def test_circle_dance() -> None:
marty = Marty("test", "", subscribeRateHz=0)
marty.circle_dance()
testOutput = marty.get_test_output()
testExpected = {
"buf": [
bytearray(b'\x01\x02\x00v\x00'),
bytearray(b'\x02\x02\x00hwstatus\x00'),
bytearray(b'\x03\x02\x00traj/circle?side=0&moveTime=1500\x00')
]
}
assert (testOutput == testExpected)
def test_close() -> None:
marty = Marty("test", "")
time.sleep(6)
marty.close()
testOutput = marty.get_test_output()
testExpected = {
"buf": [
bytearray(b'\x01\x02\x00v\x00'),
bytearray(b'\x02\x02\x00hwstatus\x00'),
bytearray(
b'\x03\x02\x03{"cmdName":"subscription","action":"update","pubRecs":[{"name":"MultiStatus","rateHz":10.0,}{"name":"PowerStatus","rateHz":1.0},{"name":"AddOnStatus","rateHz":10.0}]}\x00\x00'
),
bytearray(
b'\x04\x02\x03{"cmdName":"subscription","action":"update","pubRecs":[{"name":"MultiStatus","rateHz":0},{"name":"PowerStatus","rateHz":0},{"name":"AddOnStatus","rateHz":0}]}\x00\x00'
)
]
}
assert (testOutput == testExpected)
'''
A program to play a sound on Marty
'''
# See README.md for instructions on how to run this
# Import Marty from the martypy library
from martypy import Marty
# Connect to a Marty and# use the variable my_marty to refer to that Marty
# This assumes you are connecting via WiFi - check the documentation for other options
# You will need to set the ip_address variable with the IP address of your Marty
connection_method = "wifi"
ip_address = "192.168.86.18"
my_marty = Marty(connection_method, ip_address, blocking=True)
# Ask Marty to play a sound
my_marty.play_sound("no_way")
# Disconnect from Marty
my_marty.close()
from martypy import Marty
my_marty = Marty("wifi", "192.168.86.11")
my_marty.dance()
logFileName = "MartyPyLogTest_" + time.strftime("%Y%m%d-%H%M%S") + ".log"
logFileName = os.path.join(logsFolder, logFileName)
print("Logging to file " + logFileName)
# Setup logging
logging.basicConfig(filename=logFileName, format='%(levelname)s: %(asctime)s %(funcName)s(%(lineno)d) -- %(message)s', level=logging.DEBUG)
logger = logging.getLogger("MartyPyTest")
handler = logging.StreamHandler(sys.stdout)
handler.setLevel(logging.DEBUG)
logger.addHandler(handler)
mymarty = None
try:
# mymarty = Marty('wifi', '192.168.86.11')
# mymarty = Marty('wifi', '192.168.86.11', subscribeRateHz=0)
mymarty = Marty('wifi://192.168.86.18', blocking=True)
# mymarty = Marty("usb", "COM9", debug=True)
# mymarty = Marty('usb:///dev/tty.SLAB_USBtoUART', debug=True)
except Exception as excp:
logger.debug(f"Couldn't connect to marty {excp}")
exit()
mymarty.register_logging_callback(loggingCB)
martySysInfo = mymarty.get_system_info()
martyVersion2 = martySysInfo.get("HardwareVersion", "1.0") == "2.0"
if martyVersion2:
logger.info(f"Marty has {len(mymarty.get_hw_elems_list())} hardware parts")
if martyVersion2:
Marty.PUBLISH_TOPIC_ROBOT_STATUS else "UNKNOWN_TOPIC")
print(f"publish_callback {topic} ({topic_name})")
# Callback function for when a report message is received
# Example is free-fall or over-current detected
def report_callback(report_info):
print(f"report_callback {report_info}")
# Start Marty
# This code can be blocking because we're going to be getting messages
# via the callbacks.
# We also set the subscribe rate to 1Hz (normally its 10Hz) to reduce the
# number of callbacks we get with published information
my_marty = Marty("wifi", "192.168.0.42", blocking=True, subscribeRateHz=1)
# Register callbacks
my_marty.register_publish_callback(publish_callback)
my_marty.register_report_callback(report_callback)
# Move Marty's eyes
my_marty.eyes(100)
my_marty.eyes(0)
# Walk a little
for i in range(5):
my_marty.walk(1)
time.sleep(10)
# Disconnect from Marty
def initResetMarty(self):
marty = martypy.SocketClient.discover(timeout=10)[0]
ipmarty = str(marty)[3:15]
self.mymarty = Marty('socket://' + ipmarty)
self.mymarty.hello() # Move to zero positions and wink True
print('Marty inicialitzat')
class Martina:
# Identifica i executa l'acció
def executaAccio(self, accio):
print('Has dit "', accio, '"')
if 'fes una foto' in accio:
self.foto()
elif 'camina' in accio:
self.camina(accio)
elif 'balla' in accio:
self.balla()
elif 'guapa' in accio:
self.guapa()
elif 'agafa les claus' in accio:
self.agafaClaus()
elif 'obre la llum' in accio:
self.obreLlum()
elif 'tanca la llum' in accio:
self.tancaLlum()
elif 'obre la tele' in accio:
self.obreTV()
elif 'tanca la tele' in accio:
self.tancaTV()
elif 'netflix' in accio:
self.netflix()
elif 'posa dibuixos' in accio:
self.dibuixos()
elif 'adéu' in accio:
self.adeu()
elif 'xuta' in accio:
self.xutaObjecte(accio)
elif 'hola' in accio:
self.reconeixPersona(accio)
else:
print('Acció no identificada')
# ACCIONS
def dibuixos(self):
try:
print(self.webos_client.get_channels())
self.webos_client.set_channel(4)
except Exception as e:
print("Unexpected error posant dibuixos")
def netflix(self):
try:
self.webos_client.launch_app('netflix')
except Exception as e:
print("Unexpected error obrint netflix: ", str(e))
def obreTV(self):
try:
self.webos_client.request("system/turnOn")
except Exception as e:
print("Unexpected error obre TV: ", str(e))
def tancaTV(self):
try:
self.webos_client.power_off()
except Exception as e:
print("Unexpected error tancant TV: ", str(e))
def adeu(self):
print("Entra a adéu")
try:
os.system(
" echo 'Fins aviat!' | festival --language catalan --tts")
quit()
except Exception as e:
print("Unexpected error dient Adéu: ", str(e))
self.initResetMarty()
def agafaClaus(self):
print("Entra a agafa les claus")
try:
self.mymarty.arms(0, 127,
200) #puja el braç dret a 90 graus amb mig segon
except Exception as e:
print("Unexpected error: ", str(e))
self.initResetMarty()
def deixaClaus(self):
print("Entra a deixa les claus")
try:
self.mymarty.arms(0, 0, 100) #baixa els braços en 1 sengo
except Exception as e:
print("Unexpected error: ", str(e))
self.initResetMarty()
def foto(self):
print("Entra a foto")
try:
# diu Lluís
os.system(
" echo 'Lluiiiiiiiiiis' | festival --language catalan --tts")
# mou els ulls per a indicar que fa la foto i fa la foto
self.mymarty.eyes(60, move_time=500)
nomImatge = '/home/pi/image_' + str(
datetime.datetime.now()) + '.jpg'
self.camera.capture(nomImatge)
self.mymarty.eyes(20, move_time=500)
# transforma la foto
imatge = Image.open(nomImatge)
imatgeInvertida = imatge.rotate(180)
nomImatge = 'imatge_' + str(
datetime.datetime.now()) + '_rotate.jpg'
imatgeInvertida.save('/home/pi/' + nomImatge)
# Envia la foto per correu
self.enviaCorreu('*****@*****.**', 'Foto de la Martina',
'La Martina t'
'envia aquesta foto!', nomImatge)
# es posa recte
self.mymarty.hello()
except Exception as e:
print("Unexpected error: ", str(e))
self.initResetMarty()
def camina(self, accio):
# per defecte camina endavant 10 centímetres
centimetres = 10
llargadaPassos = 45 # en milímetres teoricament a l'api de martypi
correccioPassos = .35 # basat amb proves realitzades
nombrePassos = 1
direccio = 1
gir = 0
try:
if 'enrere' in accio:
direccio = -1
llargadaPassosReal = decimal.Decimal(
llargadaPassos) * decimal.Decimal(correccioPassos)
nombrePassos = self.calculaPassos(accio, llargadaPassosReal)
logngitudPassos = int(direccio * llargadaPassosReal)
self.mymarty.walk(num_steps=nombrePassos,
start_foot='auto',
turn=gir,
step_length=logngitudPassos,
move_time=1200)
# al final es posa recte
self.mymarty.hello()
except Exception as e:
print("Unexpected error: ", str(e))
self.initResetMarty()
def balla(self):
print("Entra a balla")
try:
self.mymarty.circle_dance(side='right', move_time=5000)
self.mymarty.hello()
except Exception as e:
print("Unexpected error: ", str(e))
self.initResetMarty()
def guapa(self):
print("Entra a guapa")
try:
self.mymarty.eyes(20, 500)
self.mymarty.lean('left', 50, 2000)
os.system(
" echo 'Ai quina vergonya' | festival --language catalan --tts"
)
self.mymarty.hello()
except Exception as e:
print("Unexpected error: ", str(e))
self.initResetMarty()
def obreLlum(self):
print("Entra a obre la llum")
try:
data_on = {"on": True, "sat": 254, "bri": 254, "hue": 5000}
r = requests.put(self.urlLamparaLavabo,
json.dumps(data_on),
timeout=5)
except Exception as e:
print("Unexpected error: ", str(e))
self.initResetMarty()
def tancaLlum(self):
print("Entra a tanca la llum")
try:
data_off = {"on": False}
r = requests.put(self.urlLamparaLavabo,
json.dumps(data_off),
timeout=5)
except Exception as e:
print("Unexpected error: ", str(e))
self.initResetMarty()
# Si reconeix l'objectte s'hi acosta i el xuta
def xutaObjecte(self, accio):
# identifica objecte a xutar (cotxe o pilota)
objecte = "cotxe"
if ('pilota' in accio):
objecte = "pilota"
# Detecta l'objecte
# caputura imatge i cerca objectes
# reconèixer objectes
nomImatge = '/home/pi/image_' + str(datetime.datetime.now()) + '.jpg'
self.camera.capture(nomImatge)
image = cv2.imread(nomImatge)
# inicia intent
# estic prou aprop? sí -> xuta ; no -> acostat
image_height, image_width, _ = image.shape
self.model.setInput(
cv2.dnn.blobFromImage(image, size=(300, 300), swapRB=True))
output = self.model.forward()
for detection in output[0, 0, :, :]:
confidence = detection[2]
if confidence > .5:
class_id = detection[1]
class_name = self.id_class_name(class_id)
if (objecte == class_name):
print(
str(
str(class_id) + " " + str(detection[2]) + " " +
class_name))
box_x = detection[3] * image_width
box_y = detection[4] * image_height
box_width = detection[5] * image_width
box_height = detection[6] * image_height
cv2.rectangle(image, (int(box_x), int(box_y)),
(int(box_width), int(box_height)),
(23, 230, 210),
thickness=1)
cv2.putText(image, class_name,
(int(box_x), int(box_y + .05 * image_height)),
cv2.FONT_HERSHEY_SIMPLEX, (.005 * image_width),
(0, 0, 255))
cv2.imshow('image', image)
cv2.waitKey(0)
cv2.destroyAllWindows()
break
# Realitza tracking de l'objecte
# mentre s'hi acosta mira si ja pot xutar
# xuta
#self.mymarty.kick('right')
# Si reconeix la persona li diu hola i el nom
def reconeixPersona(self, accio):
print("Entra a Hola (reconeix persona)")
try:
# Initialize some variables
face_locations = []
face_encodings = []
output = np.empty((240, 320, 3), dtype=np.uint8)
print("Capturing image.")
self.camera.capture(output, format="rgb")
# Find all the faces and face encodings in the current frame of video
face_locations = face_recognition.face_locations(output)
print("Found {} faces in image.".format(len(face_locations)))
face_encodings = face_recognition.face_encodings(
output, face_locations)
print(face_encodings)
hatrobatalgu = False
# Loop over each face found in the frame to see if it's someone we know.
print("Per a cada cara trobada mira si hi reconeix algú")
for face_encoding in face_encodings:
print(face_encoding)
# See if the face is a match for the known face(s)
matchmarcal = face_recognition.compare_faces(
[self.marcal_face_encoding], face_encoding)
matcharnau = face_recognition.compare_faces(
[self.arnau_face_encoding], face_encoding)
matchmariona = face_recognition.compare_faces(
[self.mariona_face_encoding], face_encoding)
matchmontse = face_recognition.compare_faces(
[self.montse_face_encoding], face_encoding)
if matchmarcal[0]:
print("He trobat la cara del Marçal")
os.system(
" echo 'Hola Marsal!' | festival --language catalan --tts"
)
hatrobatalgu = True
if matcharnau[0]:
print("He trobat la cara de l'Arnau")
os.system(
" echo 'Hola Arnau!' | festival --language catalan --tts"
)
hatrobatalgu = True
if matchmariona[0]:
print("He trobat la cara de la Mariona")
os.system(
" echo 'Hola Mariona!' | festival --language catalan --tts"
)
hatrobatalgu = True
if matchmontse[0]:
print("He trobat la cara de la Montse")
os.system(
" echo 'Hola Montse!' | festival --language catalan --tts"
)
hatrobatalgu = True
if hatrobatalgu is False:
print("No he reconegut cap cara")
os.system(
" echo 'Qui ha dit hola?' | festival --language catalan --tts"
)
except Exception as e:
print("Unexpected error: ", str(e))
self.initResetMarty()
# MÈTODES ACCESSORIS
# Reconeix el que dius
def recognize(self):
return self.recognizer.recognize()
# calcula el nombre de passos en funció del centímtres que li diuen
# i la llargada del passos (en milimetres)
def calculaPassos(self, accio, llargadaPassos):
passos = 0
centimetres = [int(s) for s in accio.split() if s.isdigit()]
if len(centimetres) == 0:
centimetres = [10]
passos = math.floor(
decimal.Decimal(centimetres[0]) /
(llargadaPassos / decimal.Decimal(10)))
print(passos)
return passos
# Envia un correu amb un document adjunt
def enviaCorreu(self, to, assumpte, missatge, fitxer):
fromaddr = "*****@*****.**"
toaddr = to
msg = MIMEMultipart()
msg['From'] = fromaddr
msg['To'] = toaddr
msg['Subject'] = assumpte
body = missatge
msg.attach(MIMEText(body, 'plain'))
filename = fitxer
attachment = open("/home/pi/" + filename, "rb")
part = MIMEBase('application', 'octet-stream')
part.set_payload((attachment).read())
encoders.encode_base64(part)
part.add_header('Content-Disposition',
"attachment; filename= %s" % filename)
msg.attach(part)
server = smtplib.SMTP('smtp.gmail.com', 587)
server.starttls()
server.login(fromaddr, "Martina37$")
text = msg.as_string()
server.sendmail(fromaddr, toaddr, text)
server.quit()
# MÈTODES INICIALITZADORS
# Inicialitza el Marty: realitza la connexió via socket y fes que es posi dret
def initResetMarty(self):
marty = martypy.SocketClient.discover(timeout=10)[0]
ipmarty = str(marty)[3:15]
self.mymarty = Marty('socket://' + ipmarty)
self.mymarty.hello() # Move to zero positions and wink True
print('Marty inicialitzat')
# Defineix l'activador (hotword) com a Martina conegui
def inicialitzaRecognizer(self):
# Defineix activador
self.recognizer.expect_hotword('Martina')
# Defineix les accions
self.recognizer.expect_phrase('fes una foto')
self.recognizer.expect_phrase('camina')
self.recognizer.expect_phrase('balla')
self.recognizer.expect_phrase('guapa')
self.recognizer.expect_phrase('agafa les claus')
self.recognizer.expect_phrase('obre la llum')
self.recognizer.expect_phrase('tanca la llum')
self.recognizer.expect_phrase('obre la tele')
self.recognizer.expect_phrase('tanca la tele')
self.recognizer.expect_phrase('netflix')
self.recognizer.expect_phrase('posa dibuixos')
self.recognizer.expect_phrase('adéu')
self.recognizer.expect_phrase('xuta la pilota')
self.recognizer.expect_phrase('xuta el cotxe')
self.recognizer.expect_phrase('hola')
# Inicialitza el gravador de veu per a què el reconeixedor pugi començar a
# reconèixer comandes de veu
aiy.audio.get_recorder().start()
print('Reconeixedor de veu inicialitzat')
def inicialitzaHue(self):
ipHue = '192.168.0.10'
nomUsuari = 'juCDLs2nNnys46uLoWngh26Vt4v6dm8DpS03CJ0g'
self.urlLamparaLavabo = 'http://' + ipHue + '/api/' + nomUsuari + '/lights/3/state'
print('Hue inicialitzat')
# Pretrained classes in the model
classNames = {
0: 'background',
1: 'person',
2: 'bicycle',
3: 'cotxe',
4: 'motorcycle',
5: 'airplane',
6: 'bus',
7: 'train',
8: 'truck',
9: 'boat',
10: 'traffic light',
11: 'fire hydrant',
13: 'stop sign',
14: 'parking meter',
15: 'bench',
16: 'bird',
17: 'cat',
18: 'dog',
19: 'horse',
20: 'sheep',
21: 'cow',
22: 'elephant',
23: 'bear',
24: 'zebra',
25: 'giraffe',
27: 'backpack',
28: 'umbrella',
31: 'handbag',
32: 'tie',
33: 'suitcase',
34: 'frisbee',
35: 'skis',
36: 'snowboard',
37: 'pilota',
38: 'kite',
39: 'baseball bat',
40: 'baseball glove',
41: 'skateboard',
42: 'surfboard',
43: 'tennis racket',
44: 'bottle',
46: 'wine glass',
47: 'cup',
48: 'fork',
49: 'knife',
50: 'spoon',
51: 'bowl',
52: 'banana',
53: 'apple',
54: 'sandwich',
55: 'orange',
56: 'broccoli',
57: 'carrot',
58: 'hot dog',
59: 'pizza',
60: 'donut',
61: 'cake',
62: 'chair',
63: 'couch',
64: 'potted plant',
65: 'bed',
67: 'dining table',
70: 'toilet',
72: 'tv',
73: 'laptop',
74: 'mouse',
75: 'remote',
76: 'keyboard',
77: 'cell phone',
78: 'microwave',
79: 'oven',
80: 'toaster',
81: 'sink',
82: 'refrigerator',
84: 'book',
85: 'clock',
86: 'vase',
87: 'scissors',
88: 'teddy bear',
89: 'hair drier',
90: 'toothbrush'
}
def id_class_name(self, class_id):
for key, value in self.classNames.items():
if class_id == key:
return value
def inicialitzaModelImatges(self):
# Loading model
self.model = cv2.dnn.readNetFromTensorflow(
'models/frozen_inference_graph.pb',
'models/ssd_mobilenet_v2_coco_2018_03_29.pbtxt')
print('Model inicialitzat')
def inicialitzaCares(self):
# Carregant cares conegudes (això s'hauria de posar a l'inici)
marcal_image = face_recognition.load_image_file(
"/home/pi/AIY-projects-python/src/imatges/marcal.jpg")
arnau_image = face_recognition.load_image_file(
"/home/pi/AIY-projects-python/src/imatges/arnau.jpg")
mariona_image = face_recognition.load_image_file(
"/home/pi/AIY-projects-python/src/imatges/mariona.jpg")
montse_image = face_recognition.load_image_file(
"/home/pi/AIY-projects-python/src/imatges/montse.jpg")
self.marcal_face_encoding = face_recognition.face_encodings(
marcal_image)[0]
self.arnau_face_encoding = face_recognition.face_encodings(
arnau_image)[0]
self.mariona_face_encoding = face_recognition.face_encodings(
mariona_image)[0]
self.montse_face_encoding = face_recognition.face_encodings(
montse_image)[0]
print('Cares inicialitzades')
# Inicialitza la Martina: el reconeixedor de veu, el Marty the robot, la càmera, etc ...
def __init__(self):
# inicialitza el reconeixedor de veu i comença a escoltar
aiy.i18n.set_language_code('ca-ES')
self.recognizer = aiy.cloudspeech.get_recognizer()
self.inicialitzaRecognizer()
# inicialitza robot
self.initResetMarty()
# inicialitza la càmera
self.camera = picamera.PiCamera()
# redueix la resolució
self.camera.resolution = (320, 240)
print('Càmera inicialitzada')
# inicialitza llums
self.inicialitzaHue()
# inicialitza la tele LG
self.webos_client = WebOsClient('192.168.0.16')
print('TV inicialitzada')
# inicialitza model per a reconèixer objectes
self.inicialitzaModelImatges()
# inicialitza cares conegudes
self.inicialitzaCares()
#Saluda
print('Martina inicialitzada')
os.system(
" echo 'Hola ja estic llesta!' | festival --language catalan --tts"
)
import sys
import logging
import pathlib
cur_path = pathlib.Path(__file__).parent.resolve()
sys.path.insert(0, str(cur_path.parent.parent.resolve()))
from martypy import Marty
import time
# Setup logging
logging.basicConfig(format='%(levelname)s: %(asctime)s %(funcName)s(%(lineno)d) -- %(message)s', level=logging.DEBUG)
logger = logging.getLogger("testBaudRateSelection")
mm = Marty("usb")
# try:
# mm = Marty("wifi://192.168.86.81")
# except Exception as excp:
# print(f"Couldn't connect to marty")
# exit()
# mm.eyes(100)
# mm.eyes(0)
logger.info(f"RIC version info 1: {mm.get_system_info()}")
mm.circle_dance()
logger.info(f"RIC version info 2: {mm.get_system_info()}")
time.sleep(5)
logger.info(f"RIC version info 3: {mm.get_system_info()}")
mm.close()
This uses the blocking: False option so martypy queues up the
movements and sounds and then goes on to show the posiiotn of
marty as it moves
'''
# See README.md for instructions on how to run this
# Import Marty from the martypy library and the time library
from martypy import Marty
import time
# Connect to a Marty and# use the variable my_marty to refer to that Marty
# This assumes you are connecting via WiFi - check the documentation for other options
# You will need to set the ip_address variable with the IP address of your Marty
connection_method = "wifi"
ip_address = "192.168.86.18"
my_marty = Marty(connection_method, ip_address, blocking=False)
# Ask Marty to walk
my_marty.walk(20)
my_marty.dance()
time.sleep(1)
# Do something while marty is walking
while my_marty.is_moving():
print(f"Marty's left leg is at {my_marty.get_joints()[0]['pos']}")
time.sleep(0.5)
# Disconnect from Marty
my_marty.close()
from martypy import Marty
import time
mm = Marty("socket://192.168.86.41")
# mm.eyes(100)
# mm.eyes(0)
mm.circle_dance()
time.sleep(2)
from martypy import Marty
my_marty = Marty("wifi", "192.168.86.11")
# Ask Marty to walk
my_marty.walk(20)
my_marty.dance()
# Do something while marty is walking
while my_marty.is_moving():
if my_marty.get_distance_sensor() < 20:
my_marty.stop()
'''
A program to play a sound on Marty
'''
# Import Marty from the martypy library
from martypy import Marty
# Connect to a Marty and
# use the variable my_marty to refer to that Marty
my_marty = Marty("wifi", "192.168.86.11")
# Ask Marty to play a sound
my_marty.play_sound("no_way")
''' A program to demonstrate Marty and Python ''' # See README.md for instructions on how to run this # Import Marty from the martypy library from martypy import Marty # Connect to a Marty and# use the variable my_marty to refer to that Marty # This assumes you are connecting via WiFi - check the documentation for other options # You will need to set the ip_address variable with the IP address of your Marty connection_method = "wifi" ip_address = "192.168.86.18" my_marty = Marty(connection_method, ip_address, blocking=True) # Ask Marty to dance my_marty.dance() # Disconnect from Marty my_marty.close()
cur_path = pathlib.Path(__file__).parent.resolve()
sys.path.insert(0, str(cur_path.parent.parent.resolve()))
from martypy import Marty
import time
# Setup logging
logging.basicConfig(
format='%(levelname)s: %(asctime)s %(funcName)s(%(lineno)d) -- %(message)s',
level=logging.DEBUG)
logger = logging.getLogger("testColourSensor")
handler = logging.StreamHandler(sys.stdout)
handler.setLevel(logging.DEBUG)
logger.addHandler(handler)
mm = Marty("usb")
# time.sleep(2)
for i in range(100):
try:
onGroundL = mm.foot_on_ground('left')
onGroundR = mm.foot_on_ground('right')
obstacleL = mm.foot_obstacle_sensed('left')
obstacleR = mm.foot_obstacle_sensed('right')
obstSensorL = mm.get_obstacle_sensor_reading('left')
obstSensorR = mm.get_obstacle_sensor_reading('right')
groundSensorL = mm.get_ground_sensor_reading('left')
groundSensorR = mm.get_ground_sensor_reading('right')
print(
f"onGroundL={onGroundL!s:<5} onGroundR={onGroundR!s:<5} | "