# Car alarm
# The finch sounds an alarm, alternating high pitch sounds and
# flashing red abd blue lights, until its nose is turned up
from time import sleep
from finch import Finch
finch = Finch()
x = 0
while x > -0.5:
x, y, z, tap, shake = finch.acceleration()
finch.led("#FF0000") # set the led to red
finch.buzzer(1.0, 250)
sleep(1.05)
finch.led("#0000FF") # set the led to blue
finch.buzzer(1.0, 400)
sleep(1.05)
finch.halt()
finch.close()
# A simple program that changes the Finch buzzer based on x-axis orientation.
from finch import Finch
from random import randint
# Instantiate the Finch object and connect to Finch
tweety = Finch()
left, right = tweety.obstacle()
# Do the following while no obstacles are detected by Finch
while not left and not right:
# Get the accelerations
x, y, z, tap, shake = tweety.acceleration()
# Print the acceleration data
print(
"X is %.2f gees, Y is %.2f gees, Z is %.2f gees, tap is %r shake is %r"
% (x, y, z, tap, shake))
# Make it buzz - beak up yields higher frequencies, beak down yields lower
tweety.buzzer(0.1, (880 - int(x * 770.0)))
# Get obstacles to use to exit loop
left, right = tweety.obstacle()
tweety.close()
class myFinch:
# Class Initializer
# Synopsis -
# self.left_wheel, is the speed of the left wheel, set to 0
# self.right_wheel, is the speed of the right wheel, set to 0
# self.tweety, is the Finch robot object which will be manipulated through this class
#
# Description -
# Initialize the class members to a specific value
def __init__(self):
self.tweety = Finch()
# Set obstacle sensors
self.left_obst, self.right_obst = self.tweety.obstacle()
# Setting initial lighting
self.myLights = lighting(self.tweety)
self.myLights.readValues()
# Setting initial acceleration settings
self.x, self.y, self.z, self.tap, self.shake = self.tweety.acceleration(
)
# Setting initial wheel speed
self.left_wheel = 0.0
self.right_wheel = 0.0
self.tweety.wheels(self.left_wheel, self.right_wheel)
# [FUNCTION]Name - setWheels ( left, right )
# Synopsis -
# def setWheels ( left, right ) :
# left, an double value for the left wheel speed
# right, an double value for the right wheel speed
#
# Description -
# Accelerates each wheel at different speeds to obtain the new speed. This can be
# adjusted by small increments and also gives each wheel independent ending
# speeds.
#
# Return -
# (none)
def setWheels(self, left, right):
self.left_wheel = left
self.right_wheel = right
self.tweety.wheels(self.left_wheel, self.right_wheel)
self.printSpeed()
return
# setWheels ( left, right ) #
# [FUNCTION]Name - def printSpeed ( )
# Synopsis -
# def printSpeed ( ):
# (no parameters)
# Description -
# Upon changing speed with setWheels this will print the individual wheel speed
# or both to the console.
#
# Return -
# (none)
def printSpeed(self):
if (self.left_wheel == self.right_wheel):
print("Current speed : ", self.left_wheel)
return
print("Left speed : ", self.left_wheel)
print("Right speed : ", self.right_wheel)
return
# printSpeed ( self ) #
def isLight(self):
current_left, current_right = self.tweety.light()
return current_left, current_right
def scurryTowardsLights(self):
lspeed = 0.3
rspeed = 0.5
clspeed = 0.1
crspeed = 0.5
onCurve = 0
onMax = 0
maxleft, maxright = self.myLights.getMax()
tmpmaxleft = maxleft + .25
tmpmaxright = maxright + .25
if (tmpmaxleft) > .75:
tmpmaxleft = .75
if (tmpmaxright) > .75:
tmpmaxright = .75
while (True):
# Check lights, then obstacles
left_light, right_light = self.myLights.lightStatus()
self.left_obst, self.right_obst = self.tweety.obstacle()
if (self.checkForObstacle()):
#switch the speeds
tmp = lspeed
ctmp = clspeed
lspeed = rspeed
rspeed = tmp
clspeed = crspeed
clspeed = ctmp
if left_light == 0 and right_light == 0:
# Just keep swimming
print("Just keep swimming")
self.delay(0.3, lspeed, rspeed)
onCurve += 1
if onCurve == 10:
print("Small curve")
self.setWheels(0.0, 0.0)
self.delay(3.0, clspeed, crspeed)
self.setWheels(lspeed,
rspeed) # Natural curve speed (testing)
onCurve = 0
elif left_light > 0 or right_light > 0:
onCurve = 0
# Find "brightest"
# stop ... move towards the light
self.setWheels(0.0, 0.0)
leftval, rightval = self.myLights.getComparison()
if leftval > rightval:
# Turn towards our left
print("Going left")
self.turnLeft()
else:
print("Going right")
# Turn towards our right
self.turnRight()
if ((leftval + maxleft) >
(tmpmaxleft)) and ((rightval + maxright) > tmpmaxright):
print("Under bright area!")
while (True):
self.setWheels(0.0, 0.0)
self.delay(0.3, 0.5, 0.5)
self.setWheels(0.0, 0.0)
left, right = self.isLight()
print(left, " ", right)
print(tmpmaxleft, " ", tmpmaxright)
if (left > tmpmaxleft) or (right > tmpmaxright):
tmpmaxleft = left
tmpmaxright = right
sleep(0.5)
else:
self.delay(0.3, -0.5, -0.5)
self.setWheels(0.0, 0.0)
break
os._exit(0)
elif right_light < 0 or right_light < 0:
onCurve = 0
print("got darker")
def checkForObstacle(self):
if self.left_obst == True and self.right_obst == True:
print("Obstacle straight ahead")
self.setWheels(-(self.left_wheel), -(self.right_wheel))
sleep(0.5)
self.setWheels(0.0, 0.0)
sleep(0.1)
self.setWheels(0.0, 0.5)
sleep(0.5)
return True
elif self.right_obst == True:
print("Obstacle on right")
self.setWheels(-(self.left_wheel), -(self.right_wheel))
sleep(0.5)
self.setWheels(0.0, 0.0)
sleep(0.1)
self.setWheels(0.5, 0.0)
sleep(0.5)
return True
elif self.left_obst == True:
print("Obstacle on left")
self.setWheels(-(self.left_wheel), -(self.right_wheel))
sleep(0.5)
self.setWheels(0.0, 0.0)
sleep(0.1)
self.setWheels(0.5, 0.0)
sleep(0.5)
return True
else:
print("No obstacle")
return False
return False
def turnRight(self):
self.setWheels(.5, .25)
def turnLeft(self):
self.setWheels(0.25, .5)
def straight(self):
self.setWheels(0.4, 0.4)
def charging(self):
self.tweety.led("#00FF00")
self.tweety.buzzer(1.0, 800)
def discharging(self):
self.tweety.led("#FF0000")
def delay(self, time, lspeed, rspeed):
timer = 0
while (timer < time):
self.setWheels(lspeed, rspeed)
if (self.checkForObstacle() == True):
tmp = lspeed
lspeed = rspeed
rspeed = tmp
self.setWheels(lspeed, rspeed)
continue
else:
timer = timer + 0.1
sleep(0.1)
continue
finch = Finch()
done = False
while not done:
# read current sensor values
x, y, z, tap, shake = finch.acceleration()
left_light, right_light = finch.light()
left_obstacle, right_obstacle = finch.obstacle()
temp = finch.temperature()
# did it just get dark?
if left_light < 0.35 or right_light < 0.35:
done = True
# RED: is something in the way?
elif left_obstacle or right_obstacle:
finch.led(255, 0, 0)
finch.wheels(-0.75, -0.75)
sleep(0.50)
# GREEN: all clear, move ahead!
else:
finch.led(0, 255, 0)
finch.wheels(0.75, 0.75)
sleep(0.05)
# grand finale
finch.buzzer(1.5, 10000)
finch.halt()
# Remember that we're already upside down for the next time
# we check.
was_upside_down_before = True
else:
# Based on x, y and z, we're *not* upside down.
# Red LED (hints to the user that we're right-side up and not
# ready to print an answer).
tweety.led(255, 0, 0)
# Remember that we turned right-side up again.
was_upside_down_before = False
if shake:
# If we're not upside-down, and the user shook us, then
# change which answer we're going to print.
answer_index = randrange(0, len(answers))
# Beep to let the user know we sensed the "shake".
tweety.buzzer(0.1, 440)
# If we sense obstacles, then it's time to close.
left_obstacle, right_obstacle = tweety.obstacle()
# Let the user know the program has ended.
print('Thanks for playing. Goodbye!')
# Always the last step: Close the connection to our Finch to keep
# it happy.
tweety.close()
from finch import Finch
finch = Finch()
print('Temperature %5.2f' % finch.temperature())
print()
finch.wheels(1.0, -1.0)
sleep(0.5)
finch.wheels(0.0, 0.0)
for count in range(5):
finch.led(0, 50*count, 0)
x, y, z, tap, shake = finch.acceleration()
print ('Acceleration %5.3f, %5.3f %5.3f %s %s' %
(x, y, z, tap, shake))
left_light, right_light = finch.light()
print ('Lights %5.3f, %5.3f' % (left_light, right_light))
left_obstacle, right_obstacle = finch.obstacle()
print('Obstacles %s, %s' % (left_obstacle, right_obstacle))
print()
finch.buzzer(0.8, 100*count)
sleep(1)
finch.led('#FF0000')
finch.buzzer(5, 440)
sleep(5)
finch.halt()
finch.close()
# Car alarm
# The finch sounds an alarm, alternating high pitch sounds and
# flashing red abd blue lights, until its nose is turned up
from time import sleep
from finch import Finch
finch = Finch()
x = 0
while x > -0.5:
x, y, z, tap, shake = finch.acceleration()
finch.led("#FF0000") # set the led to red
finch.buzzer(1.0, 250)
sleep(1.05)
finch.led("#0000FF") # set the led to blue
finch.buzzer(1.0, 400)
sleep(1.05)
finch.halt()
finch.close()
from time import sleep
from finch import Finch
finch = Finch()
print('Temperature %5.2f' % finch.temperature())
print()
finch.wheels(1.0, -1.0)
sleep(0.5)
finch.wheels(0.0, 0.0)
for count in range(5):
finch.led(0, 50 * count, 0)
x, y, z, tap, shake = finch.acceleration()
print('Acceleration %5.3f, %5.3f %5.3f %s %s' % (x, y, z, tap, shake))
left_light, right_light = finch.light()
print('Lights %5.3f, %5.3f' % (left_light, right_light))
left_obstacle, right_obstacle = finch.obstacle()
print('Obstacles %s, %s' % (left_obstacle, right_obstacle))
print()
finch.buzzer(0.8, 100 * count)
sleep(1)
finch.led('#FF0000')
finch.buzzer(5, 440)
sleep(5)
finch.halt()
finch.close()
length = 1.2 # uppercase letters mean long notes
else:
length = 0.6 # lowercase are short
#convert note to lowercase so that we can compare easily
note = note.lower()
if (note == 'a'):
frequency = 880
elif (note == 'b'):
frequency = 988
elif (note == 'c'):
frequency = 523
elif (note == 'd'):
frequency = 587
elif (note == 'e'):
frequency = 659
elif (note == 'f'):
frequency = 698
else:
#no valid note, nothing to play
frequency = 0
if frequency > 0:
print("Playing note: ", note)
#this is how we play the note on the robot
#the robot can play only one note at a time
robot.buzzer(length, frequency) # play the note!
else:
print("Please enter a valid note!")
# A simple Finch dance in Python
from finch import Finch
from time import sleep
print("Finch's First Python program.")
# Instantiate the Finch object
snakyFinch = Finch()
# Do a dance.. think of a wheelchair
snakyFinch.buzzer(1.5, 450)
sleep(1.0)
snakyFinch.led(0, 255, 0)
snakyFinch.wheels(0, 1)
sleep(3.05)
snakyFinch.led(0, 255, 255)
snakyFinch.wheels(0.2, -0.2)
sleep(1)
snakyFinch.led(255, 0, 0)
snakyFinch.wheels(1, 1) #moving forward
sleep(1.5)
snakyFinch.led(0, 255, 0)
snakyFinch.wheels(0, 1) #more spinning
sleep(1)
snakyFinch.led(0, 0, 255)
snakyFinch.wheels(1, 0) #spinning but in the other directions
sleep(1)
