def pycozmo_program(cli: pycozmo.client.Client):
angle = (pycozmo.robot.MAX_HEAD_ANGLE.radians -
pycozmo.robot.MIN_HEAD_ANGLE.radians) / 2.0
pkt = pycozmo.protocol_encoder.SetHeadAngle(angle_rad=angle)
cli.send(pkt)
for _ in range(3):
pkt = pycozmo.protocol_encoder.NextFrame()
cli.send(pkt)
pkt = pycozmo.protocol_encoder.DisplayImage(
pycozmo.util.hex_load(
"11:9c:b6:a4:98:be:40:94:c6:40:90:ce:5b:94:c6:9c:98:be:a0:"
"9c:b6:06:a0:ae:40:9c:b6:40:98:be:5d:9c:b6:40:a0:ae:1b"))
cli.send(pkt)
time.sleep(1)
pkt = pycozmo.protocol_encoder.NextFrame()
cli.send(pkt)
pkt = pycozmo.protocol_encoder.DisplayImage(
pycozmo.util.hex_load(
"16:a0:b6:41:9c:be:40:98:c6:5b:9c:be:9c:a0:b6:40:06:a4:ae:"
"a4:a0:b6:40:9c:be:40:98:c6:5b:9c:be:40:a0:b6:40:16"))
cli.send(pkt)
time.sleep(1)
def pycozmo_program(cli: pycozmo.client.Client):
lights = [
pycozmo.lights.red_light,
pycozmo.lights.green_light,
pycozmo.lights.blue_light,
pycozmo.lights.white_light,
pycozmo.lights.off_light,
]
for light in lights:
pkt = pycozmo.protocol_encoder.LightStateCenter(states=(light, light,
light))
cli.send(pkt)
pkt = pycozmo.protocol_encoder.LightStateSide(states=(light, light))
cli.send(pkt)
time.sleep(2)
def pycozmo_program(cli: pycozmo.client.Client):
print("Waiting for cube...")
cube_factory_id = None
while not cube_factory_id:
available_objects = dict(cli.available_objects)
for factory_id, obj in available_objects.items():
if obj.object_type == pycozmo.protocol_encoder.ObjectType.Block_LIGHTCUBE1:
cube_factory_id = factory_id
break
print("Cube with S/N 0x{:08x} available.".format(cube_factory_id))
print("Connecting to cube...")
pkt = pycozmo.protocol_encoder.ObjectConnect(factory_id=cube_factory_id, connect=True)
cli.send(pkt)
cli.wait_for(pycozmo.protocol_encoder.ObjectConnectionState)
cube_id = list(cli.connected_objects.keys())[0]
print("Cube connected - ID {}.".format(cube_id))
lights = [
pycozmo.lights.red_light,
pycozmo.lights.green_light,
pycozmo.lights.blue_light,
pycozmo.lights.off_light,
]
for light in lights:
# Select cube
pkt = pycozmo.protocol_encoder.CubeId(object_id=cube_id)
cli.send(pkt)
# Set lights
pkt = pycozmo.protocol_encoder.CubeLights(states=(light, light, light, light))
cli.send(pkt)
time.sleep(2)
def pycozmo_program(cli: pycozmo.client.Client):
angle = (pycozmo.robot.MAX_HEAD_ANGLE.radians -
pycozmo.robot.MIN_HEAD_ANGLE.radians) / 2.0
pkt = pycozmo.protocol_encoder.SetHeadAngle(angle_rad=angle)
cli.send(pkt)
pkt = pycozmo.protocol_encoder.EnableCamera(enable=True)
cli.send(pkt)
pkt = pycozmo.protocol_encoder.EnableColorImages(enable=True)
cli.send(pkt)
# Wait for image to stabilize.
time.sleep(2.0)
cli.add_handler(pycozmo.client.EvtNewRawCameraImage,
on_camera_image,
one_shot=True)
# Wait for image to be captured.
time.sleep(1)
def pycozmo_program(cli: pycozmo.client.Client):
print("Waiting for cube...")
cube_factory_id = None
while not cube_factory_id:
available_objects = dict(cli.available_objects)
for factory_id, obj in available_objects.items():
if obj.object_type == pycozmo.protocol_encoder.ObjectType.Block_LIGHTCUBE1:
cube_factory_id = factory_id
break
print("Cube with S/N 0x{:08x} available.".format(cube_factory_id))
print("Connecting to cube...")
pkt = pycozmo.protocol_encoder.ObjectConnect(factory_id=cube_factory_id,
connect=True)
cli.send(pkt)
cli.wait_for(pycozmo.protocol_encoder.ObjectConnectionState)
cube_id = list(cli.connected_objects.keys())[0]
print("Cube connected - ID {}.".format(cube_id))
color = pycozmo.lights.Color(int_color=0x00ff00ff)
light = pycozmo.lights.LightState(on_color=color.to_int16(),
off_color=pycozmo.lights.off.to_int16(),
on_frames=5,
off_frames=20,
transition_on_frames=5,
transition_off_frames=10)
# Select cube
pkt = pycozmo.protocol_encoder.CubeId(object_id=cube_id,
rotation_period_frames=40)
cli.send(pkt)
# Set lights
pkt = pycozmo.protocol_encoder.CubeLights(
states=(light, pycozmo.lights.off_light, pycozmo.lights.off_light,
pycozmo.lights.off_light))
cli.send(pkt)
time.sleep(30.0)
def pycozmo_program(cli: pycozmo.client.Client):
cli.send(
pycozmo.protocol_encoder.SetHeadAngle(
angle_rad=pycozmo.MAX_HEAD_ANGLE.radians))
time.sleep(1)
cli.send(
pycozmo.protocol_encoder.SetHeadAngle(
angle_rad=pycozmo.MIN_HEAD_ANGLE.radians))
time.sleep(1)
cli.send(pycozmo.protocol_encoder.DriveHead())
cli.send(
pycozmo.protocol_encoder.SetLiftHeight(
height_mm=pycozmo.MAX_LIFT_HEIGHT.mm))
time.sleep(1)
cli.send(
pycozmo.protocol_encoder.SetLiftHeight(
height_mm=pycozmo.MIN_LIFT_HEIGHT.mm))
time.sleep(1)
cli.send(pycozmo.protocol_encoder.DriveLift())
