#
# Also count the number of times it was touched.
#
old_touch_count = touch_count
touch_count = psm.BAS1.numTouchesNXT()
# print value only if it was changed.
if (old_touch != touch) or (old_touch_count != touch_count):
msg = "Sensor Touched: " + str(touch)
msg2 = "Touch Count: " + str(touch_count)
psm.screen.termPrintAt(2, "")
psm.screen.termPrintAt(3, msg)
psm.screen.termPrintAt(4, msg2)
psm.screen.termPrintAt(7, "Touch screen to reset Count")
psm.screen.termPrintAt(8, "Press GO to stop program")
if (psm.isKeyPressed() == True): # if the GO button is pressed
psm.screen.clearScreen()
psm.screen.termPrintAt(8, "Exiting to menu")
doExit = True
#
# check if screen touched.
#
if (psm.screen.isTouched()):
# if scren was touched,
# reset BAS1 touch count
psm.BAS1.resetTouchesNXT()
if ( ambientMode == True):
colorValue = psm.BAS1.ambientLightSensorEV3()
msg = "Color Seen: " + str(colorValue) + " (ambient)"
else:
colorValue = psm.BAS1.colorSensorEV3()
msg = "Color Seen: " + str(colorValue) + " (reflected)"
# print value only if it was changed.
if (old_colorValue != colorValue):
psm.screen.clearScreen()
psm.screen.drawAutoText(msg, 15, 164, fill=(255, 255, 255), size = 18)
psm.screen.drawAutoText("Touch screen to change mode", 15, 182, fill=(255, 255, 255), size = 18)
psm.screen.drawAutoText("between ambient/reflected", 15, 200, fill=(255, 255, 255), size = 18)
psm.screen.drawAutoText("Press Go to stop program", 15, 218, fill=(255, 255, 255), size = 18)
if(psm.isKeyPressed() == True): # if the GO button is pressed
psm.screen.clearScreen()
psm.screen.termPrintln("")
psm.screen.termPrintln("Exiting to menu")
doExit = True
#
# check if screen touched.
#
if(psm.screen.checkButton(0,0,320,320)):
# if scren was touched,
# reset BAS1 touch count
if ( ambientMode == False):
ambientMode = True
else:
ambientMode = False
psm.screen.drawAutoText("configurations backups",
35,
50,
fill=(255, 0, 0),
size=22,
display=False)
psm.screen.drawButton(35,
170,
width=250,
height=40,
text="Continue",
display=False)
psm.screen.fillRect(0, 0, 1, 1, fill=(0, 0, 0), display=True)
while True:
cont = psm.screen.checkButton(35, 170, 250, 40)
if cont or psm.isKeyPressed(): sys.exit(0)
# Reload adapter to apply config changes
def reload_adapter():
# Clear the screen and show the loading image
show_loading(up=True)
# Turn off and back on the wlan interface
subprocess.call(["sudo", "ifdown", "wlan0"])
subprocess.call(["sudo", "ifup", "wlan0"])
def draw_options():
# Clear the screen
psm.screen.fillRect(0, 0, 320, 240, (0, 0, 0))
psm.screen.drawAutoText("Revert WiFi configuration",
print self.matrixF
print i
self.Grab(i)
self.turn = True
def Grab(self, degrees):
self.joint1.runDegs(degrees + 55)
time.sleep(1)
self.joint2.setSpeed(-10)
time.sleep(1)
self.joint2.setSpeed(-5)
time.sleep(0.5)
self.joint1.runDegs(-(degrees - 20))
time.sleep(1)
self.Stop()
def Stop(self):
self.joint1.setSpeed(0)
self.joint2.setSpeed(0)
grabber = Grabber(psm.BAM2, psm.BAM1)
driver = Driver(psm.BBM2, psm.BBM1)
subsumptionPixy = SubsumptionPixy()
finder = Finder(subsumptionPixy, driver, grabber)
while psm.isKeyPressed() == False:
finder.Step()
driver.Stop()
grabber.Stop()
# This program is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with this program; if not, write to the Free Software
# Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
#
#mindsensors.com invests time and resources providing this open source code,
#please support mindsensors.com by purchasing products from mindsensors.com!
#Learn more product option visit us @ http://www.mindsensors.com
"""
--BLOCKLY FILE--
--START BLOCKS--
PHhtbCB4bWxucz0iaHR0cDovL3d3dy53My5vcmcvMTk5OS94aHRtbCI+PGJsb2NrIHR5cGU9ImNvbnRyb2xzX3doaWxlVW50aWwiIGlkPSJYLkM0WiU2RXJwKHhhUiVdLUVFUSIgeD0iNTYiIHk9IjY5Ij48ZmllbGQgbmFtZT0iTU9ERSI+VU5USUw8L2ZpZWxkPjx2YWx1ZSBuYW1lPSJCT09MIj48YmxvY2sgdHlwZT0ic3lzdGVtX2tleXByZXNzZWQiIGlkPSI7ZHBEcnkjMVVNLERyQGBTJTs3XSI+PC9ibG9jaz48L3ZhbHVlPjxzdGF0ZW1lbnQgbmFtZT0iRE8iPjxibG9jayB0eXBlPSJtb3RvcnNfc2V0c3BlZWQiIGlkPSJfaz1nc1pHMnJocDVLRmwpZzRGOCI+PGZpZWxkIG5hbWU9Im1vdG9yX3NlbGVjdG9yIj5CQU0xPC9maWVsZD48dmFsdWUgbmFtZT0iU1BFRUQiPjxzaGFkb3cgdHlwZT0ibWF0aF9udW1iZXIiIGlkPSIhNEQodmFxal8jSD8lL2t4IVg2eSI+PGZpZWxkIG5hbWU9Ik5VTSI+NTA8L2ZpZWxkPjwvc2hhZG93PjwvdmFsdWU+PG5leHQ+PGJsb2NrIHR5cGU9InN5c3RlbV9zbGVlcCIgaWQ9Ijc/dF5TKXBLbmx2IyhLN0pDKVRBIj48dmFsdWUgbmFtZT0iVElNRSI+PHNoYWRvdyB0eXBlPSJtYXRoX251bWJlciIgaWQ9IlRGKkl9Y3kyZmpiKjc3a2Z7RHJaIj48ZmllbGQgbmFtZT0iTlVNIj4xPC9maWVsZD48L3NoYWRvdz48L3ZhbHVlPjxuZXh0PjxibG9jayB0eXBlPSJtb3RvcnNfc2V0c3BlZWQiIGlkPSIoMTR8Q11NW2JMeWdwc0VZKkVWdCI+PGZpZWxkIG5hbWU9Im1vdG9yX3NlbGVjdG9yIj5CQU0xPC9maWVsZD48dmFsdWUgbmFtZT0iU1BFRUQiPjxzaGFkb3cgdHlwZT0ibWF0aF9udW1iZXIiIGlkPSJQLnlFLTh7NnV5bzEock5saHNlNSI+PGZpZWxkIG5hbWU9Ik5VTSI+MDwvZmllbGQ+PC9zaGFkb3c+PC92YWx1ZT48bmV4dD48YmxvY2sgdHlwZT0ic3lzdGVtX3NsZWVwIiBpZD0iY2BAP0ZjWHUre2xnbW8rX0p7enciPjx2YWx1ZSBuYW1lPSJUSU1FIj48c2hhZG93IHR5cGU9Im1hdGhfbnVtYmVyIiBpZD0iSC5Ed2UqYVleKUBCbzIlVXpUKVoiPjxmaWVsZCBuYW1lPSJOVU0iPjE8L2ZpZWxkPjwvc2hhZG93PjwvdmFsdWU+PC9ibG9jaz48L25leHQ+PC9ibG9jaz48L25leHQ+PC9ibG9jaz48L25leHQ+PC9ibG9jaz48L3N0YXRlbWVudD48L2Jsb2NrPjwveG1sPg==
184e880526960bd774d2be11aadd04c103d1c18b1cfb9bf66e80c527d4a8051e
--END BLOCKS--
"""
from PiStorms import PiStorms
import time
psm = PiStorms()
while not bool(psm.isKeyPressed()):
psm.BAM1.setSpeed(50)
time.sleep(1)
psm.BAM1.setSpeed(0)
time.sleep(1)
from PiStorms import PiStorms psm = PiStorms() import PID def setSpeed(speed): if speed > 100: speed = 100 elif speed < -100: speed = -100 psm.BAM1.setSpeedSync(-speed) if speed == 0: psm.BAM1.brakeSync() def getDistanceToGoal(): return psm.BAS2.distanceUSEV3() - 400 controller = PID.PIDController(1,0,0.05, getDistanceToGoal, 0.1, 0.5) while not psm.isKeyPressed(): tm = time.time() setSpeed(controller.tick()) sleept = 0.1 - (time.time() - tm) if sleept < 0: sleept = 0 time.sleep(sleept) setSpeed(0)
psm = PiStorms() # PiStorms object
exit = False # break loop
while (not exit):
light = psm.BBS1.lightSensorNXT(True)
# 520
error = 540 - light #if within 40 on edge, if negative on line, if positive in white
# psm.BBM1.setSpeedSync(30)
# if (abs(error) < 20): #on edge
# psm.BBM1.setSpeedSync(30)
# psm.led(1,0,255,0) #green
if (error < 0): #on line, turn to right, left wheel accelerate
psm.BBM1.setSpeed(25)
psm.BBM2.setSpeed(-50)
psm.led(1,0,0,255)#blue
elif (error > 0): #on white, turn to left, right wheel accelerate
psm.BBM2.setSpeed(25)
psm.BBM1.setSpeed(-50)
psm.led(1,255,0,0)#Red
sleep(0.1)
if (psm.isKeyPressed()): #exit
psm.BBM1.brakeSync()
psm.led(1,0,0,0)
psm.screen.clearScreen()
psm.screen.termPrintln("")
psm.screen.termPrintln("Exiting to menu")
sleep(0.5)
exit = True
cam = MsDevices.NXTCam5(psm.BAS1)
func = doBlob
while(not doExit):
drawButtons()
id = cam.GetDeviceId()
pos = id.find('\0')
psm.screen.termPrintAt(6, "Device ID: " + id[:pos])
#cam.command(79) # object
time.sleep(1)
psm.screen.clearScreen()
drawButtons()
if( psm.isKeyPressed() == True) or ( psm.screen.checkButton(0,0,30,30)):
psm.screen.clearScreen()
psm.screen.termPrintAt(8, "Exiting to menu")
doExit = True
btn = checkButtonPress()
if ( btn != "" ):
psm.screen.clearScreen()
if ( btn == 'blob'):
psm.screen.termPrintAt(4, "blob pressed")
doBlob(True)
if ( btn == 'face'):
psm.screen.termPrintAt(4, "face pressed")
doFace(True)
if ( btn == 'movie'):
psm.screen.termPrintAt(4, "movie pressed")
if (addr != 0x34 and addr != 0x35 and addr != 0x36 and addr != 0x37):
i2c = ms_explorerlib.Explorer(addr)
found = i2c.ping(0x00)
print ">>01 found: " + str(found)
if ( found > 0 ):
if ( (addr%2) == 0 ):
# print only the even addresses.
psm.screen.termPrintAt(line, "Device: " + i2c.GetDeviceId()[:6] +" " + (str(hex(addr))))
line = line + 1
if (count > 2000):
found = 5
else:
addr = 0x00
return found
bye = False
while(not exit):
explorer = psm.screen.checkButton(75, 95,width=85,height=40)
if(psm.isKeyPressed()): bye = True
if(explorer == True):
psm.screen.termPrintAt(1, "Searching (Go to cancel) ...")
psm.BAS1.activateCustomSensorI2C()
f = explore()
if ( f == -1):
psm.screen.termPrintAt(8, "Done, Explore again ")
if(bye == True):
psm.screen.termPrintAt(5, "Exiting to menu")
exit = True
time.sleep(.1)
matplotlib.use("AGG")
import matplotlib.pyplot as plt
import numpy as np
import tempfile
plt.figure(figsize=(4, 3), dpi=80)
plt.xlabel('time')
plt.ylabel('GO button state')
plt.title('GO Button')
plt.grid(True)
plt.ylim(
(-0.05, 1.05)
) # set y-axis range, off by a bit so the line isn't right on the edge of the graph
axis = plt.gca() # get current axis
data = np.empty(0)
image = tempfile.NamedTemporaryFile() # we will be overwriting this same file
while not psm.screen.isTouched():
data = np.append(data, psm.isKeyPressed()
) # add a data point with the current GO button state
if axis.lines:
axis.lines.pop(
) # if there's already a line on the graph (old), remove it
lines = plt.plot(
data[-20:],
color="blue") # plot the last 20 data points on the graph (new line)
plt.tight_layout() # make sure the entire plot fits on screen
plt.savefig(image.name, format="png")
psm.screen.fillBmp(0, 0, 320, 240, image.name)
from PiStorms import PiStorms
psm = PiStorms()
psm.screen.termPrintln("Please wait a moment")
psm.screen.termPrintln("as matplotlib loads...")
psm.screen.termPrintAt(3, "Tap and hold the screen to quit.")
import matplotlib
matplotlib.use("AGG")
import matplotlib.pyplot as plt
import numpy as np
import tempfile
plt.figure(figsize=(4,3), dpi=80)
plt.xlabel('time')
plt.ylabel('GO button state')
plt.title('GO Button')
plt.grid(True)
plt.ylim((-0.05, 1.05)) # set y-axis range, off by a bit so the line isn't right on the edge of the graph
axis = plt.gca() # get current axis
data = np.empty(0)
image = tempfile.NamedTemporaryFile() # we will be overwriting this same file
while not psm.screen.isTouched():
data = np.append(data, psm.isKeyPressed()) # add a data point with the current GO button state
if axis.lines: axis.lines.pop() # if there's already a line on the graph (old), remove it
lines = plt.plot(data[-20:], color="blue") # plot the last 20 data points on the graph (new line)
plt.tight_layout() # make sure the entire plot fits on screen
plt.savefig(image.name, format="png")
psm.screen.fillBmp(0,0, 320,240, image.name)
answer = disconnect_question()
if answer: disconnect()
# Redraw
draw_options()
draw_connections(ssids, page)
# Change the page
if next: page += 1
elif prev:
page -= 1
if page < 0: page = (len(ssids)-1) / 4
elif refresh:
show_loading()
available = Cell.all(wlan_interface)
ssids = get_available()
# Redraw connections if changed
if next or prev or refresh: shown = draw_connections(ssids, page)
# Connect to a chosen network
if label1 and len(shown) > 0: connect(shown[0][0],shown[0][1],shown[0][2])
if label2 and len(shown) > 1: connect(shown[1][0],shown[1][1],shown[1][2])
if label3 and len(shown) > 2: connect(shown[2][0],shown[2][1],shown[2][2])
if label4 and len(shown) > 3: connect(shown[3][0],shown[3][1],shown[3][2])
# Redraws options and available connections
if (label1 and len(shown) > 0) or (label2 and len(shown) > 1) or (label3 and len(shown) > 2) or (label4 and len(shown) > 3):
draw_options()
shown = draw_connections(ssids, page)
# Exit
if(psm.isKeyPressed()): exit = True
elif self.turnState == 1:
self.manager.turnRight(self.turnSpeed,
self.turnDuration * 2)
else:
self.manager.turnLeft(self.turnSpeed, self.turnDuration)
self.turnDuration += self.turnAdd
self.turnState = (self.turnState + 1) % 3
else:
if lastSensorReading > self.searchDistance:
self.moveState = 1
self.turnDuration = 1
self.turnState = 0
self.manager.stopAll()
return
self.manager.driveStraight(
self.controller.step(lastSensorReading - self.followDistance),
1)
PSM = PiStorms()
RECKONER = Reckoner(PSM.BBS1, PSM.BAM1, PSM.BAM2)
MANAGER = MotorManager(PSM.BAM1, PSM.BAM2, True)
PID = PIDController()
F = Follower(MANAGER, PSM.BAS2, PID, RECKONER)
while not PSM.isKeyPressed():
F.step()
sleep(0.02)
F.manager.stopAll()
F.reckoner.plot()
#exit variable will be used later to exit the program and return to PiStorms
exit = False
#clears the screen of any unwanted text by displaying a white rectangle
#psm.screen.fillRect(0, 0, 320, 240)
psm.screen.clearScreen()
#displays Sam's greeting of "Hello, I am Sam"
#psm.screen.drawAutoText("Test 1", 80, 30, fill=(255, 0, 0), size = 70)
#psm.screen.drawAutoText("Lets see what this can do", 70, 140, fill=(255, 0, 0), size = 45)
psm.screen.termPrintln("")
psm.screen.termPrintln("Lets Drive")
#psm.BBM2.runSecs(1,20,True);
#psm.BAM2.runSecs(1,20,True);
count = 0
#main loop
while(not exit and count < 3):
# psm.BBM1.runSecs(1,20,True);
# psm.BAM2.runSecs(1,20,True);
count+= 1
time.sleep(5)
if psm.isKeyPressed(): # if the GO button is pressed
psm.screen.clearScreen()
psm.screen.termPrintln("")
psm.screen.termPrintln("Exiting to menu")
time.sleep(0.5)
exit = True
# Date Author Comments
# July 2015 Henry Initial Authoring from SensorShield import SensorShield
import os,sys,inspect,time
currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
parentdir = os.path.dirname(currentdir)
sys.path.insert(0,parentdir)
from PiStorms import PiStorms
psm = PiStorms()
psm.screen.termPrintAt(2, "PiStorms ")
psm.screen.termPrintAt(3, "GO button test:")
exit = False
print "Running Button Test"
print "press anywhere in PiStorms Screen to exit"
psm.screen.termPrintAt(8, "Touch Display to Exit")
psm.screen.termPrintln(" ")
while(not exit):
pass
psm.screen.termPrintAt(5, "GO Button is = " +str(psm.isKeyPressed()))
psm.screen.termPrintAt(6, "Press Count = " +str(psm.getKeyPressCount()))
if (psm.screen.isTouched()):
psm.screen.termPrintln(" ")
psm.screen.termPrintln("Exiting .....")
exit = True
psm = PiStorms()
exit = False
psm.screen.clearScreen()
psm.screen.termPrintln("")
psm.screen.termPrintln("Photo Test x3")
count = 0
while not exit and count < 3:
psm.screen.clearScreen()
psm.screen.termPrintln("Taking Photo " + str(count + 1))
cameraModule.take_photo('/home/pi/PiStormsprograms/images/', 'image01.png')
psm.screen.clearScreen()
psm.screen.fillBmp(30,
0,
240,
240,
path='/home/pi/PiStormsprograms/images/image01.png')
count += 1
time.sleep(5)
if psm.isKeyPressed():
psm.screen.clearScreen()
psm.screen.termPrintln("")
psm.screen.termPrintln("Exiting to menu")
time.sleep(0.5)
exit = True
value = IR.readChannelProximity(1)
mode = "Proximity"
elif (count == 2):
psm.screen.termPrintAt(1, "Keep remote on channel 1 and ")
psm.screen.termPrintAt(2, "press joystick(s).")
value = IR.readRemote(1)
#Output is in array (L, R), where L is the left stick and R is the right stick
#1 is up, 0 is nothing, and -1 is down
msg = mode+": " + str(value)
if (oldValue != value):
psm.screen.termPrintAt(3, msg0)
psm.screen.termPrintAt(4, msg)
if(psm.isKeyPressed() == True):
psm.screen.clearScreen()
IR = EV3InfraredSensor("BAS1", 9) #Turn off detecting
psm.screen.termPrintln("")
psm.screen.termPrintln("Exiting to menu")
doExit = True
change = 0
if(psm.screen.isTouched()): #Change mode if screen is tapped
count = count + 1
if ( count > 2):
count = 0
psm.screen.clearScreen()
psm.screen.termPrintAt(4, "Switching...")
psm.screen.termPrintAt(7, "Touch screen to change mode")
psm.screen.termPrintAt(8, "Press Go to stop program")
change = 1
def getDistanceToGoal(): return psm.BAS2.distanceUSEV3() - FOLLOW_DIST def waitForSensor(dist,timeout): t = time.time() while psm.BAS2.distanceUSEV3() > dist and (not psm.isKeyPressed()): if time.time() - t > timeout: return False return True curError = getDistanceToGoal() while not psm.isKeyPressed(): tm = time.time() while psm.BAS2.distanceUSEV3() > OUTOFRANGE and (not psm.isKeyPressed()): spinTime = SPINTIME #move left psm.BAM1.setSpeed(SPINSPEED) psm.BAM2.setSpeed(-SPINSPEED) if waitForSensor(OUTOFRANGE, spinTime): break setSpeed(0) if waitForSensor(OUTOFRANGE, 0.5): break
# History:
# Date Author Comments
# July 2015 Henry Initial Authoring from SensorShield import SensorShield
import os,sys,inspect,time
currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
parentdir = os.path.dirname(currentdir)
sys.path.insert(0,parentdir)
from PiStorms import PiStorms
psm = PiStorms()
psm.screen.termPrintln("PiStorms ")
psm.screen.termPrintln("GO button test:")
psm.screen.termPrintln(" ")
exit = False
print "Running Button Test"
print "press anywhere in PiStorms Screen to exit"
psm.screen.termPrintln("Touch Display to Exit")
psm.screen.termPrintln(" ")
while(not exit):
pass
psm.screen.termReplaceLastLine("Go Button is = " +str(psm.isKeyPressed()))
if (psm.screen.checkButton(0,0,320,320)):
psm.screen.termPrintln(" ")
psm.screen.termPrintln("Exiting .....")
exit = True
--START BLOCKS--
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
e193a87b5d9d2a5cb558efa27c0a1d36f2f2a11d44da1aff62bfbcb2e1712fed
--END BLOCKS--
"""
from PiStorms import PiStorms
import MsDevices
sumosensor = None
old_zone = None
str1 = None
psm = PiStorms()
sumoeyes_BAS1 = MsDevices.SumoEyes(psm.BAS1)
# Attach a NXTSumoEyes to Port BAS1 of PiStorms.
# Start the program from PiStorms on Screen
# Browser and press GO button to terminate.
sumosensor = sumoeyes_BAS1
sumosensor.setRange(sumosensor.LONG_RANGE)
while not bool(psm.isKeyPressed()):
old_zone = str1
str1 = sumosensor.detectObstactleZone(True)
if str1 != old_zone:
psm.screen.clearScreen(True)
psm.screen.drawAutoText(str1, 40, 40, fill = (255, 0, 0), size = 50, display = True)
y + h,
int(-2 + (w + h) / 3),
fill=(0, 0, 0),
display=False)
psm.screen.fillCircle(imw - (x + w) + w / 4,
y + h - h / 4,
4,
fill=(255, 255, 255),
display=False)
psm.screen.fillCircle(imw - (x + w) - w / 4,
y + h - h / 4,
4,
fill=(255, 255, 255),
display=True)
# show the frame use this if you are setup for Display export on your pc or VNC
#you may use Xming server for this
#cv2.imshow("Frame", image)
key = cv2.waitKey(1) & 0xFF
lastfaces = faces
# clear the stream in preparation for the next frame
rawCapture.truncate(0)
# if the `q` key was pressed, break from the loop
if (psm.isKeyPressed() == True):
break
#if key == ord("q"):
# break
opt.append([tim,i.split("\n",1)[1],int(i.split("\n")[0])])
lt = tim
opt = opt[::-1]
except Exception as e:
error = True
with open(config_file, "w+") as f:
f.write("")
if error or len(opt) == 0:
psm.screen.drawAutoText("You have no Wi-Fi", 35, 20, fill = (255,0,0), size = 22, display = False)
psm.screen.drawAutoText("configurations backups", 35, 50, fill = (255,0,0), size = 22, display = False)
psm.screen.drawButton(35, 170, width = 250, height = 40, text="Continue", display=False)
psm.screen.fillRect(0, 0, 1, 1, fill = (0,0,0), display = True)
while True:
cont = psm.screen.checkButton(35, 170, 250, 40)
if cont or psm.isKeyPressed(): sys.exit(0)
# Reload adapter to apply config changes
def reload_adapter():
# Clear the screen and show the loading image
show_loading(up=True)
# Turn off and back on the wlan interface
subprocess.call(["sudo","ifdown","wlan0"])
subprocess.call(["sudo","ifup","wlan0"])
def draw_options():
# Clear the screen
psm.screen.fillRect(0, 0, 320, 240, (0,0,0))
psm.screen.drawAutoText("Revert WiFi configuration", 20, 10, fill = (255,0,0), size = 24, display = False)
psm.screen.drawButton(20, 45, width = 150, height = 35, text=" <", display=False)
psm.screen.drawButton(170, 45, width = 150, height = 35, text=" >", display=False)
# History:
# Date Author Comments
# July 2015 Henry Initial Authoring from SensorShield import SensorShield
import os, sys, inspect, time
currentdir = os.path.dirname(
os.path.abspath(inspect.getfile(inspect.currentframe())))
parentdir = os.path.dirname(currentdir)
sys.path.insert(0, parentdir)
from PiStorms import PiStorms
psm = PiStorms()
psm.screen.termPrintln("PiStorms ")
psm.screen.termPrintln("GO button test:")
psm.screen.termPrintln(" ")
exit = False
print "Running Button Test"
print "press anywhere in PiStorms Screen to exit"
psm.screen.termPrintln("Touch Display to Exit")
psm.screen.termPrintln(" ")
while (not exit):
pass
psm.screen.termReplaceLastLine("Go Button is = " + str(psm.isKeyPressed()))
if (psm.screen.checkButton(0, 0, 320, 320)):
psm.screen.termPrintln(" ")
psm.screen.termPrintln("Exiting .....")
exit = True
psm.BBM1.setSpeedSync(SPEED)
sleep(0.1)
psm.BAM1.float()
psm.BAM2.float()
psm.BBM1.float()
psm.BBM2.float()
if __name__ == '__main__':
psm.BAM1.resetPos()
ramp(RAMP_UP)
while not psm.isKeyPressed():
psm.screen.termPrintln('waiting')
psm.screen.clearScreen()
psm.screen.termPrintln('starting!')
for i in xrange(5):
psm.led(1, 255, 0, 0)
sleep(0.8)
psm.led(1, 0, 0, 0)
sleep(0.2)
psm.screen.clearScreen()
ramp(RAMP_MID)
sleep(0.5)
picam = PiCamera()
except:
m = [
"PopHeads", "Camera not enabled.", "Run raspi-config and enable camera"
]
psm.screen.askQuestion(m, ["OK"])
exit()
exitNow = 0
time.sleep(.2)
haar_path = currentdir + "/haarcascade_frontalface_default.xml"
faceCascade = cv2.CascadeClassifier(haar_path)
#psm.screen.fillRect(95, 145, 110, 160)
#psm.screen.fillRect(100, 150, 100, 150, fill=(0,0,0))
while not exitNow:
psm.screen.termPrintAt(9, "Click Go to take a picture")
if (psm.isKeyPressed()):
# call("raspistill -o /tmp/cam.jpg", shell=True)
# time.sleep(2)
# psm.screen.fillBmp(0,0,100,100,path = "/tmp/cam.jpg")
# time.sleep(2)
picam.capture('/tmp/pic.jpg')
psm.screen.fillBmp(0, 0, 320, 240, path="/tmp/pic.jpg")
psm.screen.termPrintAt(8, "Captured!")
time.sleep(1)
psm.screen.termPrintAt(8, "Detecting faces...")
img = cv2.imread('/tmp/pic.jpg')
(imh, imw) = img.shape[:2]
grayimg = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
faces = faceCascade.detectMultiScale(grayimg,
scaleFactor=1.1,
minNeighbors=5,
# Date Author Comments
# July 2015 Henry Initial Authoring from SensorShield import SensorShield
import os,sys,inspect,time
currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
parentdir = os.path.dirname(currentdir)
sys.path.insert(0,parentdir)
from PiStorms import PiStorms
psm = PiStorms()
psm.screen.termPrintAt(2, "PiStorms ")
psm.screen.termPrintAt(3, "GO button test:")
exit = False
print "Running Button Test"
print "press anywhere in PiStorms Screen to exit"
psm.screen.termPrintAt(8, "Touch Display to Exit")
psm.screen.termPrintln(" ")
while(not exit):
pass
psm.screen.termPrintAt(5, "GO Button is = " +str(psm.isKeyPressed()))
psm.screen.termPrintAt(6, "Press Count = " +str(psm.getKeyPressCount()))
if (psm.screen.checkButton(0,0,320,320)):
psm.screen.termPrintln(" ")
psm.screen.termPrintln("Exiting .....")
exit = True
for (x, y, w, h) in faces:
# for displaying on exported display
cv2.circle(image, (x+w/2, y+h/2), int((w+h)/3), (255, 255, 255), 1)
# for showing on PiStorms screen
psm.screen.fillCircle((x+w)-w/2, y+h-h/2, int((w+h)/3), fill = (255,255,255),display = False)
psm.screen.fillCircle((x+w)-w/2, y+h-h/2, int(-2+(w+h)/3), fill = (0,0,0),display = False)
psm.screen.fillCircle((x+w)-w/2+w/4, y+h-h/4-h/2, 4, fill = (255,255,255),display = False)
psm.screen.fillCircle((x+w)-w/2-w/4, y+h-h/4-h/2, 4, fill = (255,255,255),display = True)
# show the frame use this if you are setup for Display export on your pc or VNC
#you may use Xming server for this
#cv2.imshow("Frame", image)
key = cv2.waitKey(1) & 0xFF
lastfaces = faces
# clear the stream in preparation for the next frame
rawCapture.truncate(0)
# if the `q` key was pressed, break from the loop
if((psm.isKeyPressed() == True) and psm.screen.isTouched()):
break
#if key == ord("q"):
# break
socket.setdefaulttimeout(5)
socket.socket(socket.AF_INET, socket.SOCK_STREAM).connect(("8.8.8.8", 53))
return True
except Exception as e: pass
return False
psm.screen.fillRect(0, 0, 320, 240, fill = (0,0,0), display = False)
psm.screen.drawAutoText("Testing internet connection", 20, 30, fill = (255,255,255), size = 23, display = False)
psm.screen.fillRect(20, 80, 320, 240, fill = (0,0,0), display = False)
psm.screen.fillBmp(110, 110, 100, 100, path = currentdir+'/'+'load.png', display = False)
psm.screen.fillRect(0, 0, 1, 1, fill = (0,0,0), display = True)
test = available()
psm.screen.fillRect(0, 0, 320, 240, fill = (0,0,0), display = False)
if test:
psm.screen.drawAutoText("You are connected", 35, 20, fill = (0,255,0), size = 25, display = False)
psm.screen.drawAutoText("to the internet!", 35, 50, fill = (0,255,0), size = 25, display = False)
psm.screen.fillBmp(120, 85, 80, 80, path = currentdir+'/'+'wifi_green.png', display = False)
else:
psm.screen.drawAutoText("You are not connected", 35, 20, fill = (255,0,0), size = 25, display = False)
psm.screen.drawAutoText("to the internet!", 35, 50, fill = (255,0,0), size = 25, display = False)
psm.screen.fillBmp(130, 95, 60, 60, path = currentdir+'/'+'x_red.png', display = False)
psm.screen.drawButton(35, 170, width = 250, height = 40, text="Continue", display=False)
psm.screen.fillRect(0, 0, 1, 1, fill = (0,0,0), display = True)
exit = False
while not exit:
cont = psm.screen.checkButton(35, 170, 250, 40)
if cont or psm.isKeyPressed(): exit = True
if resp and resp.status_code == 200:
registered = True
except:
pass
if registered:
psm.screen.termPrintln('registered successfully')
else:
psm.screen.termPrintln('failed to register')
switchboard_register()
print 'starting event loop'
event_loop = bot.EventLoop(processors=(
#locator,
FrontBumperProcessor(driver),
remote,
path_follower,
))
while True:
if psm.isKeyPressed():
break
event_loop.step()
time.sleep(0.001)
driver.float()
psm.screen.termPrintln("Exiting ...")
psm.screen.drawAutoText("You are not connected",
35,
20,
fill=(255, 0, 0),
size=25,
display=False)
psm.screen.drawAutoText("to the internet!",
35,
50,
fill=(255, 0, 0),
size=25,
display=False)
psm.screen.fillBmp(130,
95,
60,
60,
path=currentdir + '/' + 'x_red.png',
display=False)
psm.screen.drawButton(35,
170,
width=250,
height=40,
text="Continue",
display=False)
psm.screen.fillRect(0, 0, 1, 1, fill=(0, 0, 0), display=True)
exit = False
while not exit:
cont = psm.screen.checkButton(35, 170, 250, 40)
if cont or psm.isKeyPressed(): exit = True
print 'f.set()'
sleep(0.1)
psm.led(1, 0, 0, 0)
if __name__ == "__main__":
entered_house = Event()
found_bomb = Event()
got_victim = Event()
f_thread = Thread(target=follow, args=(entered_house, found_bomb, got_victim))
f_thread.start()
s_thread = Thread(target=search, args=(entered_house, found_bomb, got_victim))
s_thread.start()
while not exit:
sleep(0.05)
if psm.isKeyPressed(): # if the GO button is pressed
psm.screen.clearScreen()
psm.screen.termPrintln("Exiting to menu")
psm.led(1,0,0,0)
psm.BAM1.float()
psm.BAM2.float()
psm.BBM1.float()
psm.BBM2.float()
sleep(0.1)
exit = True
from PiStorms import PiStorms
import random, time
psm = PiStorms()
#
# To exit this program, press & hold GO button and touch the screen
#
psm.screen.termPrintAt(1, "To Exit: press & hold GO button")
psm.screen.termPrintAt(2, "and touch the screen.")
time.sleep(4)
while not (bool(psm.isKeyPressed()) and psm.screen.isTouched()):
if ( psm.screen.isTouched() ):
x = psm.screen.TS_X()
y = psm.screen.TS_Y()
tsx = psm.screen.TS_To_ImageCoords_X(x,y)
tsy = psm.screen.TS_To_ImageCoords_Y(x,y)
isTouched = True
tFactor = 2
else:
isTouched = False
tFactor = 0
if (isTouched):
x = tsx
y = tsy
