def __init__(self, channel, timeout, speed, parallel=False):
self.channel = channel
self.controller = Controller()
self.speed = speed
self.controller.setTarget(1, 6000)
self.controller.setTarget(2, 6000)
super(SetSpeed, self).__init__(timeout)
self.parallel = parallel
return
def __init__(self, node, server):
self.node = node
self.server = server
self.done = False
self.hp = 100
self.hasKey = False
self.direction = "South"
self.control = Controller()
self.control.setTarget(1, 6000)
def __init__(self):
self.servo = Controller()
#self.root = tk.Tk()
os.system('xset r off')
#set targets to neutral
for i in range(17):
self.servo.setTarget(i, neutral)
self.servo.setSpeed(i, 0)
self.servo.setAccel(i, 60)
self.servo.setAccel(drive_target, 6)
def __init__(self):
# Maestro instantiation
self.controller = Controller()
for chan in range(len(self.controller.Targets)):
self.controller.setTarget(chan, 6000)
self.controller.setAccel(0, 10)
self.controller.setAccel(1, 10)
self.controller.setAccel(2, 30)
self.controller.setAccel(3, 20)
self.controller.setAccel(3, 20)
os.system('xset r off')
def run(self):
global rob
rob = Controller()
global q
q = queue.Queue()
global count
count = 0
win = tk.Tk()
win.title("Tango Bot")
moveButton = tk.Button(win,
width="12",
text="Move",
command=Button.createMove)
turnButton = tk.Button(win,
width="12",
text="Turn",
command=Button.createTurn)
bodyButton = tk.Button(win,
width="12",
text="Rotate Body",
command=Button.createBody)
headButton = tk.Button(win,
width="12",
text="Move Head",
command=Button.createHead)
listenButton = tk.Button(win,
width="12",
text="Listen",
command=Button.createListen)
speakButton = tk.Button(win,
width="12",
text="Speak",
command=Button.createSpeak)
moveButton.grid(column=0, row=0, pady=10)
turnButton.grid(column=1, row=0, pady=10)
bodyButton.grid(column=2, row=0, pady=10)
headButton.grid(column=3, row=0, pady=10)
listenButton.grid(column=4, row=0, pady=10)
speakButton.grid(column=5, row=0, pady=10)
global frame
frame = tk.Frame(win, width=750, height=300)
frame.grid(columnspan=6, row=1, padx=15, pady=15)
frame.grid_propagate(False)
reset = tk.Button(win, width="20", text="Reset", command=Control.reset)
run = tk.Button(win, width="20", text="Run", command=Control.run)
reset.grid(columnspan=3, column=0, row=2, pady=10)
run.grid(columnspan=3, column=2, row=2, pady=10)
win.mainloop()
def __init__(self,win):
self.root = win
self.tango = Controller()
self.body = default_pos
self.headturn = default_pos
self.headtilt = default_pos
self.motors = 0
self.turn = 0
self.tango.setAccel(motors, default_accel)
self.tango.setAccel(full_turn,default_accel)
for i in range(1,6):
self.tango.setTarget(i,default_pos)
def __init__(self, rotateChannel, forwardChannel, controller):
self._forwardChannel = forwardChannel
self.controller = controller
self.controller = Controller()
self.rotate = 0
self.forward = 0
self.enable = False
self.moveForward = False
self.moveBackward = False
self.rotateLeft = False
self.rotateRight = False
self.speed = Drivetrain.Slow
self.stop = False
self._rotateChannel = rotateChannel
def __init__(self):
self.controller = Controller()
self.body = 0
self.motor_move = 1
self.motor_turn = 2
self.head_vert = 3
self.head_hor = 4
self.low_range = 4000
self.high_range = 5000
self.kill = 6000
# must kill motors before starting
self.controller.setTarget(self.motor_move, self.kill)
self.controller.setTarget(self.motor_turn, self.kill)
def run():
global part
global direction
global dur
rob = Controller()
if (part == 'wheels'):
if (direction == 'forward'):
rob.setTarget(1, 5000)
elif (direction == 'back'):
rob.setTarget(1, 7000)
elif (direction == 'left'):
rob.setTarget(2, 7000)
elif (direction == 'right'):
rob.setTarget(2, 5000)
time.sleep(dur)
rob.setTarget(1, 6000)
rob.setTarget(2, 6000)
elif (part == 'head'):
if (direction == 'up'):
rob.setTarget(4, 7500)
elif (direction == 'down'):
rob.setTarget(4, 4500)
elif (direction == 'left'):
rob.setTarget(3, 7500)
elif (direction == 'right'):
rob.setTarget(3, 4500)
elif (direction == 'center'):
rob.setTarget(4, 6000)
rob.setTarget(3, 6000)
elif (part == 'body'):
if (direction == 'left'):
rob.setTarget(0, 7500)
elif (direction == 'right'):
rob.setTarget(0, 4500)
elif (direction == 'center'):
rob.setTarget(0, 6000)
time.sleep(1)
def __init__(self):
self.screen = curses.initscr()
curses.cbreak()
curses.noecho()
curses.halfdelay(1)
curses.endwin()
self.screen.keypad(True)
self.control = Controller()
self.control.setTarget(1, 6000)
self.control.setTarget(2, 6000)
self.head_pos = 6000
self.head_step = 1000
self.head_tilt = 6000
self.speed = 1250
self.control.setTarget(0, 6000)
self.control.setTarget(3, 6000)
self.control.setTarget(4, 5000)
def __init__(self, canvas, x, y, width, height, color, text):
self.x = x
self.y = y
self.width = width
self.height = height
self.clicked = False # if the action is currently clicked
self.color = color # color of action rectangle
self.setting = 0 # how long or how many degrees to do action for
self.settingStep = 0 # how much to decrease or increase setting per button press
self.settingType = None # duration or degrees
self.settingMin = 0 # minimum setting
self.settingMax = 0 # maximum setting
self.icon = canvas.create_rectangle(self.x - self.width / 2, self.y - self.height / 2, self.x + self.width / 2,
self.y + self.height / 2, fill=color, width=5)
self.text = canvas.create_text(self.x, self.y - 7, text=text) # name of action
self.label = None # shows current setting
self.buttonUp = canvas.create_polygon(self.x - 20, self.y - 20, self.x + 20, self.y - 20, self.x, self.y - 50,
fill='black') # up button for adjusting setting
self.buttonDown = canvas.create_polygon(self.x - 20, self.y + 20, self.x + 20, self.y + 20, self.x, self.y + 50,
fill='black') # down button for adjusting setting
self.control = Controller()
self.control.setTarget(1,6000)
def __init__(self, win):
## init to work with alex's code
# def __init__(self):
self.root = win
self.x = Controller()
def init(): RobotMap.controller = Controller()
import tty
import sys
import termios
from Maestro import Controller
x = Controller()
# 0 <- body
# 1 <- wheel
# 2 <- wheel
# 3 <- head left/right
# 4 <- head up/down
# forward 2400 - 1800
# reverse 6300 - 7100
x.setTarget(1, 6000)
x.setTarget(2, 6000)
x.setSpeed(1, 30)
x.setSpeed(2, 30)
x.setAccel(1, 150)
low_range = 4000
high_range = 5000
def take_instr(direction):
global low_range
global high_range
from Maestro import Controller
from tkinter import *
import time
import os
import socket
import threading
import random
# Maestro instantiation
controller = Controller()
for chan in range(len(controller.Targets)):
controller.setTarget(chan, 6000)
controller.setAccel(0, 10)
controller.setAccel(1, 10)
controller.setAccel(2, 30)
controller.setAccel(3, 20)
controller.setAccel(4, 20)
controller.setAccel(6, 20)
controller.setAccel(7, 20)
controller.setAccel(8, 20)
controller.setAccel(9, 20)
controller.setAccel(10, 20)
controller.setAccel(11, 20)
os.system('xset r off')
# Global Variables
port = 7777
# Socket setup
sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
sock.close()
class commands:
rob = Controller()
def fight(self):
targetR = 6
targetL = 12
targetRR = 8
targetLL = 14
self.rob.setTarget(targetR, 0)
self.rob.setTarget(targetL, 0)
self.rob.setTarget(targetRR, 0)
self.rob.setTarget(targetLL, 0)
for i in range(0, 2):
self.rob.setTarget(targetR, 8000)
self.rob.setTarget(targetL, 2000)
self.rob.setTarget(targetRR, 8000)
self.rob.setTarget(targetLL, 8000)
time.sleep(.5)
self.rob.setTarget(targetR, 0)
self.rob.setTarget(targetL, 0)
self.rob.setTarget(targetRR, 0)
self.rob.setTarget(targetLL, 0)
time.sleep(.5)
def randomFight(self):
for i in range(0, 20):
target = int(random.uniform(6, 17))
amount = int(random.uniform(0, 10))
self.rob.setTarget(target, amount)
self.rob.setTarget(target, amount)
def reset(self):
zeroVal = [6, 12]
sizVal = [8, 9, 10, 11, 15, 16, 17]
for i in range(2):
target = zeroVal[i]
self.rob.setTarget(target, 0)
for i in range(7):
target = sizVal[i]
self.rob.setTarget(target, 6000)
time.sleep(1)
for i in range(2):
target = 7
target2 = 13
self.rob.setTarget(target, 7000)
self.rob.setTarget(target2, 6000)
target = 14
self.rob.setTarget(target, 7000)
body = 0
head = 3
head2 = 4
self.rob.setTarget(body, 6000)
self.rob.setTarget(head, 6000)
self.rob.setTarget(head2, 6000)
def superReset(self):
headUP = 4
headLR = 3
body = 0
upperRight = 6
upperLeft = 12
middleRight = 7
middleLeft = 13
self.rob.setTarget(headUP, 6000)
self.rob.setTarget(headLR, 6000)
self.rob.setTarget(body, 6000)
self.rob.setTarget(upperRight, 0)
self.rob.setTarget(upperLeft, 0)
self.rob.setTarget(middleRight, 7000)
self.rob.setTarget(middleLeft, 6000)
def die(self):
targetUpArmR = 6
targetUpArmL = 12
targetout = 13
targetoutR = 7
body = 0
head = 3
headUp = 4
for i in range(0, 10000):
self.rob.setTarget(targetUpArmR, 9000)
self.rob.setTarget(targetUpArmL, 1000)
self.rob.setTarget(body, 6000)
self.rob.setTarget(head, 6000)
time.sleep(2)
self.rob.setTarget(targetout, 2000)
self.rob.setTarget(targetoutR, 8000)
self.rob.setTarget(headUp, 8000)
time.sleep(2)
self.rob.setTarget(targetUpArmR, 0)
self.rob.setTarget(targetUpArmL, 0)
self.rob.setTarget(targetout, 6000)
self.rob.setTarget(targetoutR, 7000)
self.rob.setTarget(head, 6000)
self.rob.setTarget(headUp, 4000)
time.sleep(3)
def look(self):
headUD = 4
headLR = 3
self.rob.setTarget(headUD, 6000)
self.rob.setTarget(headLR, 6000)
time.sleep(1)
self.rob.setTarget(headLR, 4000)
time.sleep(2)
self.rob.setTarget(headLR, 8000)
time.sleep(2)
self.rob.setTarget(headLR, 6000)
def corn(self):
target2 = 12
target3 = 14
target4 = 15
target5 = 16
target6 = 17
self.rob.setTarget(target2, 5000)
self.rob.setTarget(target3, 8000)
time.sleep(.5)
self.rob.setTarget(target4, 4000)
self.rob.setTarget(target3, 4000)
time.sleep(.5)
self.rob.setTarget(target4, 8000)
self.rob.setTarget(target3, 8000)
time.sleep(.5)
self.rob.setTarget(target4, 4000)
self.rob.setTarget(target3, 4000)
time.sleep(.5)
self.rob.setTarget(target4, 8000)
self.rob.setTarget(target3, 8000)
time.sleep(.5)
self.rob.setTarget(target4, 4000)
self.rob.setTarget(target3, 4000)
time.sleep(.5)
self.rob.setTarget(target4, 8000)
self.rob.setTarget(target3, 8000)
time.sleep(.5)
self.rob.setTarget(target4, 4000)
self.rob.setTarget(target3, 4000)
time.sleep(.5)
time.sleep(3)
def wtf(self):
target = 6
self.rob.setTarget(target, 2000)
target = 12
self.rob.setTarget(target, 2000)
def forward(self):
target = 1
self.rob.setTarget(target, 5000)
time.sleep(1)
self.rob.setTarget(target, 6000)
def backward(self):
target = 1
self.rob.setTarget(target, 7000)
time.sleep(1)
self.rob.setTarget(target, 6000)
def left(self):
target = 2
self.rob.setTarget(target, 7000)
time.sleep(2)
self.rob.setTarget(target, 6000)
target = 1
self.rob.setTarget(target, 5000)
time.sleep(1)
self.rob.setTarget(target, 6000)
def right(self):
target = 2
self.rob.setTarget(target, 5000)
time.sleep(2)
self.rob.setTarget(target, 6000)
target = 1
self.rob.setTarget(target, 5000)
time.sleep(1)
self.rob.setTarget(target, 6000)
def runAway(self):
target = 2
self.rob.setTarget(target, 3000)
time.sleep(5)
self.rob.setTarget(target, 6000)
target = 1
self.rob.setTarget(target, 5000)
time.sleep(2)
self.rob.setTarget(target, 6000)
def think(self):
target = 12
self