class PuppyBasic:
"PuppyBasic class with basic Puppy actions"
def __init__(self, leftmotorport, rightmotorport, headmotorport=None):
"""Assumes a three motor puppy configuration
with two legs and one head motor"""
self.prime_hub = PrimeHub()
self.prime_hub.light_matrix.show_image('HAPPY')
self.legR = Motor(rightmotorport) # right leg
self.legL = Motor(leftmotorport) # left leg
#self.legs = DriveBase(self.legL, self.legR, 30, 80)
if headmotorport is not None:
# If no headmotorport is given, it is not assigned.
self.head = Motor(headmotorport) # head motor
else:
self.head = None
def sit(self):
""" Puppy sit with leg motors"""
# TODO: modify to use paired motors
self.legR.start_at_power(75)
self.legL.start_at_power(75)
wait_for_seconds(.4)
self.legR.start_at_power(0)
self.legL.start_at_power(0)
print("Sitting Down")
def stand(self):
""" Puppy stand with leg motors"""
# TODO: modify to use paired motors
self.legR.start_at_power(-75)
self.legL.start_at_power(-75)
wait_for_seconds(.4)
self.legR.start_at_power(0)
self.legL.start_at_power(0)
print("Standing Up")
def bark(self):
"""Play bark sound"""
self.prime_hub.speaker.beep(69, 0.5)
def snore(self):
"""Play snore sound"""
self.prime_hub.speaker.beep(60, 0.5)
def happy(self):
"""Happy behavior
Assumes puppy is seated"""
self.self.prime_hub.light_matrix.show_image('MEH')
for value in range(1, 4):
#self.legs.drive(-100, 0)
self.bark()
wait_for_seconds(.2)
self.legs.stop()
wait_for_seconds(.3)
#self.legs.drive(10, 0)
wait_for_seconds(.3)
self.legs.stop()
self.self.prime_hub.light_matrix.show_image('HAPPY')
def sleepy(self):
"""Sleepy behavior
Assumes puppy is seated"""
self.prime_hub.light_matrix.show_image('ASLEEP')
self.head.run_time(900, 3000)
for value in range(1, 3):
self.snore()
self.head.run_time(-900, 3000)
self.prime_hub.light_matrix.show_image('HAPPY')
from spike import Motor
from spike import PrimeHub
hub = PrimeHub()
motor = Motor('A')
# Start the motor at 30% power
motor.start_at_power(30)
# Wait until left button is pressed
hub.left_button.wait_until_pressed()
print("Left button pressed")
# Stop the motor
motor.stop()