print(board)
distances = np.zeros((size, size))
for i in range(0, size):
for j in range(0, size):
if not board[i,j] == 1:
distances[i,j] = getDistDijkstra(board, (i,j), target, 0)
else:
distances[i, j] = -1
print(distances)
print(np.nanmax(distances))
maximum = np.nanmax(distances[distances != np.inf])
for i in range(0, size):
for j in range(0, size):
if distances[i,j] == -1:
sense.set_pixel(i, j, 255, 255, 255)
elif distances[i,j] == 0:
sense.set_pixel(i, j, 255, 255, 0)
elif distances[i,j] == np.inf:
sense.set_pixel(i, j, 0, 0, 0)
else:
value = 255-int(distances[i,j]*255/maximum)
if value == 0:
sense.set_pixel(i, j, 10, 0, 0)
else:
sense.set_pixel(i, j, value, 0, 0)
sense.flip_h(True)
from sense_hat import SenseHat
from time import sleep
sense = SenseHat()
w = (150, 150, 150)
b = (0, 0, 255)
e = (0, 0, 0)
image = [
e, e, e, e, e, e, e, e, e, e, e, e, e, e, e, e, w, w, w, e, e, w, w, w, w,
w, b, e, e, w, w, b, w, w, w, e, e, w, w, w, e, e, e, e, e, e, e, e, e, e,
e, e, e, e, e, e, e, e, e, e, e, e, e, e
]
sense.set_pixels(image)
while True:
sleep(1)
sense.flip_h()
from sense_hat import SenseHat
import time
sense = SenseHat()
w = [150,150,150]
b = [0,0,255]
e = [0,0,0]
image = [
e,e,e,e,e,e,e,e,
e,e,e,e,e,e,e,e,
w,w,w,e,e,w,w,w,
w,w,b,e,e,w,w,b,
w,w,w,e,e,w,w,w,
e,e,e,e,e,e,e,e,
e,e,e,e,e,e,e,e,
e,e,e,e,e,e,e,e
]
sense.set_pixels(image)
while True:
time.sleep(1)
sense.flip_h()
# From here: https://github.com/raspberrypilearning/getting-started-with-the-sense-hat/blob/master/code/eyes.py
class senseHAT:
def __init__(self):
self.sense = SenseHat()
self.red = (255, 0 , 0)
self.green = (0, 255, 0)
self.blue = (0, 0, 255)
self.lightGreen = (70, 255, 102)
self.black = (0, 0, 0)
self.white = (255, 255, 255)
# Display a message using user input with orange text & black background
def displayText(self):
textColor = (253, 95, 0)
message = input('Enter a message to display: ')
self.sense.show_message(message, text_colour = textColor, back_colour = self.black)
# Given any word, this method will display each char every x seconds in red
def displayChars(self, word, x):
for letter in word:
self.sense.show_letter(letter, text_colour = self.red)
sleep(x)
# Lights the entire board light green
def makeOneColor(self):
self.sense.clear(self.lightGreen)
# Makes a happy face by setting individual pixels
def onePixel(self):
self.sense.set_pixel(2, 2, self.blue)
self.sense.set_pixel(4, 2, self.blue)
self.sense.set_pixel(3, 4, self.lightGreen)
self.sense.set_pixel(1, 5, self.red)
self.sense.set_pixel(2, 6, self.red)
self.sense.set_pixel(3, 6, self.red)
self.sense.set_pixel(4, 6, self.red)
self.sense.set_pixel(5, 5, self.red)
# Lights up entire LED Board based on list
def manyPixels(self):
matrix = []
# Appends black or white into matrix based on number value
while len(matrix) < 64:
randNum = randint(0, 1)
if randNum == 0:
matrix.append(self.black)
matrix.append(self.white)
self.sense.set_pixels(matrix)
# Given an orientation, LED Matrix will either be flipped horizontally, vertically, or rotated
def setOrientation(self, option):
w = (150, 150, 150)
e = self.white
b = self.blue
option = option.lower()
image = [
e,e,e,e,e,e,e,e,
e,e,e,e,e,e,e,e,
w,w,w,e,e,w,w,w,
w,w,b,e,e,w,w,b,
w,w,w,e,e,w,w,w,
e,e,e,e,e,e,e,e,
e,e,e,e,e,e,e,e,
e,e,e,e,e,e,e,e
]
if option == 'horizontal':
self.sense.flip_h(image)
elif option == 'vertical':
self.sense.flip_v(image)
elif option == 'rotate':
rotation = int(input('Enter degrees to rotate: '))
self.sense.set_rotation(rotation)
else:
self.sense.set_pixels(image)
# Output environment details to LED Matrix
def getEnvironment(self):
# get_temperature() returns celsius... convert this to farenheit
temp = round(self.sense.get_temperature() * 1.8 + 32, 2)
humidty = round(self.sense.get_humidity(), 2)
pressure = round(self.sense.get_pressure(), 2)
tempMessage = "Temperature: " + str(temp) + "F"
humidtyMessage = "Humidity: " + str(humidty) + "%"
pressureMessage = "Pressue: " + str(pressure) + "millibars"
self.sense.show_message(tempMessage)
sleep(1)
self.sense.show_message(humidtyMessage)
sleep(1)
self.sense.show_message(pressureMessage)
sleep(1)
# Will water freeze right now?
if temp <= 32:
self.sense.show_message('Water will freeze at current temp')
else:
self.sense.show_message('Water will not freeze right now')
# Detecting Movement using IMU
def detectMovement(self):
while True:
acceleration = self.sense.get_accelerometer_raw()
x = acceleration['x']
y = acceleration['y']
z = acceleration['z']
x = abs(x)
y = abs(y)
z = abs(z)
if x > 1 or y > 1 or z > 1:
self.sense.show_letter('!', self.red)
else:
self.sense.clear()
# Using the joystick
def joystick(self):
choice = input(
'Enter the key of what you want to do: \n 1 - Show on terminal directions \n 2 - Show on LED Matrix \n '
)
if choice == '1':
while True:
for event in self.sense.stick.get_events():
print(event.direction, event.action)
elif choice == '2':
e = self.black
w = self.white
self.sense.clear()
while True:
for event in self.sense.stick.get_events():
if event.action == 'pressed':
if event.direction == 'up':
self.sense.show_letter('U')
elif event.direction == 'down':
self.sense.show_letter('D')
elif event.direction == 'left':
self.sense.show_letter('L')
elif event.direction == 'right':
self.sense.show_letter('R')
elif event.direction == 'middle':
self.sense.show_letter('M')
sleep(0.5)
self.sense.clear()
import argparse
from _str2bool import str2bool
from _return import finish
parser = argparse.ArgumentParser(
description='Flips the image on the LED matrix horizontally.')
parser.add_argument(
'--redraw',
type=str2bool,
nargs='?',
default=True,
help=
'Whether or not to redraw what is already being displayed on the LED matrix. Defaults to True'
)
args = parser.parse_args()
try:
from sense_hat import SenseHat
sense = SenseHat()
result = sense.flip_h(args.redraw)
# A list containing 64 smaller lists of [R, G, B] pixels (red, green, blue) representing the flipped image.
finish({"result": result})
except Exception, e:
finish(e, 1)
from sense_hat import SenseHat
from time import sleep
sense = SenseHat()
w = (150, 150, 150)
b = (0, 0, 255)
e = (0, 0, 0)
image = [
e, w, w, e, e, w, w, e, w, e, e, e, e, e, e, w, w, w, w, e, e, w, w, w, w,
w, b, e, e, w, w, b, w, w, w, e, e, w, w, w, e, e, e, e, e, e, e, e, e, e,
w, w, w, w, e, e, e, w, e, e, e, e, w, e
]
sense.set_pixels(image)
while True:
sleep(1)
sense.flip_h() # Therefore the blue eyeball will flip horizontally,
# thus giving the visual that it is looking from right
# to left repeatly every second.
from sense_hat import SenseHat
from time import sleep
sense = SenseHat()
# Define some colours
g = (0, 255, 0) # Green
b = (0, 0, 0) # Black
# Set up where each colour will display
creeper_pixels = [
g, g, g, g, g, g, g, g, g, b, b, g, g, b, b, g, g, b, b, g, g, b, b, g, g,
g, g, b, b, g, g, g, g, g, b, b, b, b, g, g, g, g, b, b, b, b, g, g, g, g,
b, g, g, b, g, g, g, g, g, g, g, g, g, g
]
# Display these colours on the LED matrix using the 'set_pixels' cmd to change
# all 64 LEDs using just one line of code.
sense.set_pixels(creeper_pixels) # From sense get the set_pixels function and
# set the creeper_pixels attribute.
sleep(5)
sense.set_rotation(180) # Rotate the display by 180 degrees.
sleep(5)
sense.flip_h() # Flip the image on the screen horizontally.
#sleep(5)
#sense.flip_v() # Flip the image on the screen vertically.
sleep(5)
sense.clear()
from sense_hat import SenseHat
s = SenseHat()
s.flip_h()
s.show_message("Hello Master")
s.load_image("sword1.png")
# Astro Pi Submission for Matthew Charlston, Owen Cole and James Cook for Phase 2 of Mission Space Lab 2018
# Import libraries needed for experiment
from sense_hat import SenseHat # For outputting to the hat
import time # For timing and sleeping
import logging # For logging
from logzero import logger # For the csv output
import logzero # For logging
import os # For getting current directory
import datetime # For getting the current time
# Initiate Sense Hat
sense = SenseHat() # Initiate
sense.flip_v() # Flip the screen so it is visible to the astronauts
sense.flip_h() # Continued
# Set up libraries, timing, logging and variables
numberOfPassings = 0 # Variable to store the number of times an astronaut has passed
dirPath = os.path.dirname(os.path.realpath(__file__)) # Get current directory
nowTime = datetime.datetime.now() # Get current time
startTime = datetime.datetime.now() # Get start time
logzero.logfile(dirPath + "/data01.csv") # Set file to output data to
formatter = logging.Formatter(
'%(name)s - %(asctime)-15s - %(levelname)s: %(message)s')
# Create custom formatter
logzero.formatter(formatter) # Use custom formatter
# Loop for 170 minutes so the program is not terminated by the pi uncleanly
while (nowTime < startTime + datetime.timedelta(minutes=17)):
# Declare variables
