def __init__(self, _zumi=None):
if _zumi is None:
self.zumi = Zumi()
else:
self.zumi = _zumi
self.current_x = 0
self.current_y = 0
self.zumi.reset_gyro()
def __init__(self, _zumi=None):
if _zumi is None:
self.z = Zumi()
else:
self.z = _zumi
self.z.mpu.calibrate_MPU()
self.NORTH = 0
self.WEST = 90
self.EAST = -90
self.SOUTH = 180
self.heading = self.NORTH
self.current_x = 0
self.current_y = 0
self.motor_speed = 10
self.ir_threshold = 125
def __init__(self):
# OELD 제어를 위한 설정
self.disp = Adafruit_SSD1306.SSD1306_128_64(rst=24)
self.disp.begin()
self.image = Image.new('1', (self.disp.width, self.disp.height))
self.draw = ImageDraw.Draw(self.image)
# 포인터의 크기
self.size = 3
# 자이로 X,Y 각도 값
self.oldCharX = 255
self.oldCharY = 255
# 펜의 좌표 X,Y 값
self.penX = 0
self.penY = 0
# 자이로 센서
self.zumi = Zumi()
self.zumi.reset_gyro()
def __init__(self, zumi = None):
self.start_node = Point(0, 0)
self.bigben = Point(5, 20)
self.seattle = Point(25, 0)
self.paris = Point(15, 10)
self.NY = Point(10, 15)
self.china = Point(25, 20)
self.node1 = Point(10, 0)
self.node2 = Point(20, 0)
self.node3 = Point(30, 0)
self.node4 = Point(0, 10)
self.node5 = Point(10, 10)
self.node6 = Point(20, 10)
self.node7 = Point(30, 10)
self.node8 = Point(0, 20)
self.node9 = Point(10, 20)
self.node10 = Point(20, 20)
self.node11 = Point(30, 20)
self.node12 = Point(0, 30)
self.node13 = Point(10, 30)
self.node14 = Point(30, 30)
self.G = nx.Graph()
self.generate_map()
self.NORTH = 0
self.WEST = 90
self.EAST = -90
self.SOUTH = 180
self.heading = self.NORTH
if zumi is None:
# pass
self.zumi = Zumi()
self.motor_speed = 10
self.ir_threshold = 70
self.reverse = False
def run():
try:
zumi = Zumi()
camera = Camera()
screen = Screen()
personality = Personality(zumi, screen)
faceDetector = FaceDetector()
camera.start_camera()
while True:
image = camera.capture()
face = faceDetector.detect_face(image)
if face:
face_roi = faceDetector.get_face_roi()
smile = faceDetector.detect_smile(face_roi)
if smile:
personality.happy()
else:
personality.angry()
else:
screen.close_eyes()
finally:
screen.draw_text("")
camera.close()
def acc_text(string='', line=25, count=100, font_size=16):
import Adafruit_SSD1306
import time
import os
from PIL import Image, ImageFont, ImageDraw
length = len(string)
zumi = Zumi()
zumi.reset_gyro()
state = 0
TEXT_FILE_PATH = os.path.dirname(
os.path.abspath('__file__')) + "/module/futura.ttf"
disp = Adafruit_SSD1306.SSD1306_128_64(rst=24)
#print(length)
disp.begin()
width = disp.width
height = disp.height
screen_image = None
image = Image.new('1', (width, height))
font = ImageFont.truetype(TEXT_FILE_PATH, font_size)
draw = ImageDraw.Draw(image)
disp.clear()
disp.display()
size = draw.textsize(string, font=font)
if (line >= 0 and line <= 45):
if (size[0] > 128):
print("The string entered is too long.")
else:
draw.text((50, line), string, font=font, fill=255)
disp.image(image)
disp.display()
disp.command(0x2E) #SSD1306_DEACTIVATE_SCROLL
for i in range(0, count):
angles = zumi.update_angles()
time.sleep(0.1)
if (angles[3] > 5):
if (state != 1):
state = 1
#loop_text('L', string)
disp.command(0x27) #SSD1306_LEFT_HORIZONTAL_SCROLL
disp.command(0x00) #dummy
disp.command(0x00) #start
disp.command(0x00)
disp.command(0x0f) #stop
disp.command(0x00)
disp.command(0xff)
disp.command(0x2f) #activate scroll
elif (angles[3] < -5):
if (state != 2):
state = 2
#loop_text('R', string)
disp.command(0x26) #SSD1306_RIGHT_HORIZONTAL_SCROLL
disp.command(0x00) #dummy
disp.command(0x00) #start
disp.command(0x00)
disp.command(0x0f) #stop
disp.command(0x00)
disp.command(0xff)
disp.command(0x2f) #activate scroll
else:
if (state != 0):
state = 0
disp.command(0x2E) #SSD1306_DEACTIVATE_SCROLL
disp.command(0x2E) #SSD1306_DEACTIVATE_SCROLL
else:
print('Lines can be entered from 0 to 45.')
from zumi.zumi import Zumi
import time
from zumi.protocol import IR
zumi = Zumi()
def crossing_line(numLines, motor_speed=10, ir_threshold=125):
# 직진을 위한 자이로 센서 보정
#zumi.mpu.calibrate_MPU(100)
zumi.reset_gyro()
heading = 0
left_on_white = True
right_on_white = True
right_switch = 0
left_switch = 0
time_switch = False
lineCount = 1
# 흰색에서 출발
print("start")
while True:
bottom_left_ir = zumi.get_IR_data(IR.bottom_left)
bottom_right_ir = zumi.get_IR_data(IR.bottom_right)
# white check
def predict(model):
c = Crop()
eye = Screen()
zumi = Zumi()
camera = Camera(64, 64)
personality = Personality(zumi, eye)
cnt = 0
prev_label = -1
cnt_none_crop = 0
try:
while True:
zumi.reset_drive()
img = camera.run()
crop_img = c.crop(img)
if crop_img is None:
if cnt_none_crop == 0:
personality.look_around_open01()
elif cnt_none_crop == 1:
personality.look_around_open02()
elif cnt_none_crop == 2:
personality.look_around_open03()
elif cnt_none_crop == 3:
personality.look_around_open04()
prev_label = -1
print(cnt, prev_label, cnt_none_crop)
cnt_none_crop += 1
cnt_none_crop %= 4
continue
else:
cnt_none_crop = 0
x = Image.fromarray(crop_img)
x = np.expand_dims(x, axis=0)
preds = model.predict_classes(x)
print(landmark[preds[0]])
if prev_label == preds[0]:
cnt += 1
if cnt > 2:
print(eye.EYE_IMAGE_FOLDER_PATH + "sad1.ppm")
print("reaction!!!!")
eye.draw_image(
eye.path_to_image(LAND_PATH + landmark[preds[0]] +
".jpg"))
time.sleep(2)
if landmark[preds[0]] == 'eiffel':
zumi.turn_right(90)
elif landmark[preds[0]] == 'nyc':
zumi.turn_right(45)
elif landmark[preds[0]] == 'seattle':
zumi.turn_left(45)
elif landmark[preds[0]] == 'china':
zumi.turn_left(90)
time.sleep(.5)
zumi.forward(10, duration)
time.sleep(.5)
personality.celebrate()
time.sleep(.5)
zumi.reverse(10, duration)
time.sleep(.5)
if landmark[preds[0]] == 'eiffel':
zumi.turn_left(90)
elif landmark[preds[0]] == 'nyc':
zumi.turn_left(45)
elif landmark[preds[0]] == 'seattle':
zumi.turn_right(45)
elif landmark[preds[0]] == 'china':
zumi.turn_right(90)
cnt = 0
else:
personality.reading(
eye.path_to_image(READ_PATH + "reading_" + str(cnt) +
".PPM"))
else:
cnt = 0
prev_label = preds[0]
except KeyboardInterrupt:
camera.shutdown()
eye.draw_text("")
zumi.stop()
print("\nExiting...")
except:
camera.shutdown()
eye.draw_text("")
zumi.stop()
print("\nExiting...")
def __init__(self):
self.myConnection = ''
self.user = ''
#init zumi instance
self.zumi = Zumi()
def predict(model,Reroute=False):
c = Crop()
eye = Screen()
zumi = Zumi()
camera = Camera(64, 64)
personality = Personality(zumi, eye)
cnt = 0
prev_label = -1
cnt_none_crop = 0
try:
while True:
img = camera.run()
crop_img = c.crop(img)
if crop_img is None:
if cnt_none_crop == 0:
personality.look_around_open01()
elif cnt_none_crop == 1:
personality.look_around_open02()
elif cnt_none_crop == 2:
personality.look_around_open03()
elif cnt_none_crop == 3:
personality.look_around_open04()
prev_label = -1
print(cnt, prev_label, cnt_none_crop)
cnt_none_crop += 1
cnt_none_crop %= 4
continue
else:
cnt_none_crop = 0
x = Image.fromarray(crop_img)
x = np.expand_dims(x, axis=0)
preds = model.predict_classes(x)
print(landmark[preds[0]])
if prev_label == preds[0]:
cnt += 1
if cnt > 2:
print(eye.EYE_IMAGE_FOLDER_PATH + "sad1.ppm")
print("reaction!!!!")
eye.draw_image(eye.path_to_image(LAND_PATH + landmark[preds[0]] + ".jpg"))
time.sleep(2)
route = Route_new()
if Reroute:
print("go with rerouting")
if landmark[preds[0]] == 'eiffel':
route.driving(route.start_node, route.paris)
elif landmark[preds[0]] == 'nyc':
route.driving(route.start_node, route.NY)
elif landmark[preds[0]] == 'seattle':
route.driving(route.start_node, route.seattle)
elif landmark[preds[0]] == 'china':
route.driving(route.start_node, route.china)
else:
route.driving(route.start_node, route.bigben)
zumi.stop()
personality.celebrate()
time.sleep(.5)
else:
print("no reroute")
if landmark[preds[0]] == 'eiffel':
route.driving_without_reroute(route.start_node, route.paris)
route.park_right()
elif landmark[preds[0]] == 'nyc':
route.driving_without_reroute(route.start_node, route.NY)
route.park_right()
elif landmark[preds[0]] == 'seattle':
route.driving_without_reroute(route.start_node, route.seattle)
route.park_left()
elif landmark[preds[0]] == 'china':
route.driving_without_reroute(route.start_node, route.china)
route.park_left()
else:
route.driving_without_reroute(route.start_node, route.bigben)
route.park_right()
zumi.stop()
personality.celebrate()
time.sleep(.5)
cnt = 0
else:
personality.reading(eye.path_to_image(READ_PATH + "reading_" + str(cnt) + ".PPM"))
else:
cnt = 0
prev_label = preds[0]
except KeyboardInterrupt:
camera.shutdown()
eye.draw_text("")
zumi.stop()
print("\nExiting...")
except:
camera.shutdown()
eye.draw_text("")
zumi.stop()
print("\nExiting...")
