max_off_track_count = 1 # off track count
max_trick_count = 1 # tolerant tricked count
my_pismart = PiSmart()
tts = TTS()
stt = STT('command', dictionary_update=False)
led = LED()
lf = line_follower_module.Line_Follower(references=REFERENCES)
my_pismart.motor_switch(1)
my_pismart.speaker_switch(1)
left_motor = Motor('MotorB', forward=0)
right_motor = Motor('MotorA', forward=1)
left_motor.stop()
right_motor.stop()
my_pismart.power_type = '2S'
my_pismart.speaker_volume = 3
my_pismart.capture_volume = 100
def setup():
tts.say = "Hello, I can track black lines now, Do I need a calibration for the black and white colors?"
led.brightness = 60
while True: # 亮灯，开始接收指令。听到指令是yes和no时，分别给calibrate赋值True和False
stt.recognize()
if stt.result == 'yes':
calibrate = True
# i = i + 1
global time
time = rospy.Time.now()
r = rospy.Rate(100)
while not rospy.is_shutdown():
if (rospy.Time.now() - time).to_sec() > 0.5:
motorA.speed = 0
motorB.speed = 0
r.sleep()
if __name__ == '__main__':
try:
nodeName = 'pismart0'
print nodeName
rospy.init_node(nodeName, anonymous=False)
rospy.Subscriber(nodeName+'_motor_speed', Vector3, motorCallback)
rospy.Subscriber(nodeName+'_led', Int32, ledCallback)
print "start listening"
t = threading.Thread(target=imuThread)
t.start()
listener()
t.join()
except KeyboardInterrupt:
motorA.speed = 0
motorB.speed = 0
motorA.stop()
motorB.stop()
p.motor_switch(0)