def run(bot_address):
print("Connecting to {0}.".format(bot_address))
bot = MorseRobot(bot_address)
bot.reset()
bot.connect()
print("Connected")
# bot.sense.unsubscribe()
while True:
draw_now(bot)
def run(bot_address):
with MorseRobot(bot_address) as robot:
robot.connect()
robot.reset()
# robot.debug()
# It would be nice to get bump sensing to work for additional obsticle avoidance.
robot.whenever("prox_left", above=OBSTACLE_DISTANCE,
max_firing_freq=5).do(avoid_left)
robot.whenever("prox_right",
above=OBSTACLE_DISTANCE,
max_firing_freq=5).do(avoid_right)
robot.whenever("picked_up", value=True, max_firing_freq=1).do(stop)
robot.whenever("nominal", value=True, max_firing_freq=1).do(start)
robot.whenever("dot_left_of_dash", value=True,
max_firing_freq=.5).do(left_indicator_on)
robot.whenever("dot_left_of_dash", value=False,
max_firing_freq=.5).do(left_indicator_off)
robot.whenever("dot_right_of_dash", value=True,
max_firing_freq=.5).do(right_indicator_on)
robot.whenever("dot_right_of_dash", value=False,
max_firing_freq=.5).do(right_indicator_off)
try:
robot.drive(NOMINAL_SPEED)
while True:
robot.sleep(0.5)
except KeyboardInterrupt:
robot.stop()
pass
def json2Packets1(self, json_str):
print(json_str)
commands = json.loads(json_str)
converse = {
WWMedia.WWSound.WWSoundDot.HOWDY: "hi",
WWMedia.WWSound.WWSoundDot.HOLD_ME: "ayayay",
WWMedia.WWSound.WWSoundDot.READYSET: "brrp",
WWMedia.WWSound.WWSoundDash.HOWSGOING: "elephant",
WWMedia.WWSound.WWSoundDash.LETS_GO: "confused2"
}
packets = two_packet_wrappers()
print("two")
if '300' in commands:
robot = MorseRobot()
packets.packet2_bytes_num = 0
packets.packet1_bytes_num = 20
myfile = converse[commands['300']['file']]
byte_array = robot.say(myfile)
packets.packet1_bytes = byte_array
print("say", myfile, byte_array)
if '205' in commands:
robot = MorseRobot()
packets.packet2_bytes_num = 0
packets.packet1_bytes_num = 20
degree = commands['205']['degree']
byte_array = robot.turn(degree)
packets.packet1_bytes = byte_array
print("turn", degree, byte_array)
return packets
def run(bot_address):
print("Connecting to {0}.".format(bot_address))
bot = MorseRobot(bot_address)
bot.reset()
bot.connect()
print("Connected")
# bot.sense.unsubscribe()
while True:
draw_now(bot)
def run(bot_address):
with MorseRobot(bot_address) as robot:
robot.connect()
robot.reset()
try:
while True:
robot.sleep(.5)
os.system('clear')
os.system('setterm -cursor off')
for key, value in robot.sensor_state.iteritems():
print("{:<20}:{:6}".format(key, value))
os.system('setterm -cursor on')
except KeyboardInterrupt:
robot.stop()
pass
def setUp(self):
self.bot = MorseRobot(None)
self.bot.command = MagicMock()
class MorseRobotCommandsTest(unittest.TestCase):
def setUp(self):
self.bot = MorseRobot(None)
self.bot.command = MagicMock()
def _assert_command_called(self, command_name, command_value):
self.bot.command.assert_called_once_with(
command_name,
bytearray(command_value.decode("hex"))
)
self.bot.command.reset_mock()
def _move_tester(self, distance, speed, command):
self.bot.move(distance, speed)
self._assert_command_called("move", command)
def test_move_1000_forward_fast(self):
self._move_tester(1000, 600, "e800000682030080")
def test_move_1000_backward_fast(self):
self._move_tester(-1000, 600.0, "18000006823c0081")
def test_move_500_backward_slow(self):
self._move_tester(-500, 80, "0c0000186a3e0081")
def test_turn_360_right(self):
self.bot.turn(-360)
self._assert_command_called("move", "00008c082e40c080")
def test_turn_360_left(self):
self.bot.turn(360)
self._assert_command_called("move", "000074082e800080")
def test_stop(self):
self.bot.stop()
self._assert_command_called("drive", "000000")
def test_forward_fast(self):
self.bot.drive(300)
self._assert_command_called("drive", "2c0001")
def test_backward_normal(self):
self.bot.drive(-200)
self._assert_command_called("drive", "380007")
def test_spin_right(self):
self.bot.spin(-200)
self._assert_command_called("drive", "003838")
def test_spin_left(self):
self.bot.spin(200)
self._assert_command_called("drive", "00c800")
def test_red_neck(self):
self.bot.neck_color("red")
self._assert_command_called("neck_color", "ff0000")
def test_lime_left_ear(self):
self.bot.left_ear_color("lime")
self._assert_command_called("left_ear_color", "00ff00")
def test_blue_right_ear(self):
self.bot.right_ear_color("blue")
self._assert_command_called("right_ear_color", "0000ff")
def test_fuchsia_head(self):
self.bot.head_color("Fuchsia")
self._assert_command_called("head_color", "ff00ff")
def test_rest(self):
self.bot.reset()
self._assert_command_called("reset", "04")
def test_min_yaw(self):
self.bot.head_yaw(-53)
self._assert_command_called("head_yaw", "cb")
def test_max_yaw(self):
self.bot.head_yaw(53)
self._assert_command_called("head_yaw", "35")
def test_min_pitch(self):
self.bot.head_pitch(-5)
self._assert_command_called("head_pitch", "fb")
def test_max_pitch(self):
self.bot.head_pitch(10)
self._assert_command_called("head_pitch", "0a")
def say(self):
self.bot.say("hi")
self._assert_command_called("say", bytearray(NOISES["hi"]))
def setUp(self):
self.bot = MorseRobot()
self.bot.command = MagicMock()
class MorseRobotCommandsTest(unittest.TestCase):
def setUp(self):
self.bot = MorseRobot()
self.bot.command = MagicMock()
def _assert_command_called(self, command_name, command_value):
self.bot.command.assert_called_once_with(
command_name, bytearray(command_value.decode("hex")))
self.bot.command.reset_mock()
def _move_tester(self, distance, speed, command):
self.bot.move(distance, speed)
self._assert_command_called("move", command)
def test_move_1000_forward_fast(self):
self._move_tester(1000, 600, "e800000682030080")
def test_move_1000_backward_fast(self):
self._move_tester(-1000, 600.0, "18000006823c0081")
def test_move_500_backward_slow(self):
self._move_tester(-500, 80, "0c0000186a3e0081")
def test_turn_360_right(self):
self.bot.turn(-360)
self._assert_command_called("move", "00008c082e40c080")
def test_turn_360_left(self):
self.bot.turn(360)
self._assert_command_called("move", "000074082e800080")
def test_stop(self):
self.bot.stop()
self._assert_command_called("drive", "000000")
def test_forward_fast(self):
self.bot.drive(300)
self._assert_command_called("drive", "2c0001")
def test_backward_normal(self):
self.bot.drive(-200)
self._assert_command_called("drive", "380007")
def test_spin_right(self):
self.bot.spin(-200)
self._assert_command_called("drive", "003838")
def test_spin_left(self):
self.bot.spin(200)
self._assert_command_called("drive", "00c800")
def test_red_neck(self):
self.bot.neck_color("red")
self._assert_command_called("neck_color", "ff0000")
def test_lime_left_ear(self):
self.bot.left_ear_color("lime")
self._assert_command_called("left_ear_color", "00ff00")
def test_blue_right_ear(self):
self.bot.right_ear_color("blue")
self._assert_command_called("right_ear_color", "0000ff")
def test_fuchsia_head(self):
self.bot.head_color("Fuchsia")
self._assert_command_called("head_color", "ff00ff")
def test_rest(self):
self.bot.reset()
self._assert_command_called("reset", "04")
def test_min_yaw(self):
self.bot.head_yaw(-53)
self._assert_command_called("head_yaw", "cb")
def test_max_yaw(self):
self.bot.head_yaw(53)
self._assert_command_called("head_yaw", "35")
def test_min_pitch(self):
self.bot.head_pitch(-5)
self._assert_command_called("head_pitch", "fb")
def test_max_pitch(self):
self.bot.head_pitch(10)
self._assert_command_called("head_pitch", "0a")
def say(self):
self.bot.say("hi")
self._assert_command_called("say", bytearray(NOISES["hi"]))