def main():
ledmatrix.rotation(0)
ledmatrix.clear() # Clear the display
draw_battery_outline() # Draw the battery outline
battery = Pitop().battery
while True:
try:
charging_state, capacity, _, _ = battery.get_full_state()
update_battery_state(charging_state,
capacity) # Fill battery with capacity
except Exception as e:
print("Error getting battery info: " + str(e))
def assemble_robot():
robot = Pitop()
robot.add_component(Camera(resolution=(640, 480), rotate_angle=90))
robot.add_component(PincerController())
robot.add_component(
NavigationController(left_motor_port="M3", right_motor_port="M0")
)
return robot
def assemble_robot():
pitop = Pitop()
pitop.add_component(TiltRollHeadController())
pitop.head.calibrate()
pitop.add_component(Camera(resolution=(640, 480), flip_top_bottom=True))
pitop.add_component(UltrasonicSensor("A1"))
return pitop
def __init__(self):
logger.debug("Setting ENV VAR to use miniscreen as system...")
environ["PT_MINISCREEN_SYSTEM"] = "1"
logger.debug("Initializing miniscreen...")
miniscreen = Pitop().miniscreen
def set_is_user_controlled(user_has_control) -> None:
if user_has_control:
self.stop_timers()
else:
self.restore_miniscreen()
logger.info(
f"User has {'taken' if user_has_control else 'given back'} control of the miniscreen"
)
miniscreen.when_user_controlled = lambda: set_is_user_controlled(True)
miniscreen.when_system_controlled = lambda: set_is_user_controlled(False)
miniscreen.select_button.when_released = self.create_button_handler(
self.handle_select_button_release
)
miniscreen.cancel_button.when_released = self.create_button_handler(
self.handle_cancel_button_release
)
miniscreen.up_button.when_released = self.create_button_handler(
self.handle_up_button_release
)
miniscreen.down_button.when_released = self.create_button_handler(
self.handle_down_button_release
)
self.dimmed = False
self.screensaver_timer = None
self.dimming_timer = None
self.start_dimming_timer()
logger.debug("Initialising app...")
super().__init__(miniscreen, Root=RootComponent)
from pitop import Camera, Pitop
from pitop.labs import WebController
photobooth = Pitop()
photobooth.add_component(Camera())
def save_photo(data):
photobooth.camera.current_frame().save(f'{data["name"]}.jpg')
controller = WebController(get_frame=photobooth.camera.get_frame,
message_handlers={"save_photo": save_photo})
controller.serve_forever()
from time import sleep
import cv2
from pitop import Camera, Pitop
miniscreen = Pitop().miniscreen
cam = Camera(format="OpenCV", flip_top_bottom=True)
directory = "images/"
button = miniscreen.select_button
picture_count = 0
while True:
frame = cam.get_frame()
cv2.imshow("Frame", frame)
miniscreen.display_image(frame)
if button.is_pressed:
cv2.imwrite(f"{directory}image_{picture_count}.jpg", frame)
print(f"Frame written to file with ID: {picture_count}\n")
picture_count += 1
sleep(0.5)
if cv2.waitKey(1) & 0xFF == ord("q"):
break
cv2.destroyAllWindows()
else:
draw_emoji(
canvas=canvas, emoji="Looking", bounding_box=wide_bounding_box, offset_y=5
)
draw_text(canvas=canvas, text="Looking...")
robot.miniscreen.display_image(image)
def run_emotion_and_face_detector(frame):
face = face_detector(frame)
emotion = emotion_classifier(face)
update_displayed_image(face, emotion)
robot = Pitop()
camera = Camera(resolution=(640, 480), flip_top_bottom=True)
robot.add_component(camera)
image = Image.new(
robot.miniscreen.mode,
robot.miniscreen.size,
)
w_ms, h_ms = robot.miniscreen.size
sample_text = "100% Happy"
_, top_section_height = text_font.getsize(sample_text)
left_bounding_box = (0, top_section_height, w_ms // 2, h_ms - top_section_height)
right_bounding_box = (
from pitop import Pitop
battery = Pitop().battery
print(f"Battery capacity: {battery.capacity}")
print(f"Battery time remaining: {battery.time_remaining}")
print(f"Battery is charging: {battery.is_charging}")
print(f"Battery is full: {battery.is_full}")
print(f"Battery wattage: {battery.wattage}")
def do_low_battery_thing():
print("Battery is low!")
def do_critical_battery_thing():
print("Battery is critically low!")
def do_full_battery_thing():
print("Battery is full!")
def do_charging_battery_thing():
print("Battery is charging!")
def do_discharging_battery_thing():
print("Battery is discharging!")
face = face_detector(frame)
robot_view = face.robot_view
cv2.imshow("Faces", robot_view)
cv2.waitKey(1)
if face.found:
face_angle = face.angle
robot.head.track_head_angle(face_angle)
print(f"Face angle: {face.angle}")
else:
robot.head.roll.sweep(speed=0)
print("Cannot find face!")
robot = Pitop()
robot.add_component(
TiltRollHeadController(servo_roll_port="S0", servo_tilt_port="S3"))
robot.head.calibrate()
robot.head.tilt.target_angle = 70
robot.head.roll.target_angle = 0
robot.add_component(Camera(resolution=(640, 480), flip_top_bottom=True))
face_detector = FaceDetector()
robot.camera.on_frame = track_face
pause()
from signal import pause
from pitop import Camera, DriveController, Pitop
from pitop.processing.algorithms.line_detect import process_frame_for_line
# Assemble a robot
robot = Pitop()
robot.add_component(
DriveController(left_motor_port="M3", right_motor_port="M0"))
robot.add_component(Camera())
# Set up logic based on line detection
def drive_based_on_frame(frame):
processed_frame = process_frame_for_line(frame)
if processed_frame.line_center is None:
print("Line is lost!", end="\r")
robot.drive.stop()
else:
print(f"Target angle: {processed_frame.angle:.2f} deg ", end="\r")
robot.drive.forward(0.25, hold=True)
robot.drive.target_lock_drive_angle(processed_frame.angle)
robot.miniscreen.display_image(processed_frame.robot_view)
# On each camera frame, detect a line
robot.camera.on_frame = drive_based_on_frame
pause()
def __new__(cls, *args, **kwargs):
from pitop import Pitop
obj = Pitop.from_config(alex_config)
obj.__class__ = cls
return obj
from time import sleep
from pitop import Pitop
# Load configuration from a previous session
pitop = Pitop.from_file("/home/pi/my_custom_config.json")
# Check the loaded configuration
print(pitop.config)
# Do something with your device
pitop.red_led.on()
pitop.drive.forward(0.5)
sleep(2)
pitop.red_led.off()
pitop.drive.stop()
# Check the state of all the components attached to the Pitop object
pitop.print_state()
from time import sleep
import gevent
from pitop import LED, Button, Pitop, UltrasonicSensor
from pitop.labs import WebController
robot = Pitop()
robot.add_component(Button("D1"))
robot.add_component(LED("D2"))
robot.add_component(UltrasonicSensor("D3"))
dashboard_server = WebController()
def broadcast_state():
while True:
sleep(0.1)
dashboard_server.broadcast(robot.state)
hub = gevent.get_hub()
hub.threadpool.spawn(broadcast_state)
dashboard_server.serve_forever()
from time import sleep
from pitop import LED, Pitop
from pitop.robotics.drive_controller import DriveController
pitop = Pitop()
drive_controller = DriveController()
led = LED("D0", name="red_led")
# Add components to the Pitop object
pitop.add_component(drive_controller)
pitop.add_component(led)
# Do something with the object
pitop.red_led.on()
pitop.drive.forward(0.5)
sleep(2)
pitop.red_led.off()
pitop.drive.stop()
# Store configuration to a file
pitop.save_config("/home/pi/my_custom_config.json")
from pitop import Camera, DriveController, Pitop
from pitop.labs import RoverWebController
rover = Pitop()
rover.add_component(DriveController())
rover.add_component(Camera())
rover_controller = RoverWebController(
get_frame=rover.camera.get_frame,
drive=rover.drive,
)
rover_controller.serve_forever()
from random import randint
from time import sleep
from pitop import Pitop
from pitop.robotics.drive_controller import DriveController
# Create a basic robot
robot = Pitop()
drive = DriveController(left_motor_port="M3", right_motor_port="M0")
robot.add_component(drive)
# Use miniscreen display
robot.miniscreen.display_multiline_text("hey there!")
def random_speed_factor():
# 0.01 - 1, 0.01 resolution
return randint(1, 100) / 100
def random_sleep():
# 0.5 - 2, 0.5 resolution
return randint(1, 4) / 2
# Move around randomly
robot.drive.forward(speed_factor=random_speed_factor())
sleep(random_sleep())
robot.drive.left(speed_factor=random_speed_factor())
from PIL import Image, ImageSequence
from pitop import Pitop
pitop = Pitop()
miniscreen = pitop.miniscreen
rocket = Image.open(
"/usr/lib/python3/dist-packages/pitop/miniscreen/images/rocket.gif")
for frame in ImageSequence.Iterator(rocket):
miniscreen.display_image(frame)
def main():
square_side_length = 1.0 # m
square_top_right = (square_side_length / 2, -square_side_length / 2)
square_top_left = (square_side_length / 2, square_side_length / 2)
square_bottom_left = (-square_side_length / 2, square_side_length / 2)
square_bottom_right = (-square_side_length / 2, -square_side_length / 2)
for _ in range(0, 2):
set_goal_with_obstacle_detection(position=square_top_right)
set_goal_with_obstacle_detection(position=square_top_left)
set_goal_with_obstacle_detection(position=square_bottom_left)
set_goal_with_obstacle_detection(position=square_bottom_right)
# go back to start_position
robot.navigate.go_to(position=(0, 0),
angle=0,
on_finish=navigation_finished,
backwards=True).wait()
print(f"Goal reached with state: \n{robot.navigate.state_tracker}")
goal_reached = False
robot = Pitop()
robot.add_component(
NavigationController(left_motor_port="M3", right_motor_port="M0"))
robot.add_component(UltrasonicSensor("D3"))
main()
