def cozmo_program(robot: cozmo.robot.Robot):
global isTakingPicture
# creates a local directory if its not already there
if os.path.exists('photos'):
shutil.rmtree('photos')
if not os.path.exists('photos'):
os.makedirs('photos')
#mute Cozmo while testing. Leave it in case we want it later.
robot.say_text(f"Somebody just ordered the {targetObject}. I'll go get it for him.").wait_for_completed()
# reset Cozmo's arms and head
robot.set_head_angle(degrees(10.0)).wait_for_completed()
robot.set_lift_height(0.0).wait_for_completed()
robot.add_event_handler(cozmo.world.EvtNewCameraImage, on_new_camera_image)
while not discoveredObject:
isTakingPicture = False
robot.turn_in_place(degrees(90)).wait_for_completed()
isTakingPicture = True
time.sleep(5)
isTakingPicture = False
if discoveredObject:
# acknowledge its been found
robot.say_text(f"Oh yay! I've found {targetObject}").wait_for_completed()
# robot.play_anim_trigger(cozmo.anim.Triggers.MajorWin).wait_for_completed()
# go to pick up obj
cozmo.run_program(get_object(robot))
def cozmo_program(robot: cozmo.robot.Robot):
global toy
toy = sys.argv[1]
global takePicture
if os.path.exists('photos'):
shutil.rmtree('photos')
if not os.path.exists('photos'):
os.makedirs('photos')
robot.set_head_angle(degrees(10.0)).wait_for_completed()
robot.set_lift_height(0.0).wait_for_completed()
#time.sleep(10)
robot.add_event_handler(cozmo.world.EvtNewCameraImage, on_new_camera_image)
while not foundToy:
takePicture = False
robot.turn_in_place(degrees(45)).wait_for_completed()
takePicture = True
time.sleep(2)
takePicture = False
if foundToy:
print('Found toy: ' + toy + ' !!!')
robot.drive_straight(distance_mm(200),
speed_mmps(300)).wait_for_completed()
robot.say_text("I have found the " + toy).wait_for_completed()
anim = robot.play_anim_trigger(
cozmo.anim.Triggers.MajorWin).wait_for_completed()
def cozmo_program(robot: cozmo.robot.Robot):
# Make sure Cozmo's head and arm are at reasonable levels
robot.set_head_angle(degrees(10.0)).wait_for_completed()
robot.set_lift_height(0.0).wait_for_completed()
robot.say_text(
f"I'm going to take photos of {sys.argv[1]}").wait_for_completed()
# Set directory to the Category that Cozmo is going to photograph
global directory
directory = sys.argv[1]
if not os.path.exists('data'):
os.makedirs('data')
if not os.path.exists(f'data/{directory}'):
os.makedirs(f'data/{directory}')
# Anytime Cozmo sees a "new" image, take a photo
robot.add_event_handler(cozmo.world.EvtNewCameraImage, on_new_camera_image)
# Initial photo sesh
robot.drive_straight(distance_mm(-200), speed_mmps(100), False, False,
0).wait_for_completed()
take_photos(robot)
# Get all the angles
#for i in range(3):
# move_to_next_side(robot)
# And we're done here
robot.say_text("All done!").wait_for_completed()
robot.play_anim_trigger(cozmo.anim.Triggers.MajorWin).wait_for_completed()
def cozmo_program(robot: cozmo.robot.Robot):
global isTakingPicture
global targetObject
targetObject = sys.argv[1]
if os.path.exists('photos'):
shutil.rmtree('photos')
if not os.path.exists('photos'):
os.makedirs('photos')
robot.say_text(
f"Somebody lost the {targetObject}. Don't worry, I'll find it."
).wait_for_completed()
# reset Cozmo's arms and head
robot.set_head_angle(degrees(10.0)).wait_for_completed()
robot.set_lift_height(0.0).wait_for_completed()
robot.add_event_handler(cozmo.world.EvtNewCameraImage, on_new_camera_image)
while not discoveredObject:
isTakingPicture = False
robot.turn_in_place(degrees(45)).wait_for_completed()
isTakingPicture = True
time.sleep(2)
isTakingPicture = False
if discoveredObject:
robot.drive_straight(distance_mm(200),
speed_mmps(300)).wait_for_completed()
robot.say_text(
f"Oh yay! I've found the {targetObject}").wait_for_completed()
robot.play_anim_trigger(
cozmo.anim.Triggers.MajorWin).wait_for_completed()
def custom_objects(robot: cozmo.robot.Robot):
# Add event handlers for whenever Cozmo sees a new object
robot.add_event_handler(cozmo.objects.EvtObjectAppeared,
handle_object_appeared)
robot.add_event_handler(cozmo.objects.EvtObjectDisappeared,
handle_object_disappeared)
# define a unique cube (44mm x 44mm x 44mm) (approximately the same size as a light cube)
# with a 30mm x 30mm Diamonds2 image on every face
cube_obj = robot.world.define_custom_cube(CustomObjectTypes.CustomType00,
CustomObjectMarkers.Diamonds2,
44, 30, 30, True)
if (cube_obj is not None):
print("All objects defined successfully!")
else:
print("One or more object definitions failed!")
return
print(
"Show the above markers to Cozmo and you will see the related objects "
"annotated in Cozmo's view window, you will also see print messages "
"everytime a custom object enters or exits Cozmo's view.")
print("Press CTRL-C to quit")
while True:
time.sleep(0.1)
def custom_objects(robot: cozmo.robot.Robot):
# Add event handlers for whenever Cozmo sees a new object
robot.add_event_handler(cozmo.objects.EvtObjectAppeared,
handle_object_appeared)
robot.add_event_handler(cozmo.objects.EvtObjectDisappeared,
handle_object_disappeared)
default_position_upon_start(robot)
# define a unique wall (150mm x 120mm (x10mm thick for all walls)
# with a 50mm x 30mm Circles2 image on front and back
wall_obj1 = robot.world.define_custom_wall(CustomObjectTypes.CustomType01,
CustomObjectMarkers.Hexagons5,
150, 120, 50, 30, True)
wall_obj2 = robot.world.define_custom_wall(CustomObjectTypes.CustomType00,
CustomObjectMarkers.Diamonds2,
150, 120, 50, 30, True)
if ((wall_obj1 is not None) and (wall_obj2 is not None)):
print("All objects defined successfully!")
else:
print("One or more object definitions failed!")
print("Press CTRL-C to quit")
while True:
#time.sleep(0.1)
action_on_seeing_object(robot)
def custom_objects(robot: cozmo.robot.Robot):
# Add event handlers for whenever Cozmo sees a new object
robot.add_event_handler(cozmo.objects.EvtObjectAppeared,
handle_object_appeared)
robot.add_event_handler(cozmo.objects.EvtObjectDisappeared,
handle_object_disappeared)
default_position_upon_start(robot)
#wall_obj1.object_id = 123456
wall_obj1 = robot.world.define_custom_wall(CustomObjectTypes.CustomType00,
CustomObjectMarkers.Circles5,
38, 38, 38, 38, True)
wall_obj2 = robot.world.define_custom_wall(CustomObjectTypes.CustomType01,
CustomObjectMarkers.Diamonds2,
38, 38, 38, 38, True)
if ((wall_obj1 is not None) and (wall_obj2 is not None)):
print("All objects defined successfully!")
else:
print("One or more object definitions failed!")
print("Press CTRL-C to quit")
while True:
#time.sleep(0.1)
action_on_seeing_object(robot)
def cozmo_program(robot: cozmo.robot.Robot):
robot.camera.color_image_enabled = True
robot.add_event_handler(cozmo.camera.EvtNewRawCameraImage, handle_image)
robot.set_lift_height(1.0)
print("Added event handler")
while True:
time.sleep(0.1)
def cozmo_program(robot: cozmo.robot.Robot):
global isTakingPicture
global targetObject
targetObject = sys.argv[1]
if os.path.exists('photos'):
shutil.rmtree('photos')
if not os.path.exists('photos'):
os.makedirs('photos')
robot.say_text(f"Somebody lost the {targetObject}. Don't worry, I'll find it.").wait_for_completed()
# reset Cozmo's arms and head
robot.set_head_angle(degrees(10.0)).wait_for_completed()
robot.set_lift_height(0.0).wait_for_completed()
robot.add_event_handler(cozmo.world.EvtNewCameraImage, on_new_camera_image)
while not discoveredObject:
isTakingPicture = False
robot.turn_in_place(degrees(45)).wait_for_completed()
isTakingPicture = True
time.sleep(2)
isTakingPicture = False
if discoveredObject:
robot.drive_straight(distance_mm(200), speed_mmps(300)).wait_for_completed()
robot.say_text(f"Oh yay! I've found the {targetObject}").wait_for_completed()
robot.play_anim_trigger(cozmo.anim.Triggers.MajorWin).wait_for_completed()
async def cozmo_program(robot: cozmo.robot.Robot):
robot.camera.image_stream_enabled = True
robot.camera.color_image_enabled = True
robot.add_event_handler(cozmo.world.EvtNewCameraImage, on_img)
robot.set_head_angle(cozmo.util.Angle(degrees=0))
while True:
await asyncio.sleep(1)
async def custom_objects(robot: cozmo.robot.Robot):
robot.add_event_handler(cozmo.objects.EvtObjectTapped,
handle_object_tapped)
# 拿到loop ._loop
loop = robot._loop
# create comumer
t1 = loop.create_task(worker(robot, queue))
await t1
'''
def __init__(self, robot: cozmo.robot.Robot): self._robot = robot self.cubes = None self.game_state = GAME_STATE self.url = 'http://api-fr3.akinator.com/ws/new_session?callback=&partner=1&player=desktopPlayer&constraint=' self.global_answer = 'Erreur' self.step = 0 self.step2 = 0 robot.add_event_handler(cozmo.objects.EvtObjectTapped, self.on_cube_tap)
def custom_objects(robot: cozmo.robot.Robot):
# Add event handlers for whenever Cozmo sees a new object
robot.add_event_handler(cozmo.objects.EvtObjectAppeared,
handle_object_appeared)
robot.add_event_handler(cozmo.objects.EvtObjectDisappeared,
handle_object_disappeared)
# define a unique cube (44mm x 44mm x 44mm) (approximately the same size as a light cube)
# with a 30mm x 30mm Diamonds2 image on every face
cube_obj = robot.world.define_custom_cube(CustomObjectTypes.CustomType00,
CustomObjectMarkers.Diamonds2,
44, 30, 30, True)
# define a unique cube (88mm x 88mm x 88mm) (approximately 2x the size of a light cube)
# with a 50mm x 50mm Diamonds3 image on every face
big_cube_obj = robot.world.define_custom_cube(
CustomObjectTypes.CustomType01, CustomObjectMarkers.Diamonds3, 88, 50,
50, True)
# define a unique wall (150mm x 120mm (x10mm thick for all walls)
# with a 50mm x 30mm Circles2 image on front and back
wall_obj = robot.world.define_custom_wall(CustomObjectTypes.CustomType02,
CustomObjectMarkers.Circles2,
150, 120, 50, 30, True)
# define a unique box (60mm deep x 140mm width x100mm tall)
# with a different 30mm x 50mm image on each of the 6 faces
box_obj = robot.world.define_custom_box(
CustomObjectTypes.CustomType03,
CustomObjectMarkers.Hexagons2, # front
CustomObjectMarkers.Circles3, # back
CustomObjectMarkers.Circles4, # top
CustomObjectMarkers.Circles5, # bottom
CustomObjectMarkers.Triangles2, # left
CustomObjectMarkers.Triangles3, # right
60,
140,
100,
30,
50,
True)
if ((cube_obj is not None) and (big_cube_obj is not None)
and (wall_obj is not None) and (box_obj is not None)):
print("All objects defined successfully!")
else:
print("One or more object definitions failed!")
return
print(
"Show the above markers to Cozmo and you will see the related objects "
"annotated in Cozmo's view window, you will also see print messages "
"everytime a custom object enters or exits Cozmo's view.")
print("Press CTRL-C to quit")
while True:
time.sleep(0.1)
def cozmo_program(robot: cozmo.robot.Robot):
robot.set_lift_height(1.0)
exposure_amount = 0.3 # Range: [0,1]
gain_amount = 0.9 # Range: [0,1]
configure_camera(robot, exposure_amount, gain_amount)
robot.add_event_handler(cozmo.camera.EvtNewRawCameraImage, handle_image)
print("Added event handler")
while True:
time.sleep(0.1)
def custom_objects(robot: cozmo.robot.Robot):
# Add event handlers for whenever Cozmo sees a new object
robot.add_event_handler(cozmo.objects.EvtObjectAppeared, handle_object_appeared)
robot.add_event_handler(cozmo.objects.EvtObjectDisappeared, handle_object_disappeared)
custom_box = robot.world.define_custom_box(custom_object_type=cozmo.objects.CustomObjectTypes.CustomType00, \
marker_front=cozmo.objects.CustomObjectMarkers.Circles2, \
marker_back=cozmo.objects.CustomObjectMarkers.Circles3, \
marker_top=cozmo.objects.CustomObjectMarkers.Circles4, \
marker_bottom=cozmo.objects.CustomObjectMarkers.Circles5, \
marker_left=cozmo.objects.CustomObjectMarkers.Diamonds2, \
marker_right=cozmo.objects.CustomObjectMarkers.Diamonds3, \
depth_mm=60, \
width_mm=60, \
height_mm=45, \
marker_width_mm=24.892, \
marker_height_mm=24.892, \
is_unique=True)
if (custom_box is not None):
print("All objects defined successfully!")
else:
print("One or more object definitions failed!")
return
print("Show the above markers to Cozmo and you will see the related objects "
"annotated in Cozmo's view window, you will also see print messages "
"everytime a custom object enters or exits Cozmo's view.")
print("Press CTRL-C to quit")
cubes = lookForCubes(robot, 45, 0)
old_pose = robot.pose
print("looking for cubes!")
if len(cubes) == 1:
print("found object")
robot.set_lift_height(height = 0, accel = 6, max_speed = 500, duration = 1, in_parallel = False, num_retries = 3).wait_for_completed()
robot.go_to_pose(cubes[0].pose,relative_to_robot=False).wait_for_completed()
pickupObject(robot)
robot.drive_wheels(-50,-50)
time.sleep(3)
robot.drive_wheels(0,0)
robot.go_to_pose(old_pose,relative_to_robot=False).wait_for_completed()
robot.set_lift_height(height = 0, accel = 6, max_speed = 500, duration = 1, in_parallel = False, num_retries = 3).wait_for_completed()
else:
print("Cannot locate custom box")
while True:
time.sleep(0.1)
def setup_camera(robot: cozmo.robot.Robot):
# Chaque fois que Cozmo voit une "nouvelle" image, prends une photo
robot.add_event_handler(cozmo.world.EvtNewCameraImage, on_new_camera_image)
# Indiquer le dossier pour stocker les photos
global directory
directory = f"{strftime('%y%m%d')}"
if not os.path.exists('photos'):
os.makedirs('photos')
if not os.path.exists(f'photos/{directory}'):
os.makedirs(f'photos/{directory}')
def workloop(robot: cozmo.robot.Robot):
global ZielmaschVar
global Zielmaschine
robot.add_event_handler(cozmo.objects.EvtObjectAppeared,
handle_object_appeared)
robot.add_event_handler(cozmo.objects.EvtObjectDisappeared,
handle_object_disappeared)
Maschine1 = robot.world.define_custom_cube(CustomObjectTypes.CustomType00,
CustomObjectMarkers.Circles2,
50, 50, 50, True)
Maschine2 = robot.world.define_custom_cube(CustomObjectTypes.CustomType01,
CustomObjectMarkers.Circles3,
50, 50, 50, True)
Maschine3 = robot.world.define_custom_cube(CustomObjectTypes.CustomType02,
CustomObjectMarkers.Circles4,
50, 50, 50, True)
Maschine4 = robot.world.define_custom_cube(CustomObjectTypes.CustomType03,
CustomObjectMarkers.Circles5,
50, 50, 50, True)
Maschine5 = robot.world.define_custom_cube(CustomObjectTypes.CustomType04,
CustomObjectMarkers.Diamonds2,
50, 50, 50, True)
robot.set_head_angle(degrees(7)).wait_for_completed()
# dreh dich und such nach der maschine
lookaround = robot.start_behavior(
cozmo.behavior.BehaviorTypes.LookAroundInPlace)
targ = robot.world.wait_for_observed_light_cube()
lookaround.stop()
robot.pickup_object(targ, num_retries=3).wait_for_completed()
robot.set_head_angle(degrees(7)).wait_for_completed()
lookForMachine(robot)
robot.turn_in_place(degrees(5)).wait_for_completed()
#Masch = robot.world.wait_until_observe_num_objects(num=1, object_type=cozmo.objects.CustomObject, timeout=5)
robot.drive_straight(distance_mm(150), speed_mmps(50)).wait_for_completed()
robot.place_object_on_ground_here(targ).wait_for_completed()
MAschinenwechsler()
# such den würfel
# lade den Würfel auf
# fahr zutrück zur Mitte
# dreh und scanne nach der nächsten maschine
# positioniere dich zur maschine
# lad den würfel ab
while True:
time.sleep(0.5)
def cozmo_program(robot: cozmo.robot.Robot):
global isTakingPicture
robot.set_head_angle(degrees(10.0)).wait_for_completed()
robot.set_lift_height(0.0).wait_for_completed()
robot.add_event_handler(cozmo.world.EvtNewCameraImage, on_new_camera_image)
straight(robot, 130)
conn.send("Location:130,0\n".encode())
turn(robot, -90)
def cozmo_program(robot: cozmo.robot.Robot):
robot.set_head_angle(degrees(10.0)).wait_for_completed()
robot.set_lift_height(0.0).wait_for_completed()
global directory
directory = sys.argv[1]
if not os.path.exists('pictures'):
os.makedirs('pictures')
if not os.path.exists('pictures/' + directory):
os.makedirs('pictures/' + directory)
robot.add_event_handler(cozmo.world.EvtNewCameraImage, on_new_camera_image)
time.sleep(10)
print("Done: Taking Pictures")
def cozmo_program(robot: cozmo.robot.Robot):
robot.set_lift_height(1.0).wait_for_completed()
robot.camera.color_image_enabled = True
robot.add_event_handler(cozmo.camera.EvtNewRawCameraImage, handle_image)
print("Added event handler")
#robot.say_text("purple").wait_for_completed()
while True:
global speak
if speak == True:
robot.say_text(prediction).wait_for_completed()
speak = False
time.sleep(0.1)
def cozmo_program(robot: cozmo.robot.Robot):
# Reset head
robot.set_head_angle(degrees(0.0)).wait_for_completed()
# Reset lift
robot.set_lift_height(0.0).wait_for_completed()
# Announce activity
robot.say_text("Stage 1").wait_for_completed()
# Create images directory if it doesn't exists
global directory
directory = sys.argv[1]
if not os.path.exists('images'):
os.makedirs('images')
# Drive to 1st Location
robot.drive_straight(distance_mm(340), speed_mmps(90), False, False,
0).wait_for_completed()
# Initialise Camera
take_photos(robot)
# new image == new pic
robot.add_event_handler(cozmo.world.EvtNewCameraImage, on_new_camera_image)
shoot_sequence(robot)
# Announce activity
robot.say_text("Stage 2").wait_for_completed()
# Drive to 2nd Location
robot.drive_straight(distance_mm(-50), speed_mmps(90), False, False,
0).wait_for_completed()
robot.turn_in_place(degrees(90)).wait_for_completed()
robot.drive_straight(distance_mm(250), speed_mmps(90), False, False,
0).wait_for_completed()
robot.turn_in_place(degrees(-90)).wait_for_completed()
robot.drive_straight(distance_mm(300), speed_mmps(90), False, False,
0).wait_for_completed()
robot.turn_in_place(degrees(-90)).wait_for_completed()
robot.drive_straight(distance_mm(230), speed_mmps(90), False, False,
0).wait_for_completed()
robot.turn_in_place(degrees(-90)).wait_for_completed()
robot.drive_straight(distance_mm(50), speed_mmps(90), False, False,
0).wait_for_completed()
# new image == new pic
robot.add_event_handler(cozmo.world.EvtNewCameraImage, on_new_camera_image)
shoot_sequence(robot)
upload()
# And we're done here
robot.say_text("Images sent to Oracle Cloud").wait_for_completed()
def custom_objects(robot: cozmo.robot.Robot):
# Add event handlers for whenever Cozmo sees a new object
robot.add_event_handler(cozmo.objects.EvtObjectAppeared,
handle_object_appeared)
#robot.add_event_handler(cozmo.objects.EvtObjectDisappeared, handle_object_disappeared)
# define a unique wall (150mm x 120mm (x10mm thick for all walls)
# with a 50mm x 30mm Circles2 image on front and back
wall_obj = robot.world.define_custom_wall(CustomObjectTypes.CustomType02,
CustomObjectMarkers.Circles2,
140, 130, 65, 65, False)
wall_obj1 = robot.world.define_custom_wall(CustomObjectTypes.CustomType03,
CustomObjectMarkers.Diamonds2,
140, 130, 64, 64, False)
# if ((cube_obj is not None) and (big_cube_obj is not None) and
# (wall_obj is not None) and (box_obj is not None)):
# print("All objects defined successfully!")
# else:
# print("One or more object definitions failed!")
# return
print(
"Show the above markers to Cozmo and you will see the related objects "
"annotated in Cozmo's view window, you will also see print messages "
"everytime a custom object enters or exits Cozmo's view.")
print("Press CTRL-C to quit")
# Move lift down and tilt the head up
robot.move_lift(100)
robot.set_head_angle(degrees(-25))
while True:
global found_wall
global found_wall1
if found_wall == True:
robot.drive_straight(distance_mm(150),
speed_mmps(50)).wait_for_completed()
robot.turn_in_place(degrees(90)).wait_for_completed()
found_wall = False
robot.set_head_angle(degrees(-25))
if found_wall1 == True:
robot.drive_straight(distance_mm(150),
speed_mmps(50)).wait_for_completed()
robot.turn_in_place(degrees(-90)).wait_for_completed()
found_wall1 = False
robot.set_head_angle(degrees(-25))
time.sleep(0.1)
def cozmo_program(robot: cozmo.robot.Robot):
global takePicture
# Make sure Cozmo's head and arm are at reasonable levels
robot.set_head_angle(degrees(1)).wait_for_completed()
robot.set_lift_height(0.0).wait_for_completed()
# Anytime Cozmo sees a "new" image, take a photo
robot.add_event_handler(cozmo.world.EvtNewCameraImage, on_new_camera_image)
# And we're done here
#robot.say_text("All done!").wait_for_completed()
#robot.camera.enable_auto_exposure(False)
#robot.camera.set_manual_exposure( 5, .5)
while takePicture == True:
pass
def init_cubes(robot: cozmo.robot.Robot):
global cube1,cube2,cube3,ev_cube,ev_id,ev_command,ev_light
cube1 = robot.world.get_light_cube(LightCube1Id) # looks like a paperclip
cube2 = robot.world.get_light_cube(LightCube2Id) # looks like a lamp / heart
cube3 = robot.world.get_light_cube(LightCube3Id) # looks like the letters 'ab' over 'T'
# Make sure each cube is off
switch_cubes_off()
# Add listener to control initialisation
handler = robot.add_event_handler(cozmo.objects.EvtObjectTapped, handle_tap_init)
seq = ['red','green','blue']
light_seq = [cozmo.lights.red_light,cozmo.lights.green_light,cozmo.lights.blue_light]
cube_seq = [cube1,cube2,cube3]
comm_seq = ['g','c','s'] # greater,correct,smaller
for i in range(0,3):
print('Tap the ',seq[i],' cube')
switch_cube_on(cube_seq[i],light_seq[i])
while(True):
if(ev_id):
# Map event to cube
ev_cube[ev_id] = cube_seq[i]
ev_command[ev_id] = comm_seq[i]
ev_light[ev_id] = light_seq[i]
make_selected_cube_blink(ev_cube[ev_id],light_seq[i])
switch_cubes_off()
ev_id = 0
break
handler.disable()
def custom_objects(robot: cozmo.robot.Robot):
# Add event handlers for whenever Cozmo sees a new object
robot.add_event_handler(cozmo.objects.EvtObjectAppeared,
handle_object_appeared)
robot.add_event_handler(cozmo.objects.EvtObjectDisappeared,
handle_object_disappeared)
# define a unique cube (44mm x 44mm x 44mm) (approximately the same size as a light cube)
# with a 30mm x 30mm Diamonds2 image on every face
cube_obj = robot.world.define_custom_cube(CustomObjectTypes.CustomType00,
CustomObjectMarkers.Diamonds2,
44, 30, 30, True)
#state machine initializaion
#machine_state = CozmoStates()
while True:
time.sleep(0.1)
def cozmo_program(robot: cozmo.robot.Robot):
robot.set_head_angle(degrees(10.0)).wait_for_completed()
robot.set_lift_height(0.0).wait_for_completed()
global directory
# directory = sys.argv[1]
if not os.path.exists('pictures'):
os.makedirs('pictures')
robot.add_event_handler(cozmo.pets.EvtPetAppeared, on_new_pet_detected)
robot.add_event_handler(cozmo.world.EvtNewCameraImage, on_new_camera_image)
while not detected:
pass
# robot.turn_in_place(degrees(45))
# time.sleep(5)
if detected == True:
robot.drive_straight(distance_mm(250), speed_mmps(150)).wait_for_completed()
def cozmo_program(robot: cozmo.robot.Robot):
robot.set_head_angle(degrees(10.0)).wait_for_completed()
robot.set_lift_height(0.0).wait_for_completed()
robot.add_event_handler(cozmo.world.EvtNewCameraImage, on_new_camera_image)
print("press q to exit, press p to take a photo")
while 1:
if msvcrt.kbhit():
c = msvcrt.getch()
print(c)
if c == b'p':
print("saving photo")
global savePhoto
savePhoto = 1
if c == b'q':
print("quiting")
break #exit when 'q' is hit, take a photo when 'p' is hit
time.sleep(0.2)
async def cozmo_program(robot: cozmo.robot.Robot):
# Add event handlers for whenever Cozmo sees a new object
robot.add_event_handler(cozmo.objects.EvtObjectAppeared,
handle_object_appeared)
robot.add_event_handler(cozmo.objects.EvtObjectDisappeared,
handle_object_disappeared)
# Connect to the pre-defined cubes
await robot.world.connect_to_cubes()
# Make sure Cozmo's head and arm are at reasonable levels
await robot.set_head_angle(degrees(5.0)).wait_for_completed()
await robot.set_lift_height(0.0).wait_for_completed()
# Searches for the cubes for a defined time in seconds
search_cubes = robot.start_behavior(
cozmo.behavior.BehaviorTypes.LookAroundInPlace)
found_cubes = await robot.world.wait_until_observe_num_objects(
num=1, object_type=cozmo.objects.LightCube, timeout=6)
search_cubes.stop()
found_cubes[0] = robot.world.get_light_cube(LightCube2Id)
# Approach the object (pre-defined function used since its a defined object)
go_to_cube = robot.go_to_object(found_cubes[0], distance_mm(100.0))
await go_to_cube.wait_for_completed()
# Code for objects that weren't pre-defined (we drive manually)
# await robot.drive_straight(distance_mm(140), speed_mmps(100), False, False, 0).wait_for_completed()
await robot.drive_wheels(-200,
-200,
l_wheel_acc=4000,
r_wheel_acc=4000,
duration=1)
# Explore all sides of the object
for sides in range(15):
await explore_sides(robot, found_cubes)
await robot.say_text("Exploration complete!").wait_for_completed()
# Disconnects from the cubes
robot.world.disconnect_from_cubes()
def custom_objects(robot: cozmo.robot.Robot):
# Add event handlers for whenever Cozmo sees a new object
robot.add_event_handler(cozmo.objects.EvtObjectAppeared,
handle_object_appeared)
robot.add_event_handler(cozmo.objects.EvtObjectDisappeared,
handle_object_disappeared)
# define a unique cube (44mm x 44mm x 44mm) (approximately the same size as a light cube)
# with a 30mm x 30mm Diamonds2 image on every face
custom_obj = robot.world.define_custom_cube(CustomObjectTypes.CustomType00,
CustomObjectMarkers.Diamonds2,
25, 25, 25, True)
# custom_obj_fixed = robot.world.create_custom_fixed_object(
# 25,
# 25, 25, True)
while True:
time.sleep(0.1)
def __init__(self, robot: cozmo.robot.Robot):
self.robot = robot
self.player = QuickTapPlayer()
self.cozmo_player = CozmoQuickTapPlayer(robot)
robot.add_event_handler(cozmo.anim.EvtAnimationCompleted,
self.on_anim_completed)
robot.add_event_handler(cozmo.objects.EvtObjectTapped,
self.on_cube_tap)
self.cubes = None
self.countdown_cube = None
self.buzzer_display_type = None
self.round_start_time = time.time()
self.quick_tap_player_1 = None
self.quick_tap_player_2 = None
self.round_over = False
self.quick_tap_state = CHOOSE_CUBES_STATE
def custom_objects(robot: cozmo.robot.Robot):
# Add event handlers for whenever Cozmo sees a new object
robot.add_event_handler(cozmo.objects.EvtObjectAppeared,
handle_object_appeared)
robot.add_event_handler(cozmo.objects.EvtObjectDisappeared,
handle_object_disappeared)
# define a unique wall (150mm x 120mm (x10mm thick for all walls)
# with a 50mm x 30mm Circles2 image on front and back
north_wall = robot.world.define_custom_wall(CustomObjectTypes.CustomType02,
CustomObjectMarkers.Circles2,
300, 150, 63, 63, True)
# define a unique wall (150mm x 120mm (x10mm thick for all walls)
# with a 50mm x 30mm Circles2 image on front and back
east_wall = robot.world.define_custom_wall(CustomObjectTypes.CustomType03,
CustomObjectMarkers.Circles3,
300, 150, 63, 63, True)
# define a unique wall (150mm x 120mm (x10mm thick for all walls)
# with a 50mm x 30mm Circles2 image on front and back
south_wall = robot.world.define_custom_wall(CustomObjectTypes.CustomType04,
CustomObjectMarkers.Circles4,
300, 150, 63, 63, True)
# define a unique wall (150mm x 120mm (x10mm thick for all walls)
# with a 50mm x 30mm Circles2 image on front and back
west_wall = robot.world.define_custom_wall(CustomObjectTypes.CustomType05,
CustomObjectMarkers.Circles5,
300, 150, 63, 63, True)
if ((north_wall is not None) and (east_wall is not None)
and (south_wall is not None) and (west_wall is not None)):
print("All objects defined successfully!")
else:
print("One or more object definitions failed!")
return
while True:
time.sleep(0.1)
def get_answer_from_cubes(robot: cozmo.robot.Robot):
global cube1,cube2,cube3,ev_cube,ev_id,ev_command,ev_light
timeOut = 30
timer = 0
switch_cubes_on()
handler = robot.add_event_handler(cozmo.objects.EvtObjectTapped, handle_tapped)
while(True):
time.sleep(0.5)
timer += 0.5
if(ev_id):
switch_cubes_off()
make_selected_cube_blink(ev_cube[ev_id],ev_light[ev_id])
local_id = ev_id
ev_id = 0 # Deactivate selection
handler.disable()
return ev_command[local_id]
elif(timer > timeOut):
handler.disable()
return 'timeOut'
