#!/usr/bin/env python
# -*- coding: utf-8 -*-
import logging
import time
import signal
import sys
from epuck import Controller, WrongCommand
c = Controller('/dev/rfcomm0', asynchronous=True)
bias = 200
too_close = 2000
max_speed = 1000
min_speed = -1000
# Signal handler to cleanup after shutdown
def handle_signal(signum, frame):
r = c.set_speed(0, 0)
r.join()
sys.exit(0)
# SIGINT is interrupt signal sent by CTRL+C
signal.signal(signal.SIGINT, handle_signal)
while True:
# Read values from proximity sensors
r = c.get_proximity_sensors()
#!/usr/bin/python
import functools
import Image as Img
from Tkinter import *
from ImageTk import PhotoImage
from epuck import Controller
c = Controller('/dev/rfcomm0', asynchronous=True)
c.set_camera(Controller.RGB565_MODE, 40, 40, 8)
root = Tk()
img_camera = Label(root)
img_camera.pack()
img_modified = Label(root)
img_modified.pack()
def hue(r, g, b):
M = max(r, g, b)
m = min(r, g, b)
C = M - m
if C == 0:
return None
if M == r:
h = float(g - b) / C % 6
elif M == g:
h = float(b - r) / C + 2
elif M == b:
#!/usr/bin/env python
# -*- coding: utf-8 -*-
import logging
import time
import signal
import sys
from epuck import Controller, WrongCommand
c = Controller('/dev/rfcomm0', asynchronous=True)
bias = 200
too_close = 2000
max_speed = 1000
min_speed = -1000
# Signal handler to cleanup after shutdown
def handle_signal(signum, frame):
r = c.set_speed(0,0)
r.join()
sys.exit(0)
# SIGINT is interrupt signal sent by CTRL+C
signal.signal(signal.SIGINT, handle_signal)
while True:
# Read values from proximity sensors
r = c.get_proximity_sensors()
r = r.get_response()
class Disco(object):
"""Test leds.
Tests few effects with leds. The effect can be changed with turning selector.
Turning selector values:
0 -- Two rotating lights.
1 -- Two rotating light in opposite directions.
2 -- Blinking front led.
15 -- Turn the effects off.
"""
def __init__(self):
logging.basicConfig(level=logging.WARNING)
self.c = Controller('/dev/rfcomm0', asynchronous=True)
self.state_request = None
# Get first state
self.state = self.c.get_turning_selector().get_response()
def init_vars(self):
"""Initialize vars used for effects."""
self.prev_i, self.i = 0, 0
self.prev_j, self.j = 4, 4
def init_state(self):
"""Initialize state."""
self.init_vars()
# Turn off all leds
self.c.stop()
self.c.set_front_led(0)
def get_state(self):
"""Get the value of turning selector."""
# The get_state has been called for the first time
if self.state_request is None:
self.state_request = self.c.get_turning_selector()
# The response has been received
elif self.state_request.response_received():
new_state = self.state_request.get_response()
# New state
if new_state != self.state:
self.state = new_state
self.init_state()
# Check the turning selector
self.state_request = self.c.get_turning_selector()
def run(self):
"""Do a step in the chosen effect."""
if self.state == 0 or self.state == 1:
self.c.set_led(self.prev_i, 0)
self.c.set_led(self.i, 1)
self.c.set_led(self.prev_j, 0)
self.c.set_led(self.j, 1)
elif self.state == 2:
self.c.set_front_led(self.i)
def update(self):
"""Update the vars used for chosen effect."""
if self.state == 0:
self.prev_i = self.i
self.prev_j = self.j
self.i = (self.i + 1) % 8
self.j = (self.j + 1) % 8
if self.state == 1:
self.prev_i = self.i
self.prev_j = self.j
self.i = (self.i + 1) % 8
self.j = (self.j - 1) % 8
elif self.state == 2:
self.i = 0 if self.i else 1
def main_loop(self):
"""Main loop."""
self.init_vars()
while self.state != 15:
# Update the state.
self.get_state()
# Do a step in the effect.
self.run()
# Update the effect.
self.update()
# Wait.
time.sleep(0.1)
# Turn off all leds.
self.init_state()
def __init__(self):
logging.basicConfig(level=logging.WARNING)
self.c = Controller('/dev/rfcomm0', asynchronous=True)
self.state_request = None
# Get first state
self.state = self.c.get_turning_selector().get_response()
#!/usr/bin/python
import functools
import Image as Img
from Tkinter import *
from ImageTk import PhotoImage
from epuck import Controller
c = Controller('/dev/rfcomm0', asynchronous=True)
c.set_camera(Controller.RGB565_MODE, 40, 40, 8)
root = Tk()
img_camera = Label(root)
img_camera.pack()
img_modified = Label(root)
img_modified.pack()
def hue(r, g, b):
M = max(r, g, b)
m = min(r, g, b)
C = M - m
if C == 0:
return None
if M == r:
h = float(g-b)/C % 6
elif M == g:
h = float(b-r)/C + 2
elif M == b:
h = float(r-g)/C + 4
