def light_cubes(robot: cozmo.robot.Robot):
if(robot.is_on_charger):
robot.drive_straight(distance_mm(110),speed_mmps(80)).wait_for_completed()
robot.say_text("I'm just getting ready").wait_for_completed()
global x
global cube_picked
global y
x = ""
y = ""
robot.say_text("Ok I'm looking for your stuff. When it lights up I've found it").wait_for_completed()
lookaround = robot.start_behavior(cozmo.behavior.BehaviorTypes.LookAroundInPlace)
cubes = robot.world.wait_until_observe_num_objects(num=3, object_type=cozmo.objects.LightCube, timeout=60)
lookaround.stop()
red_light = cozmo.lights.Light(cozmo.lights.Color(rgb=(255, 0, 0)))
blue_light = cozmo.lights.Light(cozmo.lights.Color(rgb=(0, 0, 255)))
yellow__light = cozmo.lights.Light(cozmo.lights.Color(rgb=(255, 255, 0)))
# tag each cube found as a different colour
red_cube = robot.world.get_light_cube(LightCube1Id)
blue_cube = robot.world.get_light_cube(LightCube2Id)
yellow_cube = robot.world.get_light_cube(LightCube3Id)
red_cube.set_lights(red_light)
blue_cube.set_lights(blue_light)
yellow_cube.set_lights(yellow__light)
robot.say_text("Ok, pick one and then press confirm").wait_for_completed()
global root_window;
root_window = Tk()
button1 = Button(root_window, text="Phone", bg="yellow", command=yellow_clicked, height = 4, width = 17)
button2 = Button(root_window, text="TV Remote", bg="red", command=red_clicked, height = 4, width = 17)
button3 = Button(root_window, text="Medication", bg="light blue", command=blue_clicked, height = 4, width = 17)
button5 = Button(root_window, text="", bg="grey", height = 4, width = 17)
button6 = Button(root_window, text="", bg="grey", height = 4, width = 17)
button7 = Button(root_window, text="", bg="grey", height = 4, width = 17)
button8 = Button(root_window, text="", bg="grey", height = 4, width = 17)
button9 = Button(root_window, text="", bg="grey", height = 4, width = 17)
button10 = Button(root_window, text="", bg="grey", height = 4, width = 17)
global button4
button4 = Button(root_window, text="Cozmo is waiting", command=confirm_clicked, height = 4, width = 20)
global label1
label1 = Label(root_window, text="Nothing selected yet.",height = 4, width = 25)
button1.grid(row = 1, column = 1)
button2.grid(row = 1, column = 2)
button3.grid(row = 1, column = 3)
button5.grid(row = 2, column = 1)
button6.grid(row = 2, column = 2)
button7.grid(row = 2, column = 3)
button8.grid(row = 3, column = 1)
button9.grid(row = 3, column = 2)
button10.grid(row = 3, column = 3)
label1.grid(row = 2, column = 4)
button4.grid(row = 2, column = 5)
root_window.mainloop()
while x == "":
sleep(1)
if x == "Blue":
cube_picked = blue_cube
elif x == "Red":
cube_picked = red_cube
elif x == "Yellow":
cube_picked = yellow_cube
targ = cube_picked
if len(cubes) < 3:
print("Error")
else:
robot.pickup_object(targ, num_retries=3).wait_for_completed()
robot.go_to_pose(Pose(0, 0, 0, angle_z=degrees(180)), relative_to_robot=False).wait_for_completed()
robot.say_text("Is this the right one?").wait_for_completed()
global confirmationWindow
confirmationWindow = Tk()
confirmationWindow.geometry("255x70")
buttonYES = Button(confirmationWindow, text="YES", bg="green", command=yes_command, height = 4, width = 17)
buttonNO = Button(confirmationWindow, text="NO", bg="red", command=no_command, height = 4, width = 17)
buttonNO.grid(row = 2, column = 1)
buttonYES.grid(row = 2, column = 2)
confirmationWindow.mainloop()
while y == "":
sleep(1)
if y == "yes":
robot.say_text("YAY", play_excited_animation=True).wait_for_completed()
robot.move_lift(-3)
robot.go_to_object(Charger(),distance_from_object=distance_mm(80), in_parallel=False, num_retries=5).wait_for_completed()
robot.turn_in_place(degrees(180)).wait_for_completed()
robot.drive_straight(distance_mm(-90), speed_mmps(80)).wait_for_completed()
elif y == "no":
robot.drive_straight(distance_mm(-200), speed_mmps(50)).wait_for_completed()
robot.turn_in_place(degrees(180)).wait_for_completed()
robot.move_lift(-5)
robot.go_to_pose(Pose(0, 0, 0, angle_z=degrees(180)), relative_to_robot=False).wait_for_completed()
robot.say_text("Select something else and I'll get it.").wait_for_completed()
exit
def cozmo_program(robot: cozmo.robot.Robot):
robot.go_to_pose(Pose(100, 100, 0, angle_z=degrees(45)),
relative_to_robot=True).wait_for_completed()
def reset_game(robot: cozmo.robot.Robot): robot.go_to_pose(Pose(0.0, 0.0, 0.0, angle_z=degrees(0)), relative_to_robot=False).wait_for_completed()
def __init__(self, pose=Pose(0, 0, 0, angle_z=degrees(0))):
super().__init__()
self.pose = pose
async def __drive_to_pose(self, pose):
translation = (pose - self.current_arena_pose).position
directions = Pose(x=translation.x, y=translation.y, z=0, angle_z=pose.rotation.angle_z)
await self.__execute_directions(directions)
self.update_current_arena_pose()