def __init__(self):
try:
self.controller = serial.Serial(self.port, self.baudrate,
self.bytesize, self.parity,
self.stopbits, self.timeout)
except:
print("Unexpected error:", sys.exc_info()[0])
raise
self.messagePub = publisher.Publisher("P8X32 Message Publisher")
self.rangePub = publisher.Publisher("P8X32-MB1220 Range Publisher")
self.ranges = self.rangeInit
self.qDepth = 500 # number of range readings to keep
self.rangeList = deque(maxlen=self.qDepth)
self.t0 = time.time()
def __init__(self, robot=None, robot_url=None, user=None, token=None):
self.robot = robot
self.robot_url = robot_url
self.user = user
self.token = token
self.headers = {"content-type": "application/json"}
self.t0 = time.time()
self.posts = 0
self.totalPostTime = 0.
try:
self.robot_ca = os.environ['ROBOT_CA']
except:
self.robot_ca = False
if user and token:
self.setAuthToken(user, token)
self.publisher = publisher.Publisher("Robot http Client Publisher")
self.postQ = queue.Queue()
self.postThread = threading.Thread(target=self.postService,
name="Post Service Thread")
self.postThread.setDaemon(True)
self.postThread.start()
def __init__(self, port=MPU9150_ADDRESS):
self.port = port
# hard iron offsets in uT measured on 2019-01-28 for lbr2a
# for an untested device, set the default values to
# hix = 0, hiy = 0
# self.hix = hix
# self.hiy = hiy
self.hix = 0
self.hiy = 0
self.alpha_setting = None
self.beta_setting = None
self.mpu_enabled = False
self.read_errors = 0
self.error_limit = 3
self.mpuPub = publisher.Publisher("MPU Message Publisher")
self.gyroPub = publisher.Publisher("Gyro Publisher")
self.doPublish = False # doPublish means publish even if the result 0
self.onRecord = False
self.gyroRange = 250 # dps
self.gyroFullScaleRange = 2000 # dps
self.gyroSquelch = 0.09
self.gyroCalibration = self.zeroGyroResult
self.accelRange = 0 # selects range of +/- 2g
#self.magDecl = 13+55./60. # todo dynamically look up declination
self.magDecl = 0.
self.magResolution = 0.3 # AK8975C for MPU9150, +4095 to -4096 : +-1229uT
self.asa = [0., 0., 0.] # sensitivy adjustments
self.rawAngleL = []
self.lastg = self.zeroGyroResult
self.lasta = self.zeroAccelResult
self.lastm = self.zeroMagResult
self.lastsu = mpuData(self.zeroGyroResult, self.zeroAccelResult,
self.zeroMagResult, 0., 0., 0.)
self.mpusu_zero = mpuData(self.zeroGyroResult, self.zeroAccelResult,
self.zeroMagResult, 0., 0., 0.)
self.lastRawAngle = -1
self.unitConTime = 0
self.numReads = 0
self.setup()
def __init__(self, port=SDC2130_Port):
self.port = port
try:
self.controller = Serial(self.port, self.baudrate, self.bytesize,
self.parity, self.stopbits, self.timeout)
except:
print("Unexpected error:", sys.exc_info()[0])
raise
self.motorCommand = self.STOP_MOTOR_COMMAND
self.messagePub = publisher.Publisher("SDC2130 Message Publisher")
self.voltagePub = publisher.Publisher("SDC2130 Voltage Publisher")
self.ampsPub = publisher.Publisher("SDC2130 Amperage Publisher")
self.motorControlPub = publisher.Publisher(
"SDC2130 Motor Control Publisher")
self.lastVoltages = voltages(12.0, 12.0, 5.11, time.asctime())
def __init__(self,language='English',rate=150, voice_id='Kevin'):
self.engine = boto3.Session(aws_access_key_id=os.environ['ROBOT_AWS_AK'],
aws_secret_access_key=os.environ['ROBOT_AWS_SK'],
region_name='us-west-2').client('polly')
self.output_format = 'mp3'
self.supported_formats = ['mp3', 'wav', 'mp4', 'amr', 'amr-wb', 'ogg', 'webm', 'flac']
self.voice_id = voice_id
self.language = language
# self.engine.setProperty('rate', rate) # rate not currently used for this version
self.speechPub = publisher.Publisher("Speech Publisher")
def __init__(self, language='English', rate=150):
self.engine = pyttsx3.init()
self.language = language
self.engine.setProperty('rate', rate)
self.speechPub = publisher.Publisher("Speech Publisher")