コード例 #1
0
ファイル: voiceNode.py プロジェクト: skaputsos/stark
def controlLoop(ip):
    global LIN_V, ANG_V
    word = None
    while ('end' != word and 'exit' != word):
        if len(cmd_buffer) > 0:
            word = cmd_buffer.pop(0)
            print word
            lv = 0
            av = 0
            if ('forward' == word or 'charge' == word):
                lv = LIN_V * 1
            elif ('backward' == word or 'reverse' == word):
                lv = LIN_V * -1
            elif ('right' == word):
                av = ANG_V * -1
            elif ('left' == word):
                av = ANG_V * 1
            elif ('faster' == word):
                LIN_V += 0.2
                ANG_V += 0.2
                print LIN_V, ANG_V
            elif ('slower' == word):
                LIN_V = LIN_V - 0.2
                ANG_V = ANG_V - 0.2
                print LIN_V, ANG_V
            elif ('stop' == word):
                lv = 0
                av = 0
            elif ('sing' == word):
                pkt = Packet()
                pkt.write_ubyte(CMD.SOUND)
                val = randint(0, 6)
                pkt.write_ubyte(val)
                sock.sendto(str(pkt), ip)

            else:
                pass

            pkt = Packet()
            pkt.write_ubyte(CMD.MOTION)
            pkt.write_double(lv)
            pkt.write_double(av)
            sock.sendto(str(pkt), ip)

    print('leaving control loop')
コード例 #2
0
ファイル: voiceNode.py プロジェクト: fultonms/stark
def controlLoop(ip):
    global LIN_V, ANG_V
    word = None
    while('end' != word and 'exit' != word):
        if len(cmd_buffer)> 0 : 
            word = cmd_buffer.pop(0)
            print word
            lv = 0
            av = 0
            if('forward' == word or 'charge' == word):
                lv = LIN_V * 1
            elif('backward' == word or 'reverse' == word):
                lv = LIN_V * -1
            elif('right' == word):
                av = ANG_V * -1
            elif('left' == word):
                av = ANG_V * 1
            elif('faster' == word):
                LIN_V += 0.2
                ANG_V += 0.2
                print LIN_V, ANG_V
            elif('slower' == word):
                LIN_V = LIN_V - 0.2    
                ANG_V = ANG_V - 0.2
                print LIN_V, ANG_V
            elif('stop' == word):
                lv = 0
                av = 0
            elif('sing' == word):
                pkt = Packet()
                pkt.write_ubyte(CMD.SOUND)
                val = randint(0, 6)
                pkt.write_ubyte(val)
                sock.sendto(str(pkt), ip)
                
            else:
                pass
            
            pkt = Packet()
            pkt.write_ubyte(CMD.MOTION)
            pkt.write_double(lv)
            pkt.write_double(av)
            sock.sendto(str(pkt), ip)
            
    print('leaving control loop')
コード例 #3
0
    print(sys.argv)
    addr = (sys.argv[1], int(float(sys.argv[2])))
    print(addr)
else:
    print('useage is leapNode address port')
    print('using default')
try:
    keepAlive()
    while True:
        lv = 0
        av = 0
        frame = controller.frame()
        hand = frame.hands[0]
        if hand.palm_position.z < -30:
            lv = -1
        elif hand.palm_position.z > 30:
            lv = 1
        elif hand.palm_position.x < -30:
            av = -1
        elif hand.palm_position.x > 30:
            av = 1
        LIN_V, ANG_V = speed(hand.palm_position.y)
        pkt = Packet()
        pkt.write_ubyte(CMD.MOTION)
        pkt.write_double(-LIN_V * lv)
        pkt.write_double(-ANG_V * av)
        sock.sendto(str(pkt), addr)
        time.sleep(1)
except KeyboardInterrupt:
    print("ending")
コード例 #4
0
ファイル: leapNode.py プロジェクト: fultonms/stark
        print(sys.argv)
        addr = (sys.argv[1],int(float(sys.argv[2])))
        print(addr)
else:
        print('useage is leapNode address port')
        print('using default')
try:
	keepAlive()
	while True:
		lv = 0
		av =0
		frame = controller.frame()
		hand = frame.hands[0]
		if hand.palm_position.z < -30:
			lv = -1
		elif hand.palm_position.z > 30:
			lv = 1
		elif hand.palm_position.x < -30:
			av = -1
		elif hand.palm_position.x > 30:
			av = 1
		LIN_V,ANG_V = speed(hand.palm_position.y)
		pkt = Packet()
		pkt.write_ubyte(CMD.MOTION)
		pkt.write_double(-LIN_V * lv)
		pkt.write_double(-ANG_V * av)
		sock.sendto(str(pkt), addr)
		time.sleep(1)
except KeyboardInterrupt:
	print("ending")