while True:
time.sleep(2)
ret = api.ubtReadSensorValue("gyro", gyro_sensor, gyro_size)
if ret != 0:
print("Can not read Sensor value. Error code: %d" % (ret))
continue
else:
print("Read dEulerxValue : %f" % (gyro_sensor.dEulerxValue))
print("Read dEuleryValue : %f" % (gyro_sensor.dEuleryValue))
print("Read dEulerzValue : %f" % (gyro_sensor.dEulerzValue))
if gyro_sensor.dEulerxValue > 160 or gyro_sensor.dEulerxValue < -160:
print 'Detected fall backward, I am going to get up'
ret = api.ubtStartTts(isInterrputed, '哎呀，不好意思后脑勺着地了。赶快爬起来。')
if ret != 0:
print("Can not play TTS voice. Error code: %d" % ret)
exit(3)
print("Play TTS voice successfully!")
api.ubtStartAction("getup_in_back", 1)
elif gyro_sensor.dEulerxValue > -20 and gyro_sensor.dEulerxValue < 20:
print 'Detected fall forward, I am going to get up'
ret = api.ubtStartTts(isInterrputed, '哎呀，不好意思脸着地了，没有人看见吧。')
if ret != 0:
print("Can not play TTS voice. Error code: %d" % ret)
exit(3)
api.ubtStartAction("getup_in_front", 1)
#---------------------------Disconnect--------------------------------------
api.ubtDisconnectRobot("127.0.0.1")
api.ubtDeinitialize()
#!/usr/bin/python
# _*_ coding: utf-8 -*-
import time
import yanshee_api
yanshee_api.ubtInitialize()
#------------------------------Connect----------------------------------------
ret = yanshee_api.ubtConnectRobot("127.0.0.1")
if (0 != ret):
print("Can not connect to robot")
exit(1)
#---------------------------Voice recognition Start---------------------------
ret = yanshee_api.ubtStartAsr()
if ret != 0:
print("Can not start start voice recognition. Error Code: %d" % ret)
exit(3)
print("Voice recognition service started!")
#--------------------------DisConnect---------------------------------
yanshee_api.ubtDisconnectRobot("127.0.0.1")
yanshee_api.ubtDeinitialize()
time.sleep(2)
ret = api.ubtReadSensorValue("gyro", gyro_sensor, gyro_size)
if ret != 0:
print("Can not read Sensor value. Error code: %d" % (ret))
continue
else:
print("Read dGyroxValue : %f" % (gyro_sensor.dGyroxValue))
print("Read dGyroyValue : %f" % (gyro_sensor.dGyroyValue))
print("Read dGyrozValue : %f" % (gyro_sensor.dGyrozValue))
print("Read dAccexValue : %f" % (gyro_sensor.dAccexValue))
print("Read dAcceyValue : %f" % (gyro_sensor.dAcceyValue))
print("Read dAccezValue : %f" % (gyro_sensor.dAccezValue))
print("Read dCompassxValue : %f" % (gyro_sensor.dCompassxValue))
print("Read dCompassyValue : %f" % (gyro_sensor.dCompassyValue))
print("Read dCompasszValue : %f" % (gyro_sensor.dCompasszValue))
print("Read dEulerxValue : %f" % (gyro_sensor.dEulerxValue))
print("Read dEuleryValue : %f" % (gyro_sensor.dEuleryValue))
print("Read dEulerzValue : %f" % (gyro_sensor.dEulerzValue))
print("------------------------------------------------")
if gyro_sensor.dEulerxValue > 160 or gyro_sensor.dEulerxValue < -160:
print 'getup from fall back'
api.ubtStartAction("getup_in_back", 1)
elif gyro_sensor.dEulerxValue > -20 and gyro_sensor.dEulerxValue < 20:
print 'geup from fall front'
api.ubtStartAction("getup_in_front", 1)
#---------------------------Disconnect--------------------------------------
api.ubtDisconnectRobot("SDK", "1", gIPAddr)
api.ubtDeinitialize()