def get(self, hub_id, hci=MY_BTCTRLR_HCI):
print("Turn on MoveHub")
movehub = MoveHub(hub_id, 'Auto', hci)
movehub.start()
print("MoveHub ready!")
self.movehub = movehub
return self.movehub
def init_movehub():
mh = MoveHub(MY_MOVEHUB_ADD, 'BlueZ', MY_BTCTRLR_HCI)
mh.start()
mh.subscribe_all()
mh.listen_hubtilt(MODE_HUBTILT_BASIC)
mh.listen_colordist_sensor(PORT_D)
mh.listen_angle_sensor(PORT_C)
if mh.is_connected():
print(('Is connected: ', mh.is_connected()))
return mh
def init_lego():
retval = {}
my_movehub = MoveHub(MY_MOVEHUB_ADD, MY_MOVEHUB_MODE, MY_BTCTRLR_HCI)
retval['movehub'] = my_movehub
try:
my_movehub.start()
except:
retval['errStr'] = str(sys.exc_info()[0])
retval['movehub'] = None
try_stop_movehub(my_movehub)
return retval
class Boost:
def __init__(self, mac_addr, mode='Auto', hci="hci0"):
self.mac_addr = mac_addr
self.mode = mode
self.hci = hci
def init_hub(self):
retval = {}
self.my_movehub = MoveHub(self.mac_addr, self.mode, self.hci)
try:
self.my_movehub.start()
except:
err_msg = sys.exc_info()[0]
logger.error("Could not INIT movehub({},{},{}). Error:{}".format(
self.mac_addr, self.mode, self.hci, err_msg))
retval['errStr'] = str(err_msg)
self.try_stop_movehub()
return retval
def try_stop_movehub(self):
if (self.my_movehub is not None):
try:
logger.error("Stopping movehub({},{},{})".format(
self.mac_addr, self.mode, self.hci))
self.my_movehub.stop()
except:
err_msg = sys.exc_info()[0]
logger.error(
"Could not STOP movehub({},{},{}). Error:{}".format(
self.mac_addr, self.mode, self.hci, err_msg))
def try_move_hub(self, motor, time_ms, dutycycle_pct):
retval = {}
try:
self.my_movehub.run_motor_for_time(motor, time_ms, dutycycle_pct)
except:
err_msg = sys.exc_info()[0]
logger.error("Could not MOVE movehub({},{},{}). Error:{}".format(
self.mac_addr, self.mode, self.hci, err_msg))
#-- if(say_error):
#-- say("Error while trying to move lego. {}".format(
#-- sys.exc_info()[0]))
retval['errStr'] = str(err_msg)
return retval
def go_forward_command(self):
self.try_move_hub(MOTOR_AB, 2000, 100)
def go_back_command(self):
self.try_move_hub(MOTOR_AB, 2000, -100)
#!/usr/bin/python3
from utopia2output import *
from time import sleep
from pyb00st.movehub import MoveHub
from pyb00st.constants import *
mymovehub = MoveHub('00:16:53:A5:03:67', 'Auto', 'hci0')
mymovehub.start()
while True:
try:
mymovehub.connect()
except Exception as e:
print(e)
print('Cannot connect to Boost, trying again..')
else:
break
# define our action functions
def head(objID):
print('move head')
try:
mymovehub.run_motor_for_angle(MOTOR_D, 70, 20)
sleep(2)
mymovehub.run_motor_for_angle(MOTOR_D, 140, -10)
sleep(1)
mymovehub.run_motor_for_angle(MOTOR_D, 70, 20)
except:
print('Cannot connect to Boost.')
elif status == CLOSED and self.get_status() == OPEN:
logger.debug("closing thumb turn")
self._set_working(True)
self.motor_actor.close(lambda:
(self._set_working(False), callback()))
def get_status(self):
"""サムターンの状態を取得する"""
color = self.hub_actor.get_color().get()
return to_status_from_color(color)
print('turn the power on of the movehub in 10 seconds')
sleep(1)
hub = MoveHub(address=None, backend='Auto')
hub.start(timeout=1, retry=10)
hub.subscribe_all()
def sigint_handler(sig, stack):
hub.stop()
signal.signal(signal.SIGINT, sigint_handler)
sleep(1)
hub_actor_ref = HubActor.start(hub)
hub_actor_proxy = hub_actor_ref.proxy()
key_motor_actor_ref = KeyMotorActor.start(hub_actor_proxy)
key_motor_actor_proxy = key_motor_actor_ref.proxy()