def detect_object(self):
newL = robohat.irLeft()
newR = robohat.irRight()
if (newL != self.lastL) or (newR != self.lastR):
robohat.turnReverse(40, 40)
time.sleep(0.7)
robohat.spinRight(70)
time.sleep(0.4)
robohat.turnForward(20, 20)
else:
pass
def updateMotors(self):
Y_axis = self.yValue
X_axis = self.xValue
r_speed, l_speed = self.joystickToDiff(X_axis, -Y_axis, -1, 1, -100,
100)
#print("Left: " + str(l_speed) + ", Right: " + str(r_speed))
if Y_axis < 0:
if X_axis > 0:
if r_speed < 0:
r_speed = 20.0
else:
r_speed = r_speed + 20
r_speed = min(100, r_speed)
robohat.turnForward(l_speed, r_speed)
elif X_axis < 0:
if l_speed < 0:
l_speed = 20.0
else:
l_speed = l_speed + 20
l_speed = min(100, l_speed)
robohat.turnForward(l_speed, r_speed)
else:
robohat.turnForward(l_speed, r_speed)
elif Y_axis > 0:
if X_axis > 0:
r_speed = -r_speed
if l_speed < 0:
l_speed = -l_speed + 20
l_speed = min(100, l_speed)
else:
l_speed = 20.0
robohat.turnReverse(l_speed, r_speed)
elif X_axis < 0:
l_speed = -l_speed
if r_speed < 0:
r_speed = -r_speed + 20
r_speed = max(20, r_speed)
else:
r_speed = 20.0
robohat.turnReverse(l_speed, r_speed)
else:
r_speed = -r_speed
l_speed = -l_speed
robohat.turnReverse(l_speed, r_speed)
else:
if X_axis > 0:
pass
robohat.spinRight(abs(l_speed))
elif X_axis < 0:
pass
robohat.spinLeft(abs(r_speed))
else:
robohat.stop()
if keyp == 'w' or ord(keyp) == 16:
robohat.forward(speed)
print 'Forward', speed
elif keyp == 'z' or ord(keyp) == 17:
robohat.reverse(speed)
print 'Reverse', speed
elif keyp == 's' or ord(keyp) == 18:
robohat.spinRight(speed)
print 'Spin Right', speed
elif keyp == 'a' or ord(keyp) == 19:
robohat.spinLeft(speed)
print 'Spin Left', speed
elif keyp == '.' or keyp == '>':
speed = min(100, speed + 10)
elif keyp == 'p':
robohat.turnForward(100, 30)
print 'Speed+', speed
elif keyp == '8':
robohat.turnForward(100, 30)
while True:
robohat.turnForward(30, 100)
print 'Speed+', speed
elif keyp == 'o':
robohat.turnForward(30, 100)
print 'Speed+', speed
elif keyp == ',' or keyp == '<':
speed = max(0, speed - 10)
print 'Speed-', speed
elif keyp == ' ':
robohat.stop()
print 'Stop'
def autonomous(self, vs):
robohat.turnForward(20, 20)
self.pan_and_tilt(vs)
robohat.spinLeft(speed)
myo.rotSetCenter()
elif p == p.FINGERS_SPREAD:
#print("Reverse")
robohat.reverse(speed)
myo.rotSetCenter()
=======
print("Rest")
robohat.stop()
myo.rotSetCenter()
#robohat.cleanup()
if p == p.FIST:
print("Fist")
if myo.getBox() == 7:
print("Turn Left")
robohat.turnForward(0, speed)
elif myo.getBox() == 3:
print("Turn Right")
robohat.turnForward(speed, 0)
else:
print("forward")
robohat.forward(speed)
if p == p.WAVE_OUT:
print("Spin Right")
robohat.spinRight(speed)
myo.rotSetCenter()
if p == p.WAVE_IN:
print("Spin Left")
robohat.spinLeft(speed)
myo.rotSetCenter()
if p == p.FINGERS_SPREAD: