def runThymioControl(userFun,eventlist=None):
if eventlist is None:
eventlist = ["prox","buttons"]
eq = EventQueue(eventList)
with pythymio.thymio(eventlist,[]) as Thym:
# initialize runThymioControl.Thym for use by functions av(), td()...
runThymioControl.Thym=Thym
# check user_fun() takes no parameters and returns a generator
try:
userAgent = user_fun()
if not isinstance(userAgent,types.GeneratorType): return None
except TypeError:
raise TypeError('Votre fonction ne doit pas prendre de parametre')
# connect event queue with userAgent
queueLoopGenerator = eq.queueLoop(userAgent)
queueLoopGenerator.next()
def dispatch(evtid, evt_name, evt_args):
try:
queueLoopGenerator.send((evt_name,evt_args))
except StopIteration:
Thym.stop()
Thym.loop(dispatch)
def runThymioControl(userFun,eventlist=None):
eq = EventQueue()
if eventlist is None:
eventlist = ["prox","buttons"]
with pythymio.thymio(eventlist,[]) as Thym:
runThymioControl.Thym=Thym
queueLoopGenerator = eq.queueLoop(userFun)
queueLoopGenerator.next()
def dispatch(evtid, evt_name, evt_args):
try:
queueLoopGenerator.send((evt_name,evt_args))
except StopIteration:
Thym.stop()
Thym.loop(dispatch)
def runThymioControl(userFun, eventlist=None):
eq = EventQueue()
if eventlist is None:
eventlist = ["prox", "buttons"]
with pythymio.thymio(eventlist, []) as Thym:
runThymioControl.Thym = Thym
queueLoopGenerator = eq.queueLoop(userFun)
queueLoopGenerator.next()
def dispatch(evtid, evt_name, evt_args):
try:
queueLoopGenerator.send((evt_name, evt_args))
except StopIteration:
Thym.stop()
Thym.loop(dispatch)
#!/usr/bin/python
# -*- coding: utf-8 -*-
import pythymio as pt
GREATEST_SUFFIX_MATCH = True
def prefix(s, t):
return len(s) <= len(t) and s == t[:len(s)]
with pt.thymio(["buttons"]) as Thym:
state = {}
state["delay"] = 100
state["seq"] = "UUDDLRLR" #↑ ↑ ↓ ↓ ← → ← →
state["i"] = 0
state["n"] = len(state["seq"])
state["etape"] = "read"
state["readseq"] = " "
def button2str(t):
if t[0] == 1:
return "D"
if t[1] == 1:
return "L"
if t[3] == 1:
return "U"
if t[4] == 1:
return "R"
return "?"
angle = cap_evitement(460, 100, a=0.1)
cap = orientation() + angle
for m in orienter(cap):
yield m
for m in avancer(4):
yield m
# avancer pendant 1s
yield ((0, 0))
#state["navigateur"] = test_cap()
#state["navigateur"] = test_polygone(cote = 4)
state["navigateur"] = test_evitement()
print state["navigateur"].next()
with pythymio.thymio(["motor", "prox"], []) as Thym:
def progression(evn, evt, data):
if evt == "fwd.motor": #toutes les 0.01s
state["i"] += 1
# mettre a jour position et orientation
left = data[0] / 500.0
right = data[1] / 500.0
delta = right - left
state["orientation"] += delta * 0.6 # OK
av = (right + left) * 0.04
state["x"] += cosdeg(state["orientation"]) * av
state["y"] += sindeg(state["orientation"]) * av
if state["i"] == 10: #toutes les 0.1s
state["i"] = 0
try:
#!/usr/bin/python
# -*- coding: utf-8 -*-
import pythymio as pt
with pt.thymio(["buttons"], pt.customEvents("circle")) as Thym:
state = {}
state["delay"] = 100
state["seq"] = "LRLRUUDD" # ← → ← → ↑ ↑ ↓ ↓
state["i"] = 0
state["n"] = len(state["seq"])
state["etape"] = "stop"
""" etape, etape * i
|
V
stop -----> read 0 -....- read n ---\
^ |
| |
\__________________________________/
"""
def play(s):
if s == "L":
Thym.send_event("circle.left")
if s == "R":
Thym.send_event("circle.right")
if s == "U":
angle = cap_evitement(460, 100, a = 0.1)
cap = orientation() + angle
for m in orienter(cap):
yield m
for m in avancer(4):
yield m
# avancer pendant 1s
yield((0, 0))
#state["navigateur"] = test_cap()
#state["navigateur"] = test_polygone(cote = 4)
state["navigateur"] = test_evitement()
print state["navigateur"].next()
with pythymio.thymio(["motor", "prox"],[]) as Thym:
def progression(evn, evt, data):
if evt == "fwd.motor": #toutes les 0.01s
state["i"] += 1
# mettre a jour position et orientation
left = data[0] / 500.0
right = data[1] / 500.0
delta = right - left
state["orientation"] += delta * 0.6 # OK
av = (right + left) * 0.04
state["x"] += cosdeg(state["orientation"]) * av
state["y"] += sindeg(state["orientation"]) * av
if state["i"] == 10: #toutes les 0.1s
state["i"] = 0
try:
mg, md = state["navigateur"].next()
#!/usr/bin/python
# -*- coding: utf-8 -*-
import pythymio
import random
from gardenworld import *
init('info2_1')
with pythymio.thymio(["acc"],[]) as Thym:
state = dict([])
state["time"] = 0
state["delay"] = 10
def dispatch(evtid, evt_name, evt_args):
# https://www.thymio.org/en:thymioapi prox freq is 16Hz
if evt_name == "fwd.acc": # every 0.0625 sec
state["time"] += 0.0625
state["delay"] -= 1
if state["delay"] < 0:
if 7 < evt_args[1] < 14:
if evt_args[0] > 10:
state["delay"] = 20
tg()
elif evt_args[0] < -10:
state["delay"] = 20
td()
elif evt_args[1] > 20 and abs(evt_args[0]) < 8:
state["delay"] = 10
av()
elif evt_args[1] < 5:
#!/usr/bin/python
# -*- coding: utf-8 -*-
import pythymio as pt
with pt.thymio(["buttons"], pt.customEvents('circle')) as Thym:
state = {}
state["delay"] = 100
state["seq"] = "LRLRUUDD" # ← → ← → ↑ ↑ ↓ ↓
state["i"] = 0
state["n"] = len(state["seq"])
state["etape"] = "stop"
""" etape, etape * i
|
V
stop -----> read 0 -....- read n ---\
^ |
| |
\__________________________________/
"""
def play(s):
if s == "L":
Thym.send_event('circle.left')
if s == "R":
Thym.send_event('circle.right')
if s == "U":
Thym.send_event('circle.front')
if s == "D":
Thym.send_event('circle.back')
#!/usr/bin/python
# -*- coding: utf-8 -*-
import pythymio as pt
GREATEST_SUFFIX_MATCH = True
def prefix(s, t):
return len(s) <= len(t) and s == t[:len(s)]
with pt.thymio(["buttons"]) as Thym:
state = {}
state["delay"] = 100
state["seq"] = "UUDDLRLR" #↑ ↑ ↓ ↓ ← → ← →
state["i"] = 0
state["n"] = len(state["seq"])
state["etape"] = "read"
state["readseq"] = " "
def button2str(t):
if t[0] == 1:
return "D"
if t[1] == 1:
return "L"
if t[3] == 1:
return "U"
if t[4] == 1:
return "R"
return "?"
def play(s):
#!/usr/bin/python
# -*- coding: utf-8 -*-
import pythymio
import random
def randomstr(s, length):
""" return a random string with all char in s of a given length
"""
res = ""
for i in range(length):
res += s[random.randint(0, len(s) - 1)]
return res
with pythymio.thymio(["buttons"]) as Thym:
state = dict([])
state["time"] = 0
state["difficulty"] = 3
state["delay"] = 80
state["seq"] = randomstr("CEGB", state["difficulty"])
state["etape"] = "play"
state["i"] = 0
def play(N):
if N == "B":
Thym.send_event('become.yellow')
Thym.send_event('circle.back')
Thym.send_event('chord.B3')
elif N == "C":
#!/usr/bin/python
# -*- coding: utf-8 -*-
import pythymio
with pythymio.thymio(["motor"]) as Thym:
state = dict([])
state["time"] = 0
state["left"] = [0]
state["right"] = [0]
state["prog"] = dict([
(90, (500, 500)), #50 av
(140, (0, 0)),
(180, (-500, 500)), #108 tg
(288, (0, 0)),
(350, (500, 500)), #50 av
(400, (0,0)),
(450, (500, -500)), #108 td
(558, (0, 0)),
(600, (500, 500)), #50 av
(650, (0, 0)),
(700, (500, -500)),#108 td
(808, (0, 0)),
(860, (500, 500)), #50 av
(910, (0, 0)),
(960, (500, -500)),#108 av
(1068, (0, 0)),
(1120, (500, 500)),#50 av
(1170, (0, 0))
])
state["end"] = max(state["prog"].keys()) + 10
