Пример #1
0
    def __init__(self, target_name,default_update_rate=50):#, target_addr, port, default_update_rate=50.0):
        self.update_rate = default_update_rate
        self.sampling_divisor = int(400/self.update_rate)

        self.is_connected = False
        self._init_pubsub()
        self._init_params()
        self.robot = BB8_driver.Sphero(target_name)
        # if target_name:
        #     if target_addr:
        #         if port:
        #             self.robot = BB8_driver.Sphero(target_name, target_addr, port)
        #         else:
        #             self.robot = BB8_driver.Sphero(target_name, target_addr)
        #     else:
        #         self.robot = BB8_driver.Sphero(target_name)
        # else:
        #     self.robot = BB8_driver.Sphero()

        self.imu = Imu()
        self.imu.orientation_covariance = [1e-6, 0, 0, 0, 1e-6, 0, 0, 0, 1e-6]
        self.imu.angular_velocity_covariance = [1e-6, 0, 0, 0, 1e-6, 0, 0, 0, 1e-6]
        self.imu.linear_acceleration_covariance = [1e-6, 0, 0, 0, 1e-6, 0, 0, 0, 1e-6]
        self.last_cmd_vel_time = rospy.Time.now()
        self.last_diagnostics_time = rospy.Time.now()
        self.cmd_heading = 0
        self.cmd_speed = 0
        self.power_state_msg = "No Battery Info"
        self.power_state = 0

        self.prev_ODOM_X = None
        self.prev_ODOM_Y = None
Пример #2
0
 def __init__(self, irc, server, channel, nick, password, debug=False):
     self.irc = irc
     self.server = server
     self.channel = channel
     self.nick = nick
     self.password = password
     self.debug = debug
     self.sphero = BB8_driver.Sphero()
     self.bt = False
Пример #3
0
    def __init__(self):
        pygame.mixer.init()
        #pygame.mixer.music.load('sounds/connect.mp3')
        #pygame.mixer.music.play()

        self.bb8 = BB8_driver.Sphero()
        self.bb8.connect()
        self.bb8.start()
        time.sleep(2)
        self.flash_green(ntimes=2)
Пример #4
0
    def do_connect(self, line):
        if self.sp:
            print "Already connected!"
            return False

        print "Connecting ..."
        self.sp = BB8_driver.Sphero()

        try:
            self.sp.connect()
        except btle.BTLEException, e:
            print "BT FAIL:", e
            self.sp = None
            return
def alarm():
    speed = 20
    bb8 = BB8_driver.Sphero()
    bb8.connect()
    bb8.start()
    #bb8.roll(speed, 40, 1, False)
    bb8.set_rgb_led(255, 0, 0, 0, False)
    time.sleep(1)
    bb8.set_rgb_led(0, 255, 0, 0, False)
    time.sleep(1)
    #bb8.roll(speed, 320, 1, False)
    bb8.set_rgb_led(0, 255, 255, 0, False)
    time.sleep(1)
    bb8.set_rgb_led(255, 0, 0, 0, False)
    time.sleep(1)
    bb8.set_rgb_led(0, 255, 0, 0, False)
    #bb8.roll(speed, 0, 1, False)
    time.sleep(1)
    bb8.join()
    bb8.disconnect()
Пример #6
0
import cwiid
import time
import BB8_driver
import matplotlib.pyplot as pyplot
import numpy
import sys

modes = ["tank"]

print("Please connect the Wiimote now.")
wm = cwiid.Wiimote()
print("Wiimote successfully connected")

wm.rpt_mode = cwiid.RPT_BTN | cwiid.RPT_ACC

bb8 = BB8_driver.Sphero()
a = None
print("Connecting to BB-8")
try:
    bb8.connect()
except:
    print("Connection failed. Escaping script.")
    sys.exit(1)
bb8.ping(True)
print("Connection Successful")

bb8.start()

print("Hold Wiimote in horizontal equillibrium for calibration.")

time.sleep(3)
Пример #7
0
#!/usr/bin/python
# -*- coding: utf-8 -*-

from bluepy import btle
import struct
import time
import BB8_driver
import sys
bb8 = BB8_driver.Sphero('F5:6B:10:17:17:17')
#bb = BB8('F5:6B:10:17:17:17')
bb8.connect()

bb8.start()
time.sleep(2)
bb8.set_rgb_led(255, 0, 0, 0, False)
time.sleep(1)
bb8.set_rgb_led(0, 255, 0, 0, False)
time.sleep(1)
bb8.set_rgb_led(0, 0, 255, 0, False)
time.sleep(3)
bb8.join()
bb8.disconnect()
sys.exit(1)
Пример #8
0

class Server():
    def __init__(self, Adress=('', 5000), MaxClient=1):
        self.s = socket.socket()
        self.s.bind(Adress)
        self.s.listen(MaxClient)

    def WaitForConnection(self):
        print('Waiting for connection from client...')
        self.Client, self.Adr = (self.s.accept())
        print('Got a connection from: ' + str(self.Client) + '.')


print('Waiting for connection to Sphero...')
robot = BB8_driver.Sphero()
robot.connect()
robot.start()
time.sleep(2)
robot.set_rgb_led(0, 255, 0, 0, False)
robot.set_back_led(255, False)

s = Server()
s.WaitForConnection()
print('Waiting for command... ')

#time.sleep(5)
#robot.set_back_led(0, False)
#robot.disconnect()

while 1 == 1: