def __init__(self, target_name,default_update_rate=50):#, target_addr, port, default_update_rate=50.0):
self.update_rate = default_update_rate
self.sampling_divisor = int(400/self.update_rate)
self.is_connected = False
self._init_pubsub()
self._init_params()
self.robot = BB8_driver.Sphero(target_name)
# if target_name:
# if target_addr:
# if port:
# self.robot = BB8_driver.Sphero(target_name, target_addr, port)
# else:
# self.robot = BB8_driver.Sphero(target_name, target_addr)
# else:
# self.robot = BB8_driver.Sphero(target_name)
# else:
# self.robot = BB8_driver.Sphero()
self.imu = Imu()
self.imu.orientation_covariance = [1e-6, 0, 0, 0, 1e-6, 0, 0, 0, 1e-6]
self.imu.angular_velocity_covariance = [1e-6, 0, 0, 0, 1e-6, 0, 0, 0, 1e-6]
self.imu.linear_acceleration_covariance = [1e-6, 0, 0, 0, 1e-6, 0, 0, 0, 1e-6]
self.last_cmd_vel_time = rospy.Time.now()
self.last_diagnostics_time = rospy.Time.now()
self.cmd_heading = 0
self.cmd_speed = 0
self.power_state_msg = "No Battery Info"
self.power_state = 0
self.prev_ODOM_X = None
self.prev_ODOM_Y = None
def __init__(self, irc, server, channel, nick, password, debug=False):
self.irc = irc
self.server = server
self.channel = channel
self.nick = nick
self.password = password
self.debug = debug
self.sphero = BB8_driver.Sphero()
self.bt = False
def __init__(self):
pygame.mixer.init()
#pygame.mixer.music.load('sounds/connect.mp3')
#pygame.mixer.music.play()
self.bb8 = BB8_driver.Sphero()
self.bb8.connect()
self.bb8.start()
time.sleep(2)
self.flash_green(ntimes=2)
def do_connect(self, line):
if self.sp:
print "Already connected!"
return False
print "Connecting ..."
self.sp = BB8_driver.Sphero()
try:
self.sp.connect()
except btle.BTLEException, e:
print "BT FAIL:", e
self.sp = None
return
def alarm():
speed = 20
bb8 = BB8_driver.Sphero()
bb8.connect()
bb8.start()
#bb8.roll(speed, 40, 1, False)
bb8.set_rgb_led(255, 0, 0, 0, False)
time.sleep(1)
bb8.set_rgb_led(0, 255, 0, 0, False)
time.sleep(1)
#bb8.roll(speed, 320, 1, False)
bb8.set_rgb_led(0, 255, 255, 0, False)
time.sleep(1)
bb8.set_rgb_led(255, 0, 0, 0, False)
time.sleep(1)
bb8.set_rgb_led(0, 255, 0, 0, False)
#bb8.roll(speed, 0, 1, False)
time.sleep(1)
bb8.join()
bb8.disconnect()
import cwiid
import time
import BB8_driver
import matplotlib.pyplot as pyplot
import numpy
import sys
modes = ["tank"]
print("Please connect the Wiimote now.")
wm = cwiid.Wiimote()
print("Wiimote successfully connected")
wm.rpt_mode = cwiid.RPT_BTN | cwiid.RPT_ACC
bb8 = BB8_driver.Sphero()
a = None
print("Connecting to BB-8")
try:
bb8.connect()
except:
print("Connection failed. Escaping script.")
sys.exit(1)
bb8.ping(True)
print("Connection Successful")
bb8.start()
print("Hold Wiimote in horizontal equillibrium for calibration.")
time.sleep(3)
#!/usr/bin/python
# -*- coding: utf-8 -*-
from bluepy import btle
import struct
import time
import BB8_driver
import sys
bb8 = BB8_driver.Sphero('F5:6B:10:17:17:17')
#bb = BB8('F5:6B:10:17:17:17')
bb8.connect()
bb8.start()
time.sleep(2)
bb8.set_rgb_led(255, 0, 0, 0, False)
time.sleep(1)
bb8.set_rgb_led(0, 255, 0, 0, False)
time.sleep(1)
bb8.set_rgb_led(0, 0, 255, 0, False)
time.sleep(3)
bb8.join()
bb8.disconnect()
sys.exit(1)
class Server():
def __init__(self, Adress=('', 5000), MaxClient=1):
self.s = socket.socket()
self.s.bind(Adress)
self.s.listen(MaxClient)
def WaitForConnection(self):
print('Waiting for connection from client...')
self.Client, self.Adr = (self.s.accept())
print('Got a connection from: ' + str(self.Client) + '.')
print('Waiting for connection to Sphero...')
robot = BB8_driver.Sphero()
robot.connect()
robot.start()
time.sleep(2)
robot.set_rgb_led(0, 255, 0, 0, False)
robot.set_back_led(255, False)
s = Server()
s.WaitForConnection()
print('Waiting for command... ')
#time.sleep(5)
#robot.set_back_led(0, False)
#robot.disconnect()
while 1 == 1:
