def handleCommand(command, keyPosition):
global lastCommand
print("handling command")
if command == 'L':
move(100, -100, 0, .20, 0)
elif command == 'R':
move(-100, 100, 0, .20, 0)
elif command == 'F':
move(100, 100, .09, .40, .18)
elif command == 'B':
move(-100, -100, .09, .40, .18)
robot_util.handleSoundCommand(command, keyPosition)
def handleCommand(command, keyPosition, price=0):
global movementSystemActive
global pingPongNumActive
global freePongActive
if keyPosition != "down":
return
d = 255
motorA.setSpeed(speed1)
motorB.setSpeed(speed1)
robot_util.handleSoundCommand(command, keyPosition, price)
if command == 'F':
if movementSystemActive:
print("skip")
else:
drivingSpeed = d
for motorIndex in range(4):
runMotor(motorIndex, forward[motorIndex])
movementSystemActive = True
time.sleep(straightDelay)
turnOffMotors()
movementSystemActive = False
if command == 'B':
if movementSystemActive:
print("skip")
else:
drivingSpeed = d
for motorIndex in range(4):
runMotor(motorIndex, backward[motorIndex])
movementSystemActive = True
time.sleep(straightDelay)
turnOffMotors()
movementSystemActive = False
if command == 'L':
if movementSystemActive:
print("skip")
else:
drivingSpeed = turningSpeedActuallyUsed
for motorIndex in range(4):
runMotor(motorIndex, left[motorIndex])
movementSystemActive = True
print("starting")
time.sleep(commandArgs.turn_delay)
print("finished")
turnOffMotors()
movementSystemActive = False
if command == 'R':
if movementSystemActive:
print("skip")
else:
drivingSpeed = turningSpeedActuallyUsed
for motorIndex in range(4):
runMotor(motorIndex, right[motorIndex])
movementSystemActive = True
time.sleep(commandArgs.turn_delay)
turnOffMotors()
movementSystemActive = False
if command == 'U':
#mhArm.getMotor(1).setSpeed(127)
#mhArm.getMotor(1).run(Adafruit_MotorHAT.BACKWARD)
incrementArmServo(1, 10)
time.sleep(0.05)
if command == 'D':
#mhArm.getMotor(1).setSpeed(127)
#mhArm.getMotor(1).run(Adafruit_MotorHAT.FORWARD)
incrementArmServo(1, -10)
time.sleep(0.05)
if command == 'O':
#mhArm.getMotor(2).setSpeed(127)
#mhArm.getMotor(2).run(Adafruit_MotorHAT.BACKWARD)
incrementArmServo(2, -10)
time.sleep(0.05)
if command == 'C':
#mhArm.getMotor(2).setSpeed(127)
#mhArm.getMotor(2).run(Adafruit_MotorHAT.FORWARD)
incrementArmServo(2, 10)
time.sleep(0.05)
if command == 'FIRE':
print("processing fire")
if pingPongEnabled:
print("fire was enabled")
pingPongNumActive += 1
print("ping pong number active", pingPongNumActive)
pingPongMotor = mhPingPong.getMotor(1)
pingPongMotor.setSpeed(255)
pingPongMotor.run(Adafruit_MotorHAT.FORWARD)
time.sleep(3.1)
pingPongNumActive -= 1
print("ping pong number active", pingPongNumActive)
# if nobody has the cannon active anymore, release
if pingPongNumActive == 0:
pingPongMotor.run(Adafruit_MotorHAT.RELEASE)
else:
print("ping pong not enabled")
if command == 'FREE_FIRE':
return
print("processing fire")
if not freePongActive:
freePongActive = True
print("free pong fire was enabled")
pingPongMotor = mhPingPong.getMotor(1)
pingPongMotor.setSpeed(255)
pingPongMotor.run(Adafruit_MotorHAT.FORWARD)
time.sleep(2.8)
print("free ping pong", freePongActive)
pingPongMotor.run(Adafruit_MotorHAT.RELEASE)
time.sleep(180)
freePongActive = False
else:
print("ping pong not enabled")
if command == 'FIRE_ALL':
print("processing fire")
if pingPongEnabled:
print("fire was enabled")
pingPongNumActive += 1
print("ping pong number active", pingPongNumActive)
pingPongMotor = mhPingPong.getMotor(1)
pingPongMotor.setSpeed(255)
pingPongMotor.run(Adafruit_MotorHAT.FORWARD)
time.sleep(50)
pingPongNumActive -= 1
print("ping pong number active", pingPongNumActive)
# if nobody has the cannon active anymore, release
if pingPongNumActive == 0:
pingPongMotor.run(Adafruit_MotorHAT.RELEASE)
else:
print("ping pong not enabled")
if command == 'VIBRATE':
vibrate.vibrate(mh, forward)
def handleCommand(command, keyPosition, price=0):
#fblr
print("\n\n\n")
if keyPosition != "down":
return
robot_util.handleSoundCommand(command, keyPosition, price)
if command == 'F':
print("onforward")
os.system("cd v4l2scripts ; ./onforward.sh")
if command == 'B':
print("onback")
os.system("cd v4l2scripts; ./onback.sh")
if command == 'L':
print("onleft")
os.system("cd v4l2scripts; ./onleft.sh")
if command == 'R':
print("onright")
os.system("cd v4l2scripts; ./onright.sh")
if command == 'focus+':
print("onfocus+")
os.system("cd v4l2scripts; ./onfocus+.sh")
if command == 'focus-':
print("onfocus-")
os.system("cd v4l2scripts; ./onfocus-.sh")
if command == 'foc+':
print("onfocus+")
os.system("cd v4l2scripts; ./onfocus+.sh")
if command == 'foc-':
print("onfocus-")
os.system("cd v4l2scripts; ./onfocus-.sh")
if command == 'zoom+':
print("onzoom+")
os.system("cd v4l2scripts; ./onzoom+.sh")
if command == 'zoom-':
print("onzoom-")
os.system("cd v4l2scripts; ./onzoom-.sh")
if command == 'brt+':
print("onbrt+")
os.system("cd v4l2scripts; ./onbrt+.sh")
if command == 'brt-':
print("onbrt-")
os.system("cd v4l2scripts; ./onbrt-.sh")
if command == 'con+':
print("oncon+")
os.system("cd v4l2scripts; ./oncon+.sh")
if command == 'con-':
print("oncon-")
os.system("cd v4l2scripts; ./oncon-.sh")
if command == 'sat+':
print("onsat+")
os.system("cd v4l2scripts; ./onsat+.sh")
if command == 'sat-':
print("onsat-")
os.system("cd v4l2scripts; ./onsat-.sh")
if command == 'gain+':
print("ongain+")
os.system("cd v4l2scripts; ./ongain+.sh")
if command == 'gain-':
print("ongain-")
os.system("cd v4l2scripts; ./ongain-.sh")
if command == 'temp+':
print("ontemp+")
os.system("cd v4l2scripts; ./ontemp+.sh")
if command == 'temp-':
print("ontemp-")
os.system("cd v4l2scripts; ./ontemp-.sh")
if command == 'sharp+':
print("onsharp+")
os.system("cd v4l2scripts; ./onsharp+.sh")
if command == 'sharp-':
print("onsharp-")
os.system("cd v4l2scripts; ./onsharp-.sh")
if command == 'exp+':
print("onexp+")
os.system("cd v4l2scripts; ./onexp+.sh")
if command == 'exp-':
print("onexp-")
os.system("cd v4l2scripts; ./onexp-.sh")
if command == 'pan+':
print("onpan+")
os.system("cd v4l2scripts; ./onpan+.sh")
if command == 'pan-':
print("onpan-")
os.system("cd v4l2scripts; ./onpan-.sh")
if command == 'tilt+':
print("ontilt+")
os.system("cd v4l2scripts; ./ontilt+.sh")
if command == 'tilt-':
print("onexp-")
os.system("cd v4l2scripts; ./ontilt-.sh")
if command == 'atemp':
print("onatemp")
os.system("cd v4l2scripts; ./onatemp.sh")
if command == 'backlight':
print("onbaclight")
os.system("cd v4l2scripts; ./onbacklight.sh")
if command == 'aexp':
print("onaexp")
os.system("cd v4l2scripts; ./onaexp.sh")
if command == 'aexppri':
print("onaexppri")
os.system("cd v4l2scripts; ./onaexppri.sh")
if command == 'afoc':
print("onafoc")
os.system("cd v4l2scripts; ./onafoc.sh")
def handleCommand(command, keyPosition):
global movementSystemActive
global tiltPercentage
global panPercentage
print("\n\n")
if keyPosition != "down":
return
robot_util.handleSoundCommand(command, keyPosition)
if command == 'F':
if movementSystemActive:
print("skip")
else:
print("onforward")
movementSystemActive = True
goForward()
time.sleep(straightDelay)
releaseMotors()
movementSystemActive = False
if command == 'B':
if movementSystemActive:
print("skip")
else:
print("onback")
movementSystemActive = True
goBackward()
time.sleep(straightDelay)
releaseMotors()
movementSystemActive = False
if command == 'L':
if movementSystemActive:
print("skip")
else:
print("onleft")
movementSystemActive = True
turnLeft()
time.sleep(turnDelay)
releaseMotors()
movementSystemActive = False
if command == 'R':
if movementSystemActive:
print("skip")
else:
print("onright")
movementSystemActive = True
turnRight()
time.sleep(turnDelay)
releaseMotors()
movementSystemActive = False
#The m in front of these events differentiates them from the v4l2 commands
#because it is a mechanical pan and tilt. It is possible to have a robot
#that responds to v4l2 pan and tilt and mechanical pan and tilt events.
if command == 'mpan-':
print("onmpan-")
panPercentage += panIncrement
if panPercentage > 100.0:
panPercentage = 100.0
setPan(panPercentage)
if command == 'mpan+':
print("onmpan+")
panPercentage -= panIncrement
if panPercentage < 0.0:
panPercentage = 0.0
setPan(panPercentage)
if command == 'mtilt-':
print("onmtilt-")
tiltPercentage += tiltIncrement
if tiltPercentage > 100.0:
tiltPercentage = 100.0
setTilt(tiltPercentage)
if command == 'mtilt+':
print("onmtilt+")
tiltPercentage -= tiltIncrement
if tiltPercentage < 0.0:
tiltPercentage = 0.0
setTilt(tiltPercentage)
def handleCommand(command, keyPosition, price=0):
global turnDelay
global straightDelay
global ser
global movementSystemActive
global pipwm
global dildoActive
print("\n\n")
if keyPosition != "down":
return
robot_util.handleSoundCommand(command, keyPosition, price)
if command == 'F':
if movementSystemActive:
print("skip")
else:
print("onforward")
movementSystemActive=True
goForward(ser, commandArgs.straight_speed)
time.sleep(straightDelay)
stopMotors(ser)
# time.sleep(stopDelay)
movementSystemActive=False
if command == 'B':
if movementSystemActive:
print("skip")
else:
print("onback")
movementSystemActive=True
goBackward(ser, commandArgs.straight_speed)
time.sleep(straightDelay)
stopMotors(ser)
# time.sleep(stopDelay)
movementSystemActive=False
if command == 'L':
if movementSystemActive:
print("skip")
else:
print("onleft")
movementSystemActive=True
turnLeft(ser, commandArgs.turn_speed)
time.sleep(turnDelay)
stopMotors(ser)
# time.sleep(stopDelay)
movementSystemActive=False
if command == 'R':
if movementSystemActive:
print("skip")
else:
print("onright")
movementSystemActive=True
turnRight(ser, commandArgs.turn_speed)
time.sleep(turnDelay)
stopMotors(ser)
# time.sleep(stopDelay)
movementSystemActive=False
if command[0:6] == 'THRUST':
if dildoActive:
print('skip')
else:
dildoActive=True
dildoDutyCycle=int(command[6:])
pipwm.hardware_PWM(18, dildoFreq, dildoDutyCycle*10000)
time.sleep(dildoDelay)
pipwm.hardware_PWM(18, dildoFreq, 0)
dildoActive=False
def handleCommand(command, keyPosition, price=0):
print("handleCommand", command)
if keyPosition == 'down':
robot_util.handleSoundCommand(command, keyPosition, price)
l298n.move(command)
