")
# Female Portugese loud
ohbot.setVoice("-vpt+m1 -a200")
ohbot.say("I got a silver machine.")
ohbot.wait(1)
# Male US
ohbot.setVoice("-ven-us+m2")
ohbot.say("I got a silver machine.")
ohbot.wait(1)
# Female Spanish high pitch
ohbot.setVoice("-ves-la+f3 -p90")
ohbot.say("I got a silver machine.")
ohbot.wait(1)
# Male Chinese speed fast
ohbot.setVoice("-vzh+m2 -s260")
ohbot.say("I got a silver machine.")
ohbot.wait(1)
# Switch to espeak
ohbot.setSynthesizer("espeak")
def doNod():
ohbot.wait(0.5861804837892748)
ohbot.wait(0.07375042173905144)
ohbot.wait(0.4978153467385975)
ohbot.wait(0.07835982309774225)
ohbot.wait(0.5992221766297934)
ohbot.wait(0.19820425842370093)
ohbot.move(0, 4)
ohbot.wait(2.456810924182153)
ohbot.wait(0.6414933000935639)
def get_steven_to_talk():
"""Run the Ohbot routine
Returns:
Boolean True or False depending on whether run successfully or not
"""
try:
# Reset Ohbot
ohbot.reset()
# Switch the speech synthesizer to epseak
ohbot.setSynthesizer("espeak")
# Set the voice to english West Midlands accent medium speed.
ohbot.setVoice("-ven+f2 -s130")
# Set eyes to red
ohbot.eyeColour(10, 0, 0)
ohbot.wait(0.5)
# Say something
ohbot.say("Good Evening", True, False, False, 0)
ohbot.wait(0.5)
#ohbot.say("Who have we got here",True, False, False,0)
#ohbot.wait(0.5)
ohbot.say("I'm the late great Mary Webb ", True, False, False, 0)
ohbot.wait(0.5)
ohbot.say("I love children ", True, False, False, 0)
ohbot.wait(0.5)
ohbot.say("For supper", True, False, False, 0)
ohbot.wait(0.5)
#ohbot.say("Woooahhhh woooahhha",True, False, False,0)
#ohbot.wait(0.5)
# Wait a few seconds for the motors to move
ohbot.wait(2)
# Move head left to right
ohbot.move(ohbot.HEADTURN, 4, 1)
ohbot.wait(0.5)
ohbot.move(ohbot.HEADTURN, 6, 1)
ohbot.wait(0.5)
ohbot.move(ohbot.HEADTURN, 5, 1)
ohbot.wait(0.5)
ohbot.eyeColour(0, 10, 0)
ohbot.wait(0.5)
ohbot.move(ohbot.HEADNOD, 7, 1)
ohbot.wait(0.5)
ohbot.move(ohbot.HEADNOD, 1, 1)
ohbot.wait(0.5)
ohbot.move(ohbot.EYETURN, 9, 1)
ohbot.wait(0.5)
ohbot.move(ohbot.EYETURN, 1, 1)
ohbot.wait(0.5)
ohbot.move(ohbot.EYETURN, 5, 1)
ohbot.wait(0.5)
ohbot.say("Take one sweet.", True, False, False, 0)
ohbot.wait(0.5)
ohbot.say("At your own risk", True, False, False, 0)
ohbot.wait(0.5)
ohbot.say("Don't forget to brush your teeth", True, False, False, 0)
ohbot.wait(0.5)
ohbot.say("Happy Halloween", True, False, False, 0)
ohbot.wait(0.5)
ohbot.reset()
# close ohbot at the end.
ohbot.wait(0.5)
ohbot.close()
ohbot.wait(0.5)
return True
except:
return False
from ohbot import ohbot
import random
ohbot.reset()
ohbot.wait(0.2)
ohbot.say("Commencing hardware tests")
ohbot.say("Eyes to red")
ohbot.setEyeColour(10, 0, 0, True)
ohbot.say("Eyes to green")
ohbot.setEyeColour(0, 10, 0, True)
ohbot.say("Eyes to blue")
ohbot.setEyeColour(0, 0, 10, True)
ohbot.say("HeadTurn motor 0 to 10")
for x in range(0, 10):
ohbot.move(ohbot.HEADTURN, x)
ohbot.wait(0.2)
ohbot.move(ohbot.HEADTURN, 5)
ohbot.say("HeadNod motor 0 to 10")
for x in range(0, 10):
# Example of how to use the play sound function and change the eye colour of Ohbot.
from ohbot import ohbot
import random
ohbot.reset()
ohbot.wait(1)
ohbot.close()
ohbot.move(ohbot.LIDBLINK, 0)
ohbot.playSound('fanfare', untilDone=False)
ohbot.wait(1.5)
ohbot.move(ohbot.LIDBLINK, 5)
ohbot.wait(1)
ohbot.move(ohbot.LIDBLINK, 10)
ohbot.wait(4)
ohbot.playSound('ohbot', untilDone=False)
for x in range(0, 40):
ohbot.setEyeColour(random.randrange(0, 10), random.randrange(0, 10),
random.randrange(0, 10))
ohbot.wait(0.05)
ohbot.setEyeColour(0, 0, 0)
ohbot.wait(0.5)
ohbot.playSound('smash', untilDone=False)
def eyeCol():
while True:
# Set the base to a random rgb values between 0 and 10.
ohbot.setEyeColour(random() * 10, random() * 10, random() * 10)
# Wait between 10 and 20 seconds before changing again.
ohbot.wait(randint(10, 20))
