def dbr_run(frame_queue, key_queue, cond, num, result_queue):
conn = GattConnection()
try:
conn.connect()
hub = MoveHub(conn)
print('Robot connected')
speed = 0.5
dbr.initLicense('t0126lQMAAJKX0RvMyzlh6PuQjcJyenARHjo4+sFqhwweCXfp3hAVHYasqSvCLpym3urmWpADdzSI19PIjSv4RBLR1HkSjR7O0lsOF8wumF0wu2B2wRyCOQRzCOYQzCGYKZgpmCmYKZjzW+sncrPQMG8MWRNv9W/aWNJhfgMslLDp')
while num.value == 1:
print('wait for event')
key = key_queue.get()
if key == ord('q'):
break
try:
if key == ord('c'):
inputframe = frame_queue.get()
results = dbr.decodeBuffer(inputframe, 0x4000000)
if (len(results) > 0):
print(get_time())
print("Total count: " + str(len(results)))
for result in results:
print("Type: " + result[0])
print("Value: " + result[1] + "\n")
result_queue.put(Result(inputframe, results))
elif key == ord('a'):
# left
print('left')
hub.motor_AB.angled(90, speed * -1, speed)
elif key == ord('d'):
# right
print('right')
hub.motor_AB.angled(90, speed, speed * -1)
elif key == ord('w'):
# up
print('up')
hub.motor_AB.start_speed(speed)
elif key == ord('s'):
# down
print('down')
hub.motor_AB.start_speed(speed * -1)
elif key == ord('p'):
print('pause')
hub.motor_AB.stop()
except:
pass
dbr.destroy()
print("Detection is done.")
finally:
conn.disconnect()
def __init__(self, hub_mac=None):
log.info("Searching for LEGO Move Hub (using MAC %s)...", hub_mac)
self.conn = BlueGigaConnection()
if hub_mac == None:
self.conn.connect(hub_name="LEGO Move Hub")
else:
self.conn.connect(hub_mac)
self.hub = MoveHub(self.conn)
log.info("Connected to LEGO Move Hub!")
self._detect_motor()
self.motor_running = None
self.motorA_running = None
def __init__(self):
super(Joystick, self).__init__()
self._on_joystick = set()
self.button_pressed = False
self._angle_A = 0
self.angle_B = 0
self._angle_C = 0
print("Starting search for Joystick...")
self._hub = MoveHub()
self._reset_sensors()
self._hub.button.subscribe(self._on_btn)
self._on_motor_a(self._on_a)
self.on_rotation(self._on_b)
self._on_motor_c(self._on_c)
print("Joystick is ready")
def __init__(cls):
"""Create the connection with the car"""
cls.connection = get_connection_gatt(hub_mac=cls.MY_MOVEHUB_ADD)
try:
# The motors
cls.movehub = MoveHub(cls.connection)
cls.front_motor = Motor(cls.movehub, cls.movehub.PORT_A)
cls.back_motor = Motor(cls.movehub, cls.movehub.PORT_B)
cls.directionnal_motor = EncodedMotor(cls.movehub,
cls.movehub.PORT_C)
cls.old_angle = cls.DEFAULT_ANGLE
except:
cls.movehub = None
cls.front_motor = None
cls.back_motor = None
cls.directionnal_motor = None
cls.instance = None
cls.connection = None
cls.old_angle = None
def __init__(self):
super(Joystick, self).__init__()
self._on_joystick = set()
self._hub = MoveHub()
self._reset_sensors()
self.button_pressed = False
self._hub.button.subscribe(self._on_btn)
self._angle_A = 0
self._on_motor_a(self._on_a)
self.angle_B = 0
self.on_rotation(self._on_b)
self._angle_C = 0
self._on_motor_c(self._on_c)
logging.info("Done initializing")
def main():
logging.basicConfig(level=logging.INFO)
global motor_state
try:
motor_state = 0
hub = MoveHub()
hub.button.subscribe(button_callback)
#hub.vision_sensor.subscribe(callback, mode=VisionSensor.COLOR_DISTANCE_FLOAT)
while True:
moveslow(hub)
#if motor_state == 1:
# hub.button.unsubscribe()
# hub.disconnect()
#if not hub.connection.is_alive():
# connect()
# hub.vision_sensor.subscribe(callback, mode=VisionSensor.COLOR_DISTANCE_FLOAT)
# print("Reconnection!")
#else:
# print("Connected!")
sleep(3)
except:
print("ex!")
sleep(5)
main()
finally:
#hub.vision_sensor.unsubscribe(callback)
#hub.disconnect()
hub.disconnect()
def test_capabilities(self):
conn = ConnectionMock()
conn.notifications.append('0f00 04 01 0125000000001000000010')
conn.notifications.append('0f00 04 02 0126000000001000000010')
conn.notifications.append('0f00 04 37 0127000100000001000000')
conn.notifications.append('0f00 04 38 0127000100000001000000')
conn.notifications.append('0900 04 39 0227003738')
conn.notifications.append('0f00 04 32 0117000100000001000000')
conn.notifications.append('0f00 04 3a 0128000000000100000001')
conn.notifications.append('0f00 04 3b 0115000200000002000000')
conn.notifications.append('0f00 04 3c 0114000200000002000000')
conn.notification_delayed('12000101064c45474f204d6f766520487562', 0.1)
conn.notification_delayed('0b00010d06001653a0d1d4', 0.3)
conn.notification_delayed('060001060600', 0.5)
conn.notification_delayed('0600030104ff', 0.7)
MoveHub(conn.connect())
time.sleep(1)
conn.wait_notifications_handled()
self.assertEqual(b"0500010105", conn.writes[1][1])
self.assertEqual(b"0500010d05", conn.writes[2][1])
self.assertEqual(b"0500010605", conn.writes[3][1])
self.assertEqual(b"0500030103", conn.writes[4][1])
if known_face_name != nameOld:
shake_head()
say_text('Hello, ' + known_face_name)
nameOld = known_face_name
else:
# If an unknown face has been detected for a few times, add it to the list
unknown_face_count += 1
if unknown_face_count > unknown_face_limit:
unknown_face_count = 0
add_face(face_encoding)
process_this_frame = not process_this_frame
if __name__ == '__main__':
logging.basicConfig(
level=logging.INFO,
format='%(relativeCreated)d\t%(levelname)s\t%(name)s\t%(message)s')
try:
train_faces()
say_text('Hi, I\'m Verny! Please push on the green button')
movehub = MoveHub()
movehub.vision_sensor.subscribe(wave_callback)
dramatic_turn()
do_image_recognition()
finally:
# Release handle to the webcam
video_capture.release()
say_text('Okay, goodbye!')
movehub.disconnect()
def __init__(self):
super(Automata, self).__init__()
self.__hub = MoveHub()
self.__hub.vision_sensor.subscribe(self.__on_sensor)
self._sensor = []
log.info("Voltage: %s", value)
movehub.current.subscribe(callback1, mode=Current.CURRENT_L, granularity=0)
movehub.current.subscribe(callback1, mode=Current.CURRENT_L, granularity=1)
movehub.voltage.subscribe(callback2, mode=Voltage.VOLTAGE_L, granularity=0)
movehub.voltage.subscribe(callback2, mode=Voltage.VOLTAGE_L, granularity=1)
time.sleep(5)
movehub.current.unsubscribe(callback1)
movehub.voltage.unsubscribe(callback2)
def demo_all(movehub):
demo_voltage(movehub)
demo_led_colors(movehub)
demo_motors_timed(movehub)
demo_motors_angled(movehub)
demo_port_cd_motor(movehub)
demo_tilt_sensor_simple(movehub)
demo_tilt_sensor_precise(movehub)
demo_color_sensor(movehub)
demo_motor_sensors(movehub)
if __name__ == '__main__':
logging.basicConfig(level=logging.INFO)
hub = MoveHub()
demo_all(hub)
hub.disconnect()
params['hub_mac'] = parsed.netloc
for key, value in parse_qs(parsed.query).items():
if len(value) == 1:
params[key] = value[0]
else:
params[key] = value
return factory(**params)
if __name__ == '__main__':
logging.basicConfig(
level=logging.INFO,
format='%(relativeCreated)d\t%(levelname)s\t%(name)s\t%(message)s')
parser = get_options()
options = parser.parse_args()
parameters = {}
try:
connection = connection_from_url(
options.connection
) # get_connection_bleak(hub_name=MoveHub.DEFAULT_NAME)
parameters['connection'] = connection
except ValueError as err:
parser.error(err.args[0])
hub = MoveHub(**parameters)
try:
demo = DEMO_CHOICES[options.demo]
demo(hub)
finally:
hub.disconnect()
formatter = logging.Formatter("%(asctime)s - %(filename)s[line:%(lineno)d] - %(levelname)s: %(message)s")
handler.setFormatter(formatter)
console = logging.StreamHandler()
console.setLevel(logging.DEBUG)
log.addHandler(handler)
log.addHandler(console)
parser = get_options()
options = parser.parse_args()
parameters = {}
try:
connection = connection_from_url(options.connection)
parameters['connection'] = connection
except ValueError as err:
parser.error(err.args[0])
'''
#conn = BluepyConnection()
conn = GattoolConnection()
#conn = GattLibConnection()
conn.connect('00:16:53:A9:94:DF')
#hub = MoveHub(get_connection_auto(hub_mac='00:16:53:A9:94:DF'))
hub = MoveHub(conn)
try:
demo = DEMO_CHOICES["motor_sensors"]
demo(hub)
finally:
hub.disconnect()
def __init__(self):
self.grip = None
self.hub = MoveHub(get_connection_bleak(hub_mac = "D8EED5BD-D9DA-43C5-97E1-4273F0368182"))
plotter._transfer_to(0, scale)
elif c == u'1':
plotter._tool_down()
elif c == u'0':
plotter._tool_up()
elif c == u' ':
pass
else:
logging.warning(u"Неизвестная команда: %s", c)
if __name__ == '__main__':
logging.basicConfig(level=logging.DEBUG)
logging.getLogger('').setLevel(logging.DEBUG)
hub = MoveHub() if 1 else get_hub_mock()
plotter = Plotter(hub, 0.75)
FIELD_WIDTH = 0.9
try:
"""
while True:
cmd = six.moves.input("программа> ").decode('utf8')
if not cmd.strip():
continue
plotter.initialize()
interpret_command(cmd, plotter)
plotter.finalize()
"""