def main():
mac_address = "aa:bb:cc:dd:ee:ff"
with Sphero(mac_address=mac_address) as sphero:
sphero.power.wake()
for i in range(20):
sphero.user_io.set_all_leds_8_bit_mask(back_color=Color(blue=0xff))
sleep(0.25)
sphero.user_io.set_all_leds_8_bit_mask(front_color=Color(red=0xff))
sleep(0.25)
sphero.power.enter_soft_sleep()
def main():
mac_address = "d6:bc:6a:05:79:b6"
with Sphero(mac_address=mac_address) as sphero:
sphero.power.wake()
for i in range(20):
print('blink')
sphero.user_io.set_all_leds_8_bit_mask(back_color=Color(blue=0xff))
sleep(0.25)
sphero.user_io.set_all_leds_8_bit_mask(front_color=Color(red=0xff))
sleep(0.25)
sphero.power.enter_soft_sleep()
print('Exit with')
def main():
#mac_address = "aa:bb:cc:dd:ee:ff"
mac_address = "f7:e2:c2:7d:4c:bb"
with Sphero(mac_address=mac_address) as sphero:
sphero.power.wake()
sleep(2)
sphero.user_io.set_all_leds_8_bit_mask()
#testing = True
#while(testing):
#sphero.user_io.set_all_leds_8_bit_mask(front_color=Color(blue=255,green=255,red=255),back_color=Color(blue=255,green=255,red=255))
sphero.user_io.set_led_matrix_one_color(color=Color(blue=255))
#sphero.sensor.set_notify(notify_callback, CoreTime, Accelerometer)
#sphero.sensor.cancel_notify_sensors()
#sphero.sensor.cancel_notify_sensors()
# while(sphero.sensor.get_ambient_light_sensor_value() <= 75):
# print("Light Sensor: {}",sphero.sensor.get_ambient_light_sensor_value(), end="\r")
# sphero.user_io.set_all_leds_8_bit_mask()
# sleep(1)
# sphero.user_io.set_all_leds_8_bit_mask(front_color=Color(blue=55))
# sphero.user_io.set_led_matrix_text_scrolling(string=":)",color=Color(blue=255,red=0,green=0))
# sleep(2)
# sphero.driving.drive_with_heading(1, 270, Direction.forward)
# sleep(.1)
# sphero.driving.drive_with_heading(1, 90, Direction.forward)
# sleep(.1)
# sphero.driving.drive_with_heading(1, 0, Direction.forward)
# sleep(1)
# sphero.user_io.set_led_matrix_one_color(color=Color(green=255))
# sphero.driving.drive_with_heading(252, 5, Direction.forward)
# sleep(3.2)
# sphero.user_io.set_led_matrix_one_color(color=Color(red=255))
# sphero.driving.drive_with_heading(1, 0, Direction.forward)
# sleep(2)
# sphero.driving.drive_with_heading(200, 180, Direction.forward)
# sleep(2)
# sphero.driving.drive_with_heading(200, 200, Direction.forward)
# sleep(.5)
# sphero.driving.drive_with_heading(200, 180, Direction.forward)
# sleep(1.5)
# sphero.driving.drive_with_heading(1, 180, Direction.forward)
# sphero.driving.reset_yaw()
# sphero.driving.drive_with_heading(75, 90, Direction.forward)
#sphero.driving.tank_drive(right_speed=255,left_speed=255)
#sphero.user_io.set_led_matrix_one_color(color=Color(blue=255))
#sphero.user_io.set_led_matrix_single_character(symbol="*",color=Color(blue=255,red=255,green=255))
#sphero.user_io.set_led_matrix_text_scrolling(string="Get pi",color=Color(blue=255,red=255,green=255))
#sleep(5)
#sphero.driving.raw_motor(left_speed=200,left_direction=DirectionRawMotor.reverse,right_speed=200,right_direction=DirectionRawMotor.forward)
#sphero.driving.raw_motor(left_direction=Direction.reverse,left_speed=100,right_direction=Direction.forward,right_speed=200)
#sphero.driving.drive_with_heading(255, 0, Direction.forward)
sleep(40)
sphero.power.enter_soft_sleep()
def happy_look_right():
with Sphero(mac_address=mac_address) as sphero:
sleep(2)
print("Look right")
pixels = [
# Left Eye
Pixel(x=1, y=2),
Pixel(x=0, y=2),
# Right Eye
Pixel(x=6, y=2),
Pixel(x=5, y=2)
]
colors = [
# Left Eye
Color(red=0xff, green=0xff, blue=0xff),
Color(blue=0xff),
# Right Eye
Color(red=0xff, green=0xff, blue=0xff),
Color(blue=0xff)
]
for (pixel, color) in zip(pixels, colors):
sphero.user_io.set_led_matrix_pixel(pixel, color)
def dizzy_look_left():
with Sphero(mac_address=mac_address) as sphero:
sleep(2)
print("Look left")
pixels = [
# Left Eye
Pixel(x=1, y=3),
Pixel(x=2, y=3),
# Right Eye
Pixel(x=6, y=1),
Pixel(x=7, y=1)
]
colors = [
# Left Eye
Color(red=0xff, green=0xff, blue=0xff),
Color(blue=0xff),
# Right Eye
Color(red=0xff, green=0xff, blue=0xff),
Color(blue=0xff)
]
for (pixel, color) in zip(pixels, colors):
sphero.user_io.set_led_matrix_pixel(pixel, color)
def normal_eyes():
with Sphero(mac_address=mac_address) as sphero:
sleep(2)
print("Show eyes in matrix")
pixels = [
# Left Eye
Pixel(x=0, y=1),
Pixel(x=0, y=2),
Pixel(x=0, y=3),
Pixel(x=1, y=1),
Pixel(x=1, y=2),
Pixel(x=1, y=3),
Pixel(x=2, y=1),
Pixel(x=2, y=2),
Pixel(x=2, y=3),
# Right Eye
Pixel(x=5, y=1),
Pixel(x=5, y=2),
Pixel(x=5, y=3),
Pixel(x=6, y=1),
Pixel(x=6, y=2),
Pixel(x=6, y=3),
Pixel(x=7, y=1),
Pixel(x=7, y=2),
Pixel(x=7, y=3)
]
colors = [
# Left Eye
Color(red=0xff, green=0xff, blue=0xff),
Color(red=0xff, green=0xff, blue=0xff),
Color(red=0xff, green=0xff, blue=0xff),
Color(red=0xff, green=0xff, blue=0xff),
Color(blue=0xff),
Color(red=0xff, green=0xff, blue=0xff),
Color(red=0xff, green=0xff, blue=0xff),
Color(red=0xff, green=0xff, blue=0xff),
Color(red=0xff, green=0xff, blue=0xff),
# Right Eye
Color(red=0xff, green=0xff, blue=0xff),
Color(red=0xff, green=0xff, blue=0xff),
Color(red=0xff, green=0xff, blue=0xff),
Color(red=0xff, green=0xff, blue=0xff),
Color(blue=0xff),
Color(red=0xff, green=0xff, blue=0xff),
Color(red=0xff, green=0xff, blue=0xff),
Color(red=0xff, green=0xff, blue=0xff),
Color(red=0xff, green=0xff, blue=0xff)
]
for (pixel, color) in zip(pixels, colors):
sphero.user_io.set_led_matrix_pixel(pixel, color)
def main():
print("Connecting to Sphero...", end=" ")
### Connect to Sphero Bolt ###
mac_address = "f7:e2:c2:7d:4c:bb"
with Sphero(mac_address=mac_address) as sphero:
print("DONE!")
sphero.power.wake()
sleep(2)
sphero.user_io.set_all_leds_8_bit_mask()
sleep(1)
print("Gathering Pin Points...")
getPinLocation(25)
print("")
print("DONE!")
print("Gathering Sphero Points...")
sphero.user_io.set_led_matrix_one_color(color=Color(blue=255))
getSpheroLocation(25)
print("")
print("DONE!")
print("pinCoords:", pinCoords)
print("roboCoords:", roboCoords)
### Calibration Run ###
angle = 0
start = [roboCoords[0][0], roboCoords[0][1]]
sleep(1)
sphero.driving.drive_with_heading(0, 0, Direction.forward)
sleep(.75)
sphero.driving.drive_with_heading(100, 0, Direction.forward)
sleep(1)
sphero.driving.drive_with_heading(0, 0, Direction.forward)
sleep(1.25)
oldCoords = roboCoords
print("Gathering Sphero Points...")
getSpheroLocation(25)
print("")
print("DONE!")
print("roboCoords:", roboCoords)
target = [roboCoords[0][0], roboCoords[0][1]]
print("Calculating Angle...", end=" ")
offset_angle = findangle(start, target)
print("offset_angle:", offset_angle, "degrees")
### First Pin ###
start = [roboCoords[0][0], roboCoords[0][1]]
target = [pinCoords[0][0], pinCoords[0][1]]
print("Calculating Angle...", end=" ")
angle = findangle(start, target)
angle = angle - offset_angle
if angle < 0:
print("its neg")
angle = angle + 360
sleep(1)
print("angle:", angle, "degrees")
print("sending command to robot...")
sleep(.25)
sphero.driving.drive_with_heading(0, angle, Direction.forward)
sleep(.75)
sphero.driving.drive_with_heading(100, angle, Direction.forward)
sleep(2.5)
sphero.driving.drive_with_heading(0, angle, Direction.forward)
sleep(.25)
### Back up
angle = 180
angle = angle - offset_angle
if angle < 0:
print("its neg")
angle = angle + 360
print("sending command to robot...")
sleep(.25)
sphero.driving.drive_with_heading(0, angle, Direction.forward)
sleep(.75)
sphero.driving.drive_with_heading(100, angle, Direction.forward)
sleep(1)
sphero.driving.drive_with_heading(0, angle, Direction.forward)
sleep(.75)
### Second Pin ###
print("Gathering Sphero Points...")
getSpheroLocation(25)
print("")
print("DONE!")
print("roboCoords:", roboCoords)
print("Calculating Angle...", end=" ")
start = [roboCoords[0][0], roboCoords[0][1]]
target = [pinCoords[1][0], pinCoords[1][1]]
angle = findangle(start, target)
angle = angle - offset_angle
if angle < 0:
print("its neg")
angle = angle + 360
print("angle:", angle, "degrees")
print("sending command to robot...")
sleep(.25)
sphero.driving.drive_with_heading(0, angle, Direction.forward)
sleep(.75)
sphero.driving.drive_with_heading(100, angle, Direction.forward)
sleep(1.25)
sphero.driving.drive_with_heading(0, angle, Direction.forward)
sleep(.25)
### Back up
angle = 180
angle = angle - offset_angle
if angle < 0:
print("its neg")
angle = angle + 360
print("sending command to robot...")
sleep(.25)
sphero.driving.drive_with_heading(0, angle, Direction.forward)
sleep(.75)
sphero.driving.drive_with_heading(100, angle, Direction.forward)
sleep(1)
sphero.driving.drive_with_heading(0, angle, Direction.forward)
sleep(.75)
### Third Pin ###
print("Gathering Sphero Points...")
getSpheroLocation(25)
print("")
print("DONE!")
print("roboCoords:", roboCoords)
print("Calculating Angle...", end=" ")
start = [roboCoords[0][0], roboCoords[0][1]]
target = [pinCoords[2][0], pinCoords[2][1]]
angle = findangle(start, target)
angle = angle - offset_angle
if angle < 0:
print("its neg")
angle = angle + 360
print("angle:", angle, "degrees")
print("sending command to robot...")
sleep(.25)
sphero.driving.drive_with_heading(0, angle, Direction.forward)
sleep(.75)
sphero.driving.drive_with_heading(100, angle, Direction.forward)
sleep(1.5)
sphero.driving.drive_with_heading(0, angle, Direction.forward)
sphero.power.enter_soft_sleep()