from bluedot import BlueDot
# color zero can be installed using sudo pip3 install colorzero
from colorzero import Color
from signal import pause
def on(pos):
hue = (pos.angle + 180) / 360
c = Color(h=hue, s=1, v=pos.distance)
bd.color = c.rgb_bytes
def off():
bd.color = "blue"
bd = BlueDot()
bd.when_pressed = on
bd.when_moved = on
bd.when_released = off
pause()
# Load BlueDot
bd = BlueDot()
# Follow the direction of circle
def dpad(pos):
if pos.top:
ser.write(("F\n").encode("ascii"))
elif pos.bottom:
ser.write(("B\n").encode("ascii"))
elif pos.left:
ser.write(("L\n").encode("ascii"))
elif pos.right:
ser.write(("R\n").encode("ascii"))
# Stop RC car
def released():
ser.write(("H\n").encode("ascii"))
# Run dpad function
bd.when_pressed = dpad
bd.when_moved = dpad
bd.when_released = released
# Activate while connected to application
while True:
read_serial = ser.readline()
print(read_serial)
print("Swiped: up={} down={} left={} right={} speed={}".format(swipe.up, swipe.down, swipe.left, swipe.right, swipe.speed))
def double_presed(pos):
print("Double pressed: x={} y={}".format(pos.x, pos.y))
def client_connected():
print("connected callback")
def client_disconnected():
print("disconnected callback")
dot.when_client_connects = client_connected
dot.when_client_disconnects = client_disconnected
dot.when_pressed = pressed
dot.when_released = released
dot.when_moved = moved
dot.when_swiped = swiped
dot.when_double_pressed = double_presed
dot.start()
dot.wait_for_press()
print("wait for press")
dot.wait_for_move()
print("wait for move")
dot.wait_for_release()
print("wait for release")
dot.wait_for_double_press()
print("wait for double press")
dot.wait_for_swipe()
print("wait for swipe")
import time
from signal import pause
import RPi.GPIO as IO
bd = BlueDot()
bd.square = True
def dot_is_active(pos):
global p
BDx = -pos.x
BDy = pos.y
DC = BDx * 4.5 + 6.5
p.ChangeDutyCycle(DC)
print("X: {}\tY: {}".format(BDx, BDy))
IO.setwarnings(False)
IO.setmode(IO.BCM)
IO.setup(18, IO.OUT)
p = IO.PWM(18, 50) # Pin 18 Frequency= 50 Hertz
p.start(6.5)
# p.ChangeDutyCycle()
time.sleep(1)
bd.when_pressed = dot_is_active
bd.when_moved = dot_is_active
pause()
from bluedot import BlueDot
from signal import pause
def show_percentage(pos):
horizontal = ((pos.x + 1) / 2)
percentage = round(horizontal * 100, 2)
print("{}%".format(percentage))
bd = BlueDot()
bd.when_moved = show_percentage
pause()
# pusher instance
pusher = pysher.Pusher('18daa371eebed30fcef8', cluster='us3')
def handle_command(message):
robby.handle_command(message)
def connect_handler(data):
print("Connected to pusher!")
channel = pusher.subscribe('buggy')
channel.bind('command', handle_command)
pusher.connection.bind('pusher:connection_established', connect_handler)
pusher.connect()
position = (0, 0)
def bluedot_handler(pos):
global position
lastPosition = position
position = (clamp(round(bd.position.x * 2), -1,
1), clamp(round(bd.position.y * 2), -1, 1))
if position != lastPosition:
robby.move(position[0], position[1])
bd.when_pressed = bluedot_handler
bd.when_moved = bluedot_handler
bd.when_released = robby.stop
while True:
time.sleep(1)
def bd_stop():
robot.stop()
# ------------------------------------------------------------------------------------------------------
# Function for Blue Dot. Placeholder for any action we want to take on a double-press on the blue dot.
# ------------------------------------------------------------------------------------------------------
def bd_double_press():
robot.stop()
# ======================================================================================================
# Main program
# ======================================================================================================
try:
robot = RosiRobot()
robot.start()
robot.printSettings()
bd = BlueDot()
bd.when_pressed = bd_move
bd.when_moved = bd_move
bd.when_released = bd_stop
bd.when_double_pressed = bd_double_press
while running:
robot.wait(0.1)
except robot.RosiException as e:
print(e.value)
def dpad(pos):
if pos.top:
command = 'echo 2=+10 > /dev/servoblaster' # Move servo one incriment on button push
os.system(command)
print("Servo 2 - up") # Print button result in script window
elif pos.bottom:
command = 'echo 2=-10 > /dev/servoblaster'
os.system(command)
print("Servo 2 - down")
elif pos.left:
command = 'echo 1=+10 > /dev/servoblaster'
os.system(command)
print("Servo 1 - left")
elif pos.right:
command = 'echo 1=-10 > /dev/servoblaster'
os.system(command)
print("Servo 1 - right")
elif pos.middle:
command = 'echo 1=50% > /dev/servoblaster' # Reset both servos to mid 'home' positions
os.system(command)
command = 'echo 2=50% > /dev/servoblaster'
os.system(command)
bd = BlueDot()
bd.when_pressed = dpad
bd.when_moved = dpad # Set button to work when moved not just pressed
pause()
def doMoveXY():
bd = BlueDot()
bd.when_pressed = moveXY
bd.when_moved = moveXY
from bluedot import BlueDot
from gpiozero import Robot
from signal import pause
bd = BlueDot()
robot = Robot(left=(4, 14), right=(17, 18))
def move(pos):
if pos.top:
robot.forward(pos.distance)
elif pos.bottom:
robot.backward(pos.distance)
elif pos.left:
robot.left(pos.distance)
elif pos.right:
robot.right(pos.distance)
bd.when_pressed = move
bd.when_moved = move
bd.when_released = robot.stop
pause()
def doMoveDistance():
bd = BlueDot()
bd.when_pressed = moveDistance
bd.when_moved = moveDistance
toggle = 1 speed = 1560.0 pi = pigpio.pi() pi.set_servo_pulsewidth(ESC, 0) pi.set_servo_pulsewidth(servo, 0) max_servo_value = 1780 #Servo's max value min_servo_value = 980 #Servo's min value zero_value = (max_servo_value + min_servo_value) / 2 half_range = (max_servo_value - min_servo_value) / 2 max_esc_value = 2000 #ESC's max value min_esc_value = 980 #ESC's min value increase_throttle_rate = 10 decrease_throttle_rate = 10 # Video stream in one thread thread_stream = PiVideoStream() thread_carlog = car_logging() time.sleep(2) bd.rotation_segments = 180 bd.color = 'red' bd.when_double_pressed = start_stop bd.when_moved = steering pause()
elif pos.left:
devastator_robot.left()
elif pos.right:
devastator_robot.right()
elif pos.middle:
os.system("sudo shutdown now")
#Define the stop and record functions
def stop():
devastator_robot.stop()
def record():
devastator_eye.off()
devastator_camera.start_recording('/home/pi/Videos/motions_%02d_%02d_%02d.mjpg' % (moment.hour, moment.minute, moment.second))
def stop_record():
devastator_eye.on()
devastator_camera.stop_recording()
#When the dot is pressed the robot moves
#When the dot is released it stops
#When pressing one button the camera turns on
#When the other button is pressed the camera turns off
devastator_bluedot.when_pressed = move
devastator_bluedot.when_moved = move
devastator_bluedot.when_released = stop
record_button.when_pressed = record
stop_button.when_pressed = stop_record
pause()
from bluedot import BlueDot
from gpiozero import PWMLED
from signal import pause
def set_brightness(pos):
brightness = ((pos.y + 1) / 2)
led.value = brightness
bd = BlueDot()
bd.when_moved = set_brightness
led = PWMLED(17)
pause()
for i in range(0, 5): # repeat the following code 5 times.
robot.left()
sleep(0.2)
robot.right()
sleep(0.2)
def move(
pos
): #Move by an amount that is proportional to the position of the joystick.
if pos.top:
robot.forward(pos.distance)
elif pos.bottom:
robot.backward(pos.distance)
elif pos.left:
robot.left(pos.distance)
elif pos.right:
robot.right(pos.distance)
def stop(): #stop when nothing is pressed
robot.stop()
bd.when_pressed = move #initiate robot movement from the move function when button pressed
bd.when_moved = move #again, but for when you move your finger on the blue dot
bd.when_released = stop #stop moving when the bluedot is released
bd.when_double_pressed = turn_around #taunt gesture added for showboating, defined above
pause() #keep the script running forever.
from bluedot import BlueDot
from gpiozero import Robot
from signal import pause
bd = BlueDot()
robot = Robot(right=(27, 17), left=(24, 23))
def move(pos):
if pos.top:
robot.forward(pos.distance)
elif pos.bottom:
robot.backward(pos.distance)
elif pos.left:
robot.left(pos.distance)
elif pos.right:
robot.right(pos.distance)
bd.when_pressed = move
bd.when_moved = move
bd.when_released = robot.stop
pause()
drive = autonomousMode(False)
turningLeft = False
while drive:
distance = getDistance()
while distance <= 0.50:
if not turningLeft:
teslaCyber.left()
turningLeft = True
distance = getDistance()
teslaCyber.forward()
turningLeft = False
drive = autonomousMode(False)
teslaCyber.stop()
def autonomousMode(change=True):
global auto
if change:
auto = not auto
return auto
def beginSelfDrive():
autonomousMode()
selfDrive()
remoteControl.set_when_rotated(beginSelfDrive, True)
# remoteControl.set_when_double_pressed(selfDrive, True)
remoteControl.when_moved = move
remoteControl.when_pressed = move
remoteControl.when_released = stop
