def handle_command(args):
now = datetime.datetime.now()
now_time = now.time()
# if it's late, make the robot slower
if now_time >= datetime.time(21, 30) or now_time <= datetime.time(9, 30):
#print "within the late time interval"
drivingSpeedActuallyUsed = nightTimeDrivingSpeedActuallyUsed
else:
drivingSpeedActuallyUsed = dayTimeDrivingSpeedActuallyUsed
global drivingSpeed
global handlingCommand
if 'robot_id' in args and args['robot_id'] == robotID:
print "received message:", args
# Note: If you are adding features to your bot,
# you can get direct access to incomming commands right here.
if handlingCommand:
return
handlingCommand = True
#if 'robot_id' in args:
# print "args robot id:", args['robot_id']
#if 'command' in args:
# print "args command:", args['command']
if 'command' in args and 'robot_id' in args and args['robot_id'] == robotID:
print('got command', args)
command = args['command']
if command == 'LOUD':
handleLoudCommand()
if commandArgs.type == 'adafruit_pwm':
moveAdafruitPWM(command)
if commandArgs.type == 'gopigo2':
moveGoPiGo2(command)
if commandArgs.type == 'gopigo3':
moveGoPiGo3(command)
if commandArgs.type == 'owi_arm':
owi_arm.handleOwiArm(command)
if commandArgs.type == 'serial':
robot_util.sendSerialCommand(ser, command)
if commandArgs.type == 'motor_hat' and motorsEnabled:
motorA.setSpeed(drivingSpeed)
motorB.setSpeed(drivingSpeed)
if command == 'F':
drivingSpeed = drivingSpeedActuallyUsed
for motorIndex in range(4):
runMotor(motorIndex, forward[motorIndex])
time.sleep(straightDelay)
if command == 'B':
drivingSpeed = drivingSpeedActuallyUsed
for motorIndex in range(4):
runMotor(motorIndex, backward[motorIndex])
time.sleep(straightDelay)
if command == 'L':
drivingSpeed = turningSpeedActuallyUsed
for motorIndex in range(4):
runMotor(motorIndex, left[motorIndex])
time.sleep(turnDelay)
if command == 'R':
drivingSpeed = turningSpeedActuallyUsed
for motorIndex in range(4):
runMotor(motorIndex, right[motorIndex])
time.sleep(turnDelay)
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 commandArgs.type == 'motor_hat':
turnOffMotors()
if command == 'WALL':
handleLoudCommand()
os.system("aplay -D plughw:2,0 /home/pi/wall.wav")
if commandArgs.type == 'l298n':
runl298n(command)
#setMotorsToIdle()
if commandArgs.type == 'motozero':
runmotozero(command)
if commandArgs.type == 'pololu':
runPololu(command)
if commandArgs.led == 'max7219':
if command == 'LED_OFF':
SetLED_Off()
if command == 'LED_FULL':
SetLED_On()
SetLED_Full()
if command == 'LED_MED':
SetLED_On()
SetLED_Med()
if command == 'LED_LOW':
SetLED_On()
SetLED_Low()
if command == 'LED_E_SMILEY':
SetLED_On()
SetLED_E_Smiley()
if command == 'LED_E_SAD':
SetLED_On()
SetLED_E_Sad()
if command == 'LED_E_TONGUE':
SetLED_On()
SetLED_E_Tongue()
if command == 'LED_E_SUPRISED':
SetLED_On()
SetLED_E_Suprised()
handlingCommand = False
def sendSettings(ser, args):
if args.right_wheel_forward_speed is not None:
robot_util.sendSerialCommand(
ser, "rwfs " + str(args.right_wheel_forward_speed))
if args.right_wheel_backward_speed is not None:
robot_util.sendSerialCommand(
ser, "rwbs " + str(args.right_wheel_backward_speed))
if args.left_wheel_forward_speed is not None:
robot_util.sendSerialCommand(
ser, "lwfs " + str(args.left_wheel_forward_speed))
if args.left_wheel_backward_speed is not None:
robot_util.sendSerialCommand(
ser, "lwbs " + str(args.left_wheel_backward_speed))
if args.straight_delay is not None:
robot_util.sendSerialCommand(
ser, "straight-distance " + str(int(args.straight_delay * 255)))
if args.turn_delay is not None:
robot_util.sendSerialCommand(
ser, "turn-distance " + str(int(args.turn_delay * 255)))
if args.led_max_brightness is not None:
robot_util.sendSerialCommand(
ser, "led-max-brightness " + str(args.led_max_brightness))
def handle_command(args):
now = datetime.datetime.now()
now_time = now.time()
# if it's late, make the robot slower
if now_time >= datetime.time(21, 30) or now_time <= datetime.time(9, 30):
#print "within the late time interval"
drivingSpeedActuallyUsed = nightTimeDrivingSpeedActuallyUsed
else:
drivingSpeedActuallyUsed = dayTimeDrivingSpeedActuallyUsed
global drivingSpeed
global handlingCommand
if 'robot_id' in args and args['robot_id'] == robotID:
print "received message:", args
# Note: If you are adding features to your bot,
# you can get direct access to incomming commands right here.
if handlingCommand:
return
#if 'robot_id' in args:
# print "args robot id:", args['robot_id']
#if 'command' in args:
# print "args command:", args['command']
if 'command' in args and 'robot_id' in args and args['robot_id'] == robotID:
print('got command', args)
command = args['command']
if tablemode == 1:
if command == "F":
return
if command == "B":
return
# don't turn set handlingCommand true for
# commands that persist for a while and are not exclusive
# so others are allowed to run
if command not in ("SOUND2", "WALL", "LOUD", "MAXSPEED"):
handlingCommand = True
if command == 'LOUD':
handleLoudCommand(25)
if command == 'MAXSPEED':
handleMaxSpeedCommand()
if commandArgs.type == 'mdd10':
if maxSpeedEnabled:
print "AT MAX....................."
print maxSpeedEnabled
moveMDD10(command, 100)
else:
print "NORMAL................."
print maxSpeedEnabled
moveMDD10(command, int(float(drivingSpeedActuallyUsed) / 2.55))
if commandArgs.type == 'adafruit_pwm':
moveAdafruitPWM(command)
if commandArgs.type == 'mebo2':
if command == 'SI':
incrementMSpeed(10)
time.sleep(0.05)
if command == 'SD':
incrementMSpeed(-10)
time.sleep(0.05)
if command == 'TI':
incrementTSpeed(10)
time.sleep(0.05)
if command == 'TD':
incrementTSpeed(-10)
time.sleep(0.05)
handle_mebo_command(command)
if commandArgs.type == 'gopigo2':
moveGoPiGo2(command)
if commandArgs.type == 'gopigo3':
moveGoPiGo3(command)
if commandArgs.type == 'owi_arm':
owi_arm.handleOwiArm(command)
if commandArgs.type == 'serial':
try:
robot_util.sendSerialCommand(ser, command)
except Exception as exception:
print exception
setup_serial()
if commandArgs.type == 'motor_hat' and motorsEnabled:
motorA.setSpeed(drivingSpeed)
motorB.setSpeed(drivingSpeed)
if command == 'F':
drivingSpeed = drivingSpeedActuallyUsed
for motorIndex in range(4):
runMotor(motorIndex, forward[motorIndex])
time.sleep(straightDelay)
if command == 'B':
drivingSpeed = drivingSpeedActuallyUsed
for motorIndex in range(4):
runMotor(motorIndex, backward[motorIndex])
time.sleep(straightDelay)
if command == 'L':
drivingSpeed = turningSpeedActuallyUsed
for motorIndex in range(4):
runMotor(motorIndex, left[motorIndex])
time.sleep(turnDelay)
if command == 'R':
drivingSpeed = turningSpeedActuallyUsed
for motorIndex in range(4):
runMotor(motorIndex, right[motorIndex])
time.sleep(turnDelay)
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 commandArgs.type == 'mdd10':
turnOffMotorsMDD10()
if commandArgs.type == 'motor_hat':
turnOffMotors()
if command == 'WALL':
handleLoudCommand(25)
os.system("aplay -D plughw:2,0 /home/pi/wall.wav")
if command == 'SOUND2':
handleLoudCommand(25)
os.system("aplay -D plughw:2,0 /home/pi/sound2.wav")
if commandArgs.type == 'l298n':
runl298n(command)
#setMotorsToIdle()
if commandArgs.type == 'motozero':
runmotozero(command)
if commandArgs.type == 'pololu':
runPololu(command)
if commandArgs.led == 'max7219':
if command == 'LED_OFF':
SetLED_Off()
if command == 'LED_FULL':
SetLED_On()
SetLED_Full()
if command == 'LED_MED':
SetLED_On()
SetLED_Med()
if command == 'LED_LOW':
SetLED_On()
SetLED_Low()
if command == 'LED_E_SMILEY':
SetLED_On()
SetLED_E_Smiley()
if command == 'LED_E_SAD':
SetLED_On()
SetLED_E_Sad()
if command == 'LED_E_TONGUE':
SetLED_On()
SetLED_E_Tongue()
if command == 'LED_E_SUPRISED':
SetLED_On()
SetLED_E_Suprised()
handlingCommand = False
def set_eeprom(command, args):
if is_authed(args['name']) == 1: # Owner
if len(command) >= 2:
try:
if command[1] == 'left':
setting = int(
command[3]) # This is here to catch NAN errors
if command[2] == 'forward':
robot_util.sendSerialCommand(ser,
"lwfs " + str(setting))
log.info("left_wheel_forward_speed set to %d", setting)
elif command[2] == 'backward':
robot_util.sendSerialCommand(ser,
"lwbs " + str(setting))
log.info("left_wheel_backward_speed set to %d",
setting)
elif command[1] == 'right':
setting = int(
command[3]) # This is here to catch NAN errors
if command[2] == 'forward':
robot_util.sendSerialCommand(ser,
"rwfs " + str(setting))
log.info("right_wheel_forward_speed set to %d",
setting)
elif command[2] == 'backward':
robot_util.sendSerialCommand(ser,
"rwbs " + str(setting))
log.info("right_wheel_backward_speed set to %d",
setting)
elif command[1] == 'straight':
setting = int(command[2])
robot_util.sendSerialCommand(
ser, "straight-distance " + str(int(setting * 255)))
log.info("straigh_delay set to %d", setting)
elif command[1] == 'turn':
setting = int(command[2])
robot_util.sendSerialCommand(
ser, "turn-distance " + str(int(setting * 255)))
log.info("turn_delay set to %d", setting)
elif command[1] == 'brightness':
setting = int(
command[2]) # This is here to catch NAN errors
robot_util.sendSerialCommand(
ser, "led-max-brightness " + str(setting))
log.info("led_man_brightness to %d", setting)
except ValueError:
pass