def play_note(note, beat=None, index=1):
if not isinstance(index, (int, float)):
return
if isinstance(note, (int, float)):
note = num_range_scale(note, 48, 72)
freq = MIDI_NOTE_NUM0 * math.pow(NOTE_FREQUENCE_RATIO, note)
elif isinstance(note, str):
if note in node_table:
freq = node_table[note]
else:
return
neurons_request("m_speaker", "stop", (), index)
if beat == None:
neurons_request("m_speaker", "play_frequency", freq, index)
elif isinstance(beat, (int, float)):
beat = num_range_scale(beat, 0)
if beat <= 0:
return
neurons_request("m_speaker", "play_frequency", freq, index)
time.sleep(beat)
neurons_request("m_speaker", "stop", (), index)
def send_remote_code(addr, data, index=1):
if index != 0x01:
return
if not isinstance(addr, (int)) or not isinstance(data, (int)):
return
addr = num_range_scale(addr, 0, 255)
data = num_range_scale(data, -128, 127)
neurons_request("m_halobot", "ir_send_remote_code", (addr, data),
index)
def set_led_rgb(r, g, b, index=1): #设置RGB灯
if (not isinstance(r, (int, float))) or (not isinstance(
g,
(int, float))) or (not isinstance(b, (int, float))) or (not isinstance(
index, (int, float))) or (index <= 0):
return
r = num_range_scale(r, 0, 255)
g = num_range_scale(g, 0, 255)
b = num_range_scale(b, 0, 255)
neurons_request("m_smart_camera", "set_led_rgb", (r, g, b), index)
def move_with_torque(position, speed, strength, index=1):
if (not isinstance(position, (int))) or (not isinstance(
speed,
(int, ))) or (not isinstance(strength, (int, ))) or (not isinstance(
index, (int))) or (index <= 0):
return
speed = num_range_scale(speed, 1, 50)
strength = num_range_scale(strength, 1, 255)
neurons_request("m_smartservo", "move_with_torque",
[position, speed, strength], index)
def set_fills_learn_mode(fills_id, t, index=1): #设置学习色块模式
if (not isinstance(fills_id, (int, float))) or (not isinstance(
t,
(int, float))) or (not isinstance(index,
(int, float))) or (index <= 0):
return
# real index is 0 ~ 7
fills_id = num_range_scale(fills_id, 1, 8)
fills_id -= 1
t = num_range_scale(t, 0, None)
neurons_request("m_smart_camera", "set_fills_learn_mode", (fills_id, t),
index)
def set_rgb(red_value, green_value, blue_value, index=1):
if not isinstance(index, (int, float)):
return
if not isinstance(red_value, (int, float)):
return
if not isinstance(green_value, (int, float)):
return
if not isinstance(blue_value, (int, float)):
return
red_value = num_range_scale(red_value, 0, 255)
green_value = num_range_scale(green_value, 0, 255)
blue_value = num_range_scale(blue_value, 0, 255)
neurons_request("m_fingertip_piano", "set_rgb",
(red_value, green_value, blue_value), index)
def set_default_turning_angle(angle, index=1): #设置默认的转向角度（不开放）
if (not isinstance(angle, (int, float))) or (not isinstance(
index, (int, float))) or (index <= 0):
return
angle = num_range_scale(angle, -180, 180)
neurons_request("m_smart_camera", "set_default_turning_angle", (angle),
index)
def set_camera_sensitometry(level, index=1): #设置摄像头曝光度
if (not isinstance(level, (int, float))) or (not isinstance(
index, (int, float))) or (index <= 0):
return
level = num_range_scale(level, 0, 255)
neurons_request("m_smart_camera", "set_camera_sensitometry", (level),
index)
def set_report_mode(mode, timestamp, index=1):
timestamp = num_range_scale(timestamp, 10, None)
if mode == 0x00 or mode == 0x01 or mode == 0x02:
neurons_request("m_mult_touch", "set_report_mode", (mode, timestamp),
index)
else:
pass
def set_report_mode(mode, timestamp, index=1):
timestamp = num_range_scale(timestamp, 10, None)
if mode == 0x00 or mode == 0x01 or mode == 0x02:
neurons_request("m_dual_rgb_sensor", "set_all_data_report_mode",
(mode, timestamp), index)
else:
pass
def back_to_zero(speed, index=1):
if (not isinstance(speed,
(int, ))) or (not isinstance(index,
(int))) or (index <= 0):
return
speed = num_range_scale(speed, 1, 50)
neurons_request("m_smartservo", "back_to_zero", [0x00, speed], index)
def __set_r_g_b(col_id, value, index):
global __led_value
value = num_range_scale(value, 0, 255)
__led_value[index][col_id] = value
neurons_request("m_rgb", r_g_b_list[col_id], value, index)
def get_fills_diff_speed(sign, tar_x, tar_y, index=1):
global __kp, __mode
if (not isinstance(tar_x, (int, float))) or (not isinstance(
tar_y,
(int, float))) or (not isinstance(index,
(int, float))) or (index <= 0):
return 0
index = int(index)
if __mode[index - 1] != "color":
return 0
data = get_fills_all_data(sign, index)
if data == 0:
return 0
cur_x = data[1]
cur_y = data[2]
if cur_x == 0 or cur_y == 0:
return 0
error = 0
if tar_x == -1:
error = (tar_y - cur_y) * 2
elif tar_y == -1:
error = (cur_x - tar_x) * 1
else:
return 0
error = num_range_scale(error, -100, 100)
error = error * __kp[index - 1]
return error
def set_button_count_report_mode(mode, timestamp, index=1):
timestamp = num_range_scale(timestamp, 10, None)
if mode == 0x00 or mode == 0x01 or mode == 0x02:
neurons_request("m_fingertip_piano", "set_button_count_report_mode",
(mode, timestamp), index)
else:
pass
def get_follow_vector_diff_speed(index=1):
global __mode
if (not isinstance(index, (int, float))) or (index <= 0):
return 0
index = int(index)
if __mode[index - 1] != "line":
return 0
data = get_line_all_data(index)
if data == 0:
return 0
cur_x0 = data[0]
cur_y0 = data[1]
cur_x1 = data[2]
cur_y1 = data[3]
# print("end_x start_x:", cur_x0, cur_x1)
if cur_x0 == 0 or cur_x1 == 0:
return 0
error = (cur_x0 - CAMERA_FRAME_WIDTH / 2) * 0.7 + (
cur_x1 - CAMERA_FRAME_WIDTH / 2) * 0.3
error = 3 * error
error = num_range_scale(error, -100, 100)
error = error * __kp[index - 1]
return error
def get_barcode_diff_speed(label, tar_x, tar_y, index=1):
global __kp, __mode
if (not isinstance(tar_x, (int, float))) or (not isinstance(
tar_y,
(int, float))) or (not isinstance(index,
(int, float))) or (index <= 0):
return 0
index = int(index)
if __mode[index - 1] != "line":
return 0
data = get_barcode_all_data(label, index)
if data == 0:
return 0
cur_x = data[1]
cur_y = data[2]
# print("cur x y:", cur_x, cur_y)
if cur_x == 0 or cur_y == 0:
return 0
error = 0
if tar_x == -1:
error = (tar_y - cur_y) * 3
elif tar_y == -1:
error = (cur_x - tar_x) * 3
else:
return 0
error = num_range_scale(error, -100, 100)
error = error * __kp[index - 1]
return error
def set_angle(angle, index=1):
if not isinstance(index, (int, float)):
return
if not isinstance(angle, (int, float)):
return
angle = num_range_scale(angle, 0, 180)
neurons_request("m_servo", "set_angle", angle, index)
def set_power(power, index = 1):
if not isinstance(index, (int, float)):
return
if not isinstance(power, (int, float)):
return
power = num_range_scale(power, -100, 100)
neurons_request("m_dc_motor", "set_power", power, index)
def set_power(pwm, index=1):
if (not isinstance(pwm,
(int, ))) or (not isinstance(index,
(int))) or (index <= 0):
return
pwm = num_range_scale(pwm, -255, 255)
#print(pwm)
neurons_request("m_smartservo", "set_pwm", -pwm, index)
def set_report_mode(mode, timestamp, index=1):
if not isinstance(timestamp, (int, float)):
return
timestamp = num_range_scale(timestamp, 10, None)
if mode == __INQUIRE_REPORT_MODE or mode == __CHANGE_REPORT_MODE or mode == __PERIOD_REPORT_MODE:
neurons_request("m_servo", "set_report_mode", (mode, timestamp), index)
else:
return
def change_volume(val, index=1):
if not isinstance(index, (int, float)):
return
if not isinstance(val, (int, float)):
return
val = num_range_scale(val, -100, 100)
neurons_request("m_speaker", "change_volume", val, index)
time.sleep(0.05)
def get_cross_angle(sn=1, index=1):
if (not isinstance(sn, (int, float))) or (sn <= 0):
return 0
sn = int(sn)
sn = num_range_scale(sn, 1, 6)
value = get_crossings_line_angle_sigle_data(index)
if value != 0:
return value[sn - 1]
return 0
def set_angle(channel=None, angle=0, index=1):
if index != 0x01:
return
if channel != "ALL" and channel != "S1" and channel != "S2":
return
if not isinstance(angle, (int)):
return
angle = num_range_scale(angle, 0, 180)
neurons_request("m_halobot", "servo_set_angle",
(channel_dict[channel], angle), index)
def set_line_report_mode(mode, timestamp, index=1): #设置线所有信息的上报模式
if (not isinstance(timestamp, (int, float))) or (not isinstance(
index, (int, float))) or (index <= 0):
return
timestamp = num_range_scale(timestamp, 10, None)
if mode == 0x00 or mode == 0x01 or mode == 0x02:
neurons_request("m_smart_camera", "set_line_report_mode",
(mode, timestamp), index)
else:
return
def run(power, index=1):
if (not isinstance(power,
(int, ))) or (not isinstance(index,
(int))) or (index <= 0):
return
power = num_range_scale(power, -100, 100)
# scale for user is -100 ~ 100, real is -255 ~ 255
power = round(power * 2.55) # 255 / 100
neurons_request("m_smartservo", "set_pwm", -power, index)
def set_sensitivity(sen, index=1):
if not isinstance(sen, (int, float)):
return
if not isinstance(index, (int, float)):
return
sen = num_range_scale(sen, 1, 4)
neurons_request("m_mult_touch", "reset", (), index)
neurons_request("m_mult_touch", "set_sensitivity", sen, index)
def turn(angle,
speed,
index=1): # angle: drgree speed:unit :degree per second
if (not isinstance(angle, (int))) or (not isinstance(
speed, (int, ))) or (not isinstance(index, (int))) or (index <= 0):
return
# speed unit for users is degree per second
# but real speed unit is rpm(revolutions per minute)
speed = round(speed * SPEED_DPS_TO_RPM)
speed = num_range_scale(speed, 1, 50)
neurons_request("m_smartservo", "move", [-angle, speed], index)
def get_value(position, index=1):
if not isinstance(position, (int, float)):
return 0
if not isinstance(index, (int, float)):
return 0
position = num_range_scale(position, 1, 8)
value = neurons_async_read("m_mult_touch", "get_value", position, index)
if value != None:
return value[0]
else:
return 0
def show(r, g, b, index=1):
global __led_value
if not isinstance(index, (int, float)):
return
if not isinstance(r, (int, float)):
return
if not isinstance(g, (int, float)):
return
if not isinstance(b, (int, float)):
return
if index > __RGB_NUM_MAX:
return
r = int(num_range_scale(r, 0, 255))
g = int(num_range_scale(g, 0, 255))
b = int(num_range_scale(b, 0, 255))
__led_value[int(index)] = [r, g, b]
neurons_request("m_rgb", "show", (r, g, b), index)
def get_barcode_all_data(barcode_id, index=1): #获取某个条形码的所有信息
if (not isinstance(barcode_id, (int, float))) or (not isinstance(
index, (int, float))) or (index <= 0):
return 0
barcode_id = num_range_scale(barcode_id, 0, 15)
value = neurons_blocking_read("m_smart_camera", "get_barcode_all_data",
(barcode_id), index)
if value != None:
value[1] = round(value[1] * FRAME_REVISE_COE_LINE_X)
value[2] = round(value[2] * FRAME_REVISE_COE_LINE_Y)
return value
else:
return 0
