def pycozmo_program(cli: pycozmo.client.Client):
global last_im
# Raise head.
angle = (pycozmo.robot.MAX_HEAD_ANGLE.radians -
pycozmo.robot.MIN_HEAD_ANGLE.radians) / 2.0
cli.set_head_angle(angle)
# Register to receive new camera images.
cli.add_handler(pycozmo.event.EvtNewRawCameraImage, on_camera_image)
# Enable camera.
pkt = pycozmo.protocol_encoder.EnableCamera()
cli.conn.send(pkt)
while True:
if last_im:
# Get last image.
im = last_im
# Resize from 320x240 to 128x32.
im = im.resize((128, 32))
# Convert to binary image.
im = im.convert('1')
# Display the result image.
cli.display_image(im)
# Run with 25 FPS.
time.sleep(1 / 25)
def pycozmo_program(cli: pycozmo.client.Client):
angle = (pycozmo.robot.MAX_HEAD_ANGLE.radians - pycozmo.robot.MIN_HEAD_ANGLE.radians) / 2.0
cli.set_head_angle(angle)
time.sleep(1)
# Load image
im = Image.open(os.path.join(os.path.dirname(__file__), "..", "assets", "pycozmo.png"))
# Convert to binary image.
im = im.convert('1')
cli.display_image(im, 10)
def pycozmo_program(cli: pycozmo.client.Client):
cli.conn.add_handler(pycozmo.protocol_encoder.RobotState, on_robot_state, one_shot=True)
cli.conn.add_handler(pycozmo.protocol_encoder.RobotPoked, on_robot_poked)
cli.conn.add_handler(pycozmo.protocol_encoder.FallingStarted, on_robot_falling_started)
cli.conn.add_handler(pycozmo.protocol_encoder.FallingStopped, on_robot_falling_stopped)
cli.conn.add_handler(pycozmo.protocol_encoder.ButtonPressed, on_button_pressed)
cli.add_handler(pycozmo.event.EvtRobotPickedUpChange, on_robot_picked_up)
cli.add_handler(pycozmo.event.EvtRobotChargingChange, on_robot_charging)
cli.add_handler(pycozmo.event.EvtCliffDetectedChange, on_cliff_detected)
cli.add_handler(pycozmo.event.EvtRobotWheelsMovingChange, on_robot_wheels_moving)
heart = Image.open("hjarta.png")
heart = heart.convert('1')
eyes = Image.open("eyes.png")
eyes = eyes.convert('1')
cli.display_image(eyes)
angle = (pycozmo.robot.MAX_HEAD_ANGLE.radians - pycozmo.robot.MIN_HEAD_ANGLE.radians) / 2.0
#cli.set_head_angle(angle)
cli.set_head_angle(0)
pkt = pycozmo.protocol_encoder.EnableCamera(enable=True)
cli.conn.send(pkt)
pkt = pycozmo.protocol_encoder.EnableColorImages(enable=True)
cli.conn.send(pkt)
# Wait for image to stabilize.
time.sleep(1.0)
cli.add_handler(pycozmo.event.EvtNewRawCameraImage, on_camera_image, one_shot=False)
speed = 100
cli.drive_wheels(lwheel_speed=-speed,rwheel_speed=-speed, duration=0.5)
cli.drive_wheels(lwheel_speed=speed,rwheel_speed=speed, duration=1.0)
cli.drive_wheels(lwheel_speed=speed,rwheel_speed=speed, duration=3.0)
time.sleep(1)
cli.display_image(heart)
time.sleep(1)
cli.display_image(eyes)
turnduration=1.38
cli.drive_wheels(lwheel_speed=speed,rwheel_speed=-speed, duration=turnduration)
cli.drive_wheels(lwheel_speed=speed,rwheel_speed=speed, duration=2.25)
time.sleep(1)
cli.drive_wheels(lwheel_speed=speed,rwheel_speed=-speed, duration=turnduration)
cli.display_image(heart)
cli.drive_wheels(lwheel_speed=-speed,rwheel_speed=-speed, duration=1.7)
cli.display_image(eyes)
time.sleep(1)
def pycozmo_program(cli: pycozmo.client.Client):
angle = (pycozmo.robot.MAX_HEAD_ANGLE.radians -
pycozmo.robot.MIN_HEAD_ANGLE.radians) / 2.0
cli.set_head_angle(angle)
time.sleep(1)
# Render a 128x64 procedural face with default parameters.
f = pycozmo.procedural_face.ProceduralFace()
im = f.render()
# The Cozmo protocol expects a 128x32 image, so take only the even lines.
np_im = np.array(im)
np_im2 = np_im[::2]
im2 = Image.fromarray(np_im2)
cli.display_image(im2, 10)
def pycozmo_program(cli: pycozmo.client.Client):
angle = (pycozmo.robot.MAX_HEAD_ANGLE.radians -
pycozmo.robot.MIN_HEAD_ANGLE.radians) / 2.0
cli.set_head_angle(angle)
time.sleep(1)
# Generate random dots.
dots = []
for i in range(NUM_DOTS):
x = random.randint(0, WIDTH)
y = random.randint(0, HEIGHT)
vx = random.randint(-MAX_SPEED, MAX_SPEED)
vy = random.randint(-MAX_SPEED, MAX_SPEED)
dot = Dot(x, y, vx, vy)
dots.append(dot)
while True:
# Create a blank image.
im = Image.new("1", (128, 32), color=0)
# Draw lines.
draw = ImageDraw.Draw(im)
for a, b in itertools.combinations(dots, 2):
draw.line((a.x, a.y, b.x, b.y), width=LINE_WIDTH, fill=1)
# Move dots.
for dot in dots:
dot.x += dot.vx
dot.y += dot.vy
if dot.x <= DOT_SIZE:
dot.x = DOT_SIZE
dot.vx = abs(dot.vx)
elif dot.x >= WIDTH - DOT_SIZE:
dot.x = WIDTH - DOT_SIZE
dot.vx = -abs(dot.vx)
if dot.y <= DOT_SIZE:
dot.y = DOT_SIZE
dot.vy = abs(dot.vy)
elif dot.y >= HEIGHT - DOT_SIZE:
dot.y = HEIGHT - DOT_SIZE
dot.vy = -abs(dot.vy)
cli.display_image(im, DELAY)