def sad(self):
print("Display sad expression")
servos.setMovementFrame(0.1)
servos.setServoPosition(MOUTH, 50) # mouth close
servos.setServoPosition(EYEBROW_L, 70) # eyebrow low
servos.setServoPosition(EYEBROW_L, 70) # eyebrow low
servos.setServoPosition(EYE_VERTICAL, 60) # eyes down
servos.beginMotion()
time.sleep(4)
self.reset()
def bangDrumRight(self):
print("Bang Right Drum")
servos.setMovementFrame(0)
servos.setServoPosition(ARM_ROTATE_R, 55) # arm in
servos.setServoPosition(ELBOW_R, 30) # elbow up
servos.setServoPosition(ARM_UPDOWN_R, 55) # arm up
servos.beginMotion()
servos.setServoPosition(ELBOW_R, 80) # elbow down
servos.beginMotion()
servos.setServoPosition(ELBOW_R, 30) # elbow up
servos.beginMotion()
def reset(self):
print("Face reset...")
servos.setMovementFrame(0)
servos.setServoPosition(EYEBROW_R, 80) # eyebrow flat
servos.setServoPosition(EYEBROW_L, 80) # eyebrow flat
servos.setServoPosition(EYELID_R, 60) # eye open
servos.setServoPosition(EYELID_L, 60) # eye open
servos.setServoPosition(EYE_HORIZONTAL, 80) # eye center
servos.setServoPosition(EYE_VERTICAL, 70) # eye center
servos.setServoPosition(MOUTH, 20) # mouth close
servos.beginMotion()
def excited(self):
print("Display excited expression")
servos.setMovementFrame(0.1)
servos.setServoPosition(MOUTH, 50) # mouth open
servos.setServoPosition(EYEBROW_R, 90) # eyebrow up
servos.setServoPosition(EYEBROW_L, 90) # eyebrow up
servos.setServoPosition(EYE_HORIZONTAL, 80) # eye center
servos.setServoPosition(EYELID_R, 60) # eye open
servos.setServoPosition(EYELID_L, 60) # eye open
servos.beginMotion()
time.sleep(2)
self.reset()
def bangDrumLeft(self):
print("Bang Left Drum")
servos.setMovementFrame(0)
servos.setServoPosition(ELBOW_L, 140) # elbow up
servos.beginMotion()
servos.setServoPosition(ARM_ROTATE_L, 65) # arm in
servos.setServoPosition(ARM_UPDOWN_L, 100) # arm up
servos.beginMotion()
servos.setServoPosition(ELBOW_L, 105) # elbow down
servos.beginMotion()
servos.setServoPosition(ELBOW_L, 140) # elbow up
servos.beginMotion()
def reset(self):
print("Arm reset...")
servos.setMovementFrame(0)
servos.setServoPosition(ELBOW_R, 50) # elbow up
servos.setServoPosition(ELBOW_L, 140) # elbow up
servos.beginMotion()
time.sleep(.5)
servos.setServoPosition(ARM_ROTATE_R, 55) #arm in
servos.setServoPosition(ARM_ROTATE_L, 60) #arm in
servos.beginMotion()
time.sleep(.5)
servos.setServoPosition(ARM_UPDOWN_R, 50) # arm relax
servos.setServoPosition(ARM_UPDOWN_L, 70) # arm relax
servos.beginMotion()
def angry(self):
print("Display angry expression")
servos.setMovementFrame(0.1)
servos.setServoPosition(MOUTH, 50) # mouth close
servos.setServoPosition(EYE_VERTICAL, 70) # eyes down
servos.setServoPosition(EYEBROW_R, 50) # eyebrow down
servos.setServoPosition(EYEBROW_L, 50) # eyebrow down
servos.setServoPosition(EYE_HORIZONTAL, 60)
servos.beginMotion()
servos.setServoPosition(EYE_HORIZONTAL, 60) # eye left
servos.beginMotion()
servos.setServoPosition(EYE_HORIZONTAL, 100) # eye right
servos.beginMotion()
servos.setServoPosition(EYE_HORIZONTAL, 80) # eye center
self.reset()
def mouthOpen(self):
servos.setMovementFrame(0)
servos.setServoPosition(MOUTH, 50) # mouth open
servos.beginMotion()
def mouthClose(self):
servos.setMovementFrame(0)
servos.setServoPosition(MOUTH, 20) # mouth close
servos.beginMotion()
def MainTest():
time.sleep(0.8)
print("Running main test")
servos.setMovementFrame(0)
arms.reset()
# Test audio output
speak(
'I am running a test on my body! If my movement is not matched to my words, it means something is broken!',
"Diagnostic.mp3")
time.sleep(TEST_SLEEP_TIME)
speak("right eyebrow up", "right_eyebrow_up.mp3")
servos.setServoPosition(EYEBROW_R, 100)
servos.beginMotion()
speak("right eyebrown down", "right_eyebrow_down.mp3")
servos.setServoPosition(EYEBROW_R, 50)
servos.beginMotion()
speak("right eyebrow flat", "right_eyebrow_flat.mp3")
servos.setServoPosition(EYEBROW_R, 80)
servos.beginMotion()
speak("left eyebrow up", "left_eyebrow_up.mp3")
servos.setServoPosition(EYEBROW_L, 100)
servos.beginMotion()
speak("left eyebrow down", "left_eyebrow_down.mp3")
servos.setServoPosition(EYEBROW_L, 50)
servos.beginMotion()
speak("left eyebrow flat", "left_eyebrow_flat.mp3")
servos.setServoPosition(EYEBROW_L, 80)
servos.beginMotion()
#speak("eyes close", "eyes_close.mp3")
#servos.setServoPosition(servoID, pos)
#servos.beginMotion()
#speak("eyes open", "eyes_open.mp3")
#servos.setServoPosition(servoID, pos)
#servos.beginMotion()
speak("mouth open", "mouth_open.mp3")
servos.setServoPosition(MOUTH, 50)
servos.beginMotion()
speak("mouth close", "mouth_close.mp3")
servos.setServoPosition(MOUTH, 20)
servos.beginMotion()
speak("right shoulder up", "right_shoulder_up.mp3")
servos.setServoPosition(ARM_UPDOWN_R, 30)
servos.beginMotion()
speak("right shoulder down", "right_shoulder_down.mp3")
servos.setServoPosition(ARM_UPDOWN_R, 70)
servos.beginMotion()
speak("left shoulder up", "left_shoulder_up.mp3")
servos.setServoPosition(ARM_UPDOWN_L, 90)
servos.beginMotion()
speak("left shoulder down", "left_shoulder_down.mp3")
servos.setServoPosition(ARM_UPDOWN_L, 50)
servos.beginMotion()
speak("right arm out", "right_arm_out.mp3")
servos.setServoPosition(ARM_ROTATE_R, 80)
servos.beginMotion()
speak("right elbow down", "right_elbow_down.mp3")
servos.setServoPosition(ELBOW_R, 90)
servos.beginMotion()
speak("right elbow up", "right_elbow_up.mp3")
servos.setServoPosition(ELBOW_R, 30)
servos.beginMotion()
speak("right arm in", "right_arm_in.mp3")
servos.setServoPosition(ARM_ROTATE_R, 30)
servos.beginMotion()
#recenter the arm
servos.setServoPosition(ARM_ROTATE_R, 55)
speak("left arm out", "left_arm_out.mp3")
servos.setServoPosition(ARM_ROTATE_L, 50)
servos.beginMotion()
speak("left elbow down", "left_elbow_down.mp3")
servos.setServoPosition(ELBOW_L, 100)
servos.beginMotion()
speak("left elbow up", "left_elbow_up.mp3")
servos.setServoPosition(ELBOW_L, 120)
servos.beginMotion()
speak("left arm in", "left_arm_in.mp3")
servos.setServoPosition(ARM_ROTATE_L, 65)
servos.beginMotion()
#recenter the arm
servos.setServoPosition(ARM_ROTATE_L, 65)
servos.beginMotion()
speak("Bang right drum", "bang_right_drum.mp3")
arms.bangDrumRight()
speak("Bang left drum", "bang_left_drum.mp3")
arms.bangDrumLeft()
speak("Play music!", "music.mp3")
playMusic()