def sit(self):
""" Puppy sit with leg motors"""
# TODO: modify to use paired motors
self.legR.start_at_power(75)
self.legL.start_at_power(75)
wait_for_seconds(.4)
self.legR.start_at_power(0)
self.legL.start_at_power(0)
print("Sitting Down")
def stand(self):
""" Puppy stand with leg motors"""
# TODO: modify to use paired motors
self.legR.start_at_power(-75)
self.legL.start_at_power(-75)
wait_for_seconds(.4)
self.legR.start_at_power(0)
self.legL.start_at_power(0)
print("Standing Up")
def observation(self):
"""Adds one training observation to the training data"""
print('Press up or down button to tell the puppy which command you are\
demonstrating.\n Press the center to stop training')
while True:# Waits for button press to record an observation
print(self.colorsensor.get_ambient_light())
if self.hub.left_button.was_pressed():
# Record an A command observation
force = self.force.get_force_newton()
dog_command = 'A'
print('Puppy learns that this means command A')
# Adds the observation to the recorded data
self.ATraining.append(force)
wait_for_seconds(0.5)
return force, dog_command
def happy(self):
"""Happy behavior
Assumes puppy is seated"""
self.self.prime_hub.light_matrix.show_image('MEH')
for value in range(1, 4):
#self.legs.drive(-100, 0)
self.bark()
wait_for_seconds(.2)
self.legs.stop()
wait_for_seconds(.3)
#self.legs.drive(10, 0)
wait_for_seconds(.3)
self.legs.stop()
self.self.prime_hub.light_matrix.show_image('HAPPY')
force = self.force.get_force_newton()
dog_command = 'A'
print('Puppy learns that this means command A')
# Adds the observation to the recorded data
self.ATraining.append(force)
wait_for_seconds(0.5)
return force, dog_command
elif self.hub.right_button.was_pressed():
# Record a B command observation
force = self.force.get_force_newton()
dog_command = 'B'
print('Puppy learns that this means command B')
# Adds the observation to the recorded data
self.BTraining.append(force)
wait_for_seconds(0.5)
return force, dog_command
elif self.colorsensor.get_ambient_light() > 30:
# Stop training
angle = 0
dog_command = 'Exit'
print('Puppy is done training for now.')
return angle, dog_command
def watch(self):
"""Adds multiple training observations to the training data
Puppy watches for commands until the center button is pressed"""
command = ''
print('Puppy is ready to start learning!')
while command != "Exit":
import hub, utime
# import spike
from spike.control import wait_for_seconds
A = 440
B = 494
Cis = 554
D = 587
E = 659
Fis = 698
hub.sound.volume(10)
notes = [A, B, Cis, D, E, Fis]
time = [500, 500, 100, 200, 300, 1000]
hub.sound.beep(B, 500, 1)
# for i in range (1, 3):
# hub.sound.beep(A, 500, 3)
for i in range(0, len(notes)):
print(i)
# hub.sound.beep(A, 1000, 1)
wait_for_seconds(1)
hub.sound.beep(notes[i], time[i], 1) # note, time (ms), sinewave
from spike import ColorSensor
from spike.control import wait_for_seconds
# Initialize the Color Sensor.
paper_scanner = ColorSensor('E')
while True:
# Measure the intensity.
red = paper_scanner.get_red()
green = paper_scanner.get_green()
blue = paper_scanner.get_blue()
# Print the color name to the console
print('Red intensity', red)
print('Green intensity', green)
print('Blue intensity', blue)
wait_for_seconds(2)
from spike.control import wait_for_seconds
print("Twinkle Twinkle")
# wait for 2 second (pause the program flow)
wait_for_seconds(2)
print("little star")
# wait for 1.5 seconds (pause the program flow)
wait_for_seconds(1.5)
print("how I wonder")
# wait for 0.5 seconds (pause the program flow)
wait_for_seconds(0.5)
print("where you are")
from spike.control import wait_for_seconds, wait_until, Timer
from math import *
hub = PrimeHub()
motor_pair = MotorPair('A', 'B') # Set the motor ports in the motor_pair.
motor_pair.set_default_speed(30) # Set the default speed of the motor_pair.
# Set the distance that the robot travels for one rotation its wheels. The value comes from# the diameter of the wheel multiplied by "π" (3.14).
motor_pair.set_motor_rotation(22, 'cm')
# Activate the brakes when the robot stops. The other conditions are 'hold' and 'coast'.
motor_pair.set_stop_action('brake')
wait_for_seconds(1) # Wait for one second.
#Reset the Gyro sensor. The current yaw angle value is equal to 0.
hub.motion_sensor.reset_yaw_angle()
motor_pair.start(
steering=100
) # Turn left around the center of the wheelbase. Leftward because of steering=-100 parameter.
# To program the robot to wait until the robot has turned, we need to define a fuction that checks if the robot has turned.
def left_turn_end(): # Define the function
return hub.motion_sensor.get_yaw_angle(
) > 90 # Return true or false depending on the yaw angle value.
from spike import PrimeHub, LightMatrix, Motor, MotorPair
from spike.control import wait_for_seconds, wait_until, Timer
hub = PrimeHub()
hub.status_light.on('blue')
doAWhile = True
while doAWhile:
hub.light_matrix.off()
for x in range(0, 4):
wait_for_seconds(3)
hub.light_matrix.set_pixel(0, x)
doAWhile = False
from spike import PrimeHub from spike.control import wait_for_seconds hub = PrimeHub() hub.light_matrix.set_pixel(1, 0, 100) wait_for_seconds(0.2) hub.light_matrix.set_pixel(1, 1, 80) wait_for_seconds(0.2) hub.light_matrix.set_pixel(1, 2, 60) wait_for_seconds(0.2) hub.light_matrix.set_pixel(1, 3, 40) wait_for_seconds(0.2) hub.light_matrix.set_pixel(1, 4, 20) wait_for_seconds(0.2) # Turn off all pixels #hub.light_matrix.off()
