def main():
mac_address = "aa:bb:cc:dd:ee:ff"
with Sphero(mac_address=mac_address) as sphero:
sphero.power.wake()
sleep(20)
volume = sphero.user_io.get_audio_volume()
print(volume)
sphero.animatronics.play_animation(50)
sleep(5)
sphero.user_io.set_audio_volume(0)
volume = sphero.user_io.get_audio_volume()
print(volume)
sphero.animatronics.play_animation(50)
sleep(5)
sphero.user_io.set_audio_volume(255)
volume = sphero.user_io.get_audio_volume()
print(volume)
sphero.animatronics.play_animation(50)
sleep(5)
sphero.user_io.set_audio_volume(20)
volume = sphero.user_io.get_audio_volume()
print(volume)
sphero.animatronics.play_animation(50)
sleep(5)
for data in LMQAnimation:
sphero.animatronics.play_animation_and_wait(data.value,
target_id=None,
timeout=10)
sphero.power.enter_soft_sleep()
def energetic_bump_spin():
speed = 125
heading = 0
with Sphero(mac_address=mac_address) as sphero:
sleep(2)
print(f"Bump with speed {speed} and heading {heading}")
for i in range(2):
sphero.driving.drive_with_heading(speed, heading,
Direction.forward)
sleep(0.20)
sphero.driving.drive_with_heading(0, heading, Direction.forward)
sleep(0.65)
sphero.driving.drive_with_heading(speed, heading,
Direction.reverse)
sleep(0.10)
sphero.driving.drive_with_heading(0, heading, Direction.forward)
sleep(0.65)
sphero.driving.tank_drive(100, 90, Direction.forward)
sleep(4)
sphero.driving.drive_with_heading(0, heading, Direction.forward)
sleep(1)
return "energetic bump and spin performed"
def toy_scanner(*,
toy_type: Toy = None,
name: str = None,
timeout: float = 5.0) -> Sphero:
delegate = _ScanDelegate()
running_event = Event()
running_event.set()
with ThreadPoolExecutor(max_workers=1) as executor:
executor.submit(_scanner, delegate, timeout, running_event)
for scan_item in _queue_iter(delegate.queue, timeout):
# none when time is out
if not scan_item:
break
if ((not name and not toy_type)
or (name and name == scan_item.name)
or (toy_type and scan_item.toy_type == toy_type)):
running_event.clear()
return Sphero(
mac_address=scan_item.mac_address,
toy_type=scan_item.toy_type,
)
raise PySpheroNotFoundError("Toy not found")
def main():
global x, flag
mac_address = "d6:bc:6a:05:79:b6"
with Sphero(mac_address=mac_address) as sphero:
sphero.power.wake()
sphero.sensor.set_notify(notify_callback, CoreTime, Quaternion)
print('start')
# for i in range(10):
while True:
if (flag):
print("x: {0}".format(x))
sleep(1)
# sleep(5)
with Sphero(mac_address=mac_address) as sphero:
sphero.sensor.cancel_notify_sensors()
sphero.power.enter_soft_sleep()
def main():
mac_address = "aa:bb:cc:dd:ee:ff"
with Sphero(mac_address=mac_address) as sphero:
sphero.power.wake()
sphero.sensor.set_notify(notify_callback, CoreTime, Quaternion)
sleep(2)
sphero.sensor.cancel_notify_sensors()
sphero.power.enter_soft_sleep()
def control_robot(mac_address):
p_start = (0, 0)
p_end = (0, 50)
with Sphero(mac_address=mac_address) as sphero:
sphero.power.wake()
drive_line.drive_cubic_bezier(sphero, p_start, p_end, Type.DERIVATIVE)
sphero.power.enter_soft_sleep()
def main():
mac_address = "aa:bb:cc:dd:ee:ff"
with Sphero(mac_address=mac_address) as sphero:
sphero.power.wake()
sleep(20)
sphero.power.enter_soft_sleep()
#deep sleep
sphero.power.enter_deep_sleep()
def send():
with Sphero(mac_address=mac_address) as sphero:
sphero.power.wake()
sleep(2)
print(f"Send drive with speed {speed} and heading {heading}")
sphero.driving.drive_with_heading(speed, heading, Direction.forward)
sphero.power.enter_soft_sleep()
def main():
mac_address = "aa:bb:cc:dd:ee:ff"
with Sphero(mac_address=mac_address) as sphero:
sphero.power.wake()
for i in range(20):
sphero.user_io.set_all_leds_8_bit_mask(back_color=Color(blue=0xff))
sleep(0.25)
sphero.user_io.set_all_leds_8_bit_mask(front_color=Color(red=0xff))
sleep(0.25)
sphero.power.enter_soft_sleep()
def main():
#mac_address = "aa:bb:cc:dd:ee:ff"
mac_address = "f7:e2:c2:7d:4c:bb"
with Sphero(mac_address=mac_address) as sphero:
sphero.power.wake()
sleep(2)
sphero.user_io.set_all_leds_8_bit_mask()
#testing = True
#while(testing):
#sphero.user_io.set_all_leds_8_bit_mask(front_color=Color(blue=255,green=255,red=255),back_color=Color(blue=255,green=255,red=255))
sphero.user_io.set_led_matrix_one_color(color=Color(blue=255))
#sphero.sensor.set_notify(notify_callback, CoreTime, Accelerometer)
#sphero.sensor.cancel_notify_sensors()
#sphero.sensor.cancel_notify_sensors()
# while(sphero.sensor.get_ambient_light_sensor_value() <= 75):
# print("Light Sensor: {}",sphero.sensor.get_ambient_light_sensor_value(), end="\r")
# sphero.user_io.set_all_leds_8_bit_mask()
# sleep(1)
# sphero.user_io.set_all_leds_8_bit_mask(front_color=Color(blue=55))
# sphero.user_io.set_led_matrix_text_scrolling(string=":)",color=Color(blue=255,red=0,green=0))
# sleep(2)
# sphero.driving.drive_with_heading(1, 270, Direction.forward)
# sleep(.1)
# sphero.driving.drive_with_heading(1, 90, Direction.forward)
# sleep(.1)
# sphero.driving.drive_with_heading(1, 0, Direction.forward)
# sleep(1)
# sphero.user_io.set_led_matrix_one_color(color=Color(green=255))
# sphero.driving.drive_with_heading(252, 5, Direction.forward)
# sleep(3.2)
# sphero.user_io.set_led_matrix_one_color(color=Color(red=255))
# sphero.driving.drive_with_heading(1, 0, Direction.forward)
# sleep(2)
# sphero.driving.drive_with_heading(200, 180, Direction.forward)
# sleep(2)
# sphero.driving.drive_with_heading(200, 200, Direction.forward)
# sleep(.5)
# sphero.driving.drive_with_heading(200, 180, Direction.forward)
# sleep(1.5)
# sphero.driving.drive_with_heading(1, 180, Direction.forward)
# sphero.driving.reset_yaw()
# sphero.driving.drive_with_heading(75, 90, Direction.forward)
#sphero.driving.tank_drive(right_speed=255,left_speed=255)
#sphero.user_io.set_led_matrix_one_color(color=Color(blue=255))
#sphero.user_io.set_led_matrix_single_character(symbol="*",color=Color(blue=255,red=255,green=255))
#sphero.user_io.set_led_matrix_text_scrolling(string="Get pi",color=Color(blue=255,red=255,green=255))
#sleep(5)
#sphero.driving.raw_motor(left_speed=200,left_direction=DirectionRawMotor.reverse,right_speed=200,right_direction=DirectionRawMotor.forward)
#sphero.driving.raw_motor(left_direction=Direction.reverse,left_speed=100,right_direction=Direction.forward,right_speed=200)
#sphero.driving.drive_with_heading(255, 0, Direction.forward)
sleep(40)
sphero.power.enter_soft_sleep()
def main():
mac_address = "d6:bc:6a:05:79:b6"
with Sphero(mac_address=mac_address) as sphero:
sphero.power.wake()
for _ in range(5):
sleep(2)
speed = random.randint(50, 100)
heading = random.randint(0, 360)
print(f"Send drive with speed {speed} and heading {heading}")
sphero.driving.drive_with_heading(speed, heading, Direction.forward)
sphero.power.enter_soft_sleep()
def main():
def callback(value):
print(value.name)
mac_address = "aa:bb:cc:dd:ee:ff"
with Sphero(mac_address=mac_address) as sphero:
sphero.power.wake()
sleep(10)
#enable capa touch
sphero.user_io.enable_cap_touch(True, callback)
sleep(30)
sphero.power.enter_soft_sleep()
def main():
mac_address = "d6:bc:6a:05:79:b6"
with Sphero(mac_address=mac_address) as sphero:
sphero.power.wake()
for i in range(20):
print('blink')
sphero.user_io.set_all_leds_8_bit_mask(back_color=Color(blue=0xff))
sleep(0.25)
sphero.user_io.set_all_leds_8_bit_mask(front_color=Color(red=0xff))
sleep(0.25)
sphero.power.enter_soft_sleep()
print('Exit with')
def normal_eyes():
with Sphero(mac_address=mac_address) as sphero:
sleep(2)
print("Show eyes in matrix")
pixels = [
# Left Eye
Pixel(x=0, y=1),
Pixel(x=0, y=2),
Pixel(x=0, y=3),
Pixel(x=1, y=1),
Pixel(x=1, y=2),
Pixel(x=1, y=3),
Pixel(x=2, y=1),
Pixel(x=2, y=2),
Pixel(x=2, y=3),
# Right Eye
Pixel(x=5, y=1),
Pixel(x=5, y=2),
Pixel(x=5, y=3),
Pixel(x=6, y=1),
Pixel(x=6, y=2),
Pixel(x=6, y=3),
Pixel(x=7, y=1),
Pixel(x=7, y=2),
Pixel(x=7, y=3)
]
colors = [
# Left Eye
Color(red=0xff, green=0xff, blue=0xff),
Color(red=0xff, green=0xff, blue=0xff),
Color(red=0xff, green=0xff, blue=0xff),
Color(red=0xff, green=0xff, blue=0xff),
Color(blue=0xff),
Color(red=0xff, green=0xff, blue=0xff),
Color(red=0xff, green=0xff, blue=0xff),
Color(red=0xff, green=0xff, blue=0xff),
Color(red=0xff, green=0xff, blue=0xff),
# Right Eye
Color(red=0xff, green=0xff, blue=0xff),
Color(red=0xff, green=0xff, blue=0xff),
Color(red=0xff, green=0xff, blue=0xff),
Color(red=0xff, green=0xff, blue=0xff),
Color(blue=0xff),
Color(red=0xff, green=0xff, blue=0xff),
Color(red=0xff, green=0xff, blue=0xff),
Color(red=0xff, green=0xff, blue=0xff),
Color(red=0xff, green=0xff, blue=0xff)
]
for (pixel, color) in zip(pixels, colors):
sphero.user_io.set_led_matrix_pixel(pixel, color)
def main():
mac_address = "F1:B6:E8:5A:7B:D7" #Sphero 1
#mac_address = "F1:8D:AE:17:9D:75" #Sphero 2
with Sphero(mac_address=mac_address) as sphero:
sphero.power.wake()
sphero.sensor.set_notify(notify_callback, CoreTime, Accelerometer)
print(f"Sensors On!")
speed = 255
heading = 0
#sphero.driving.reset_yaw()
sleep(1)
sphero.driving.drive_with_heading(speed, heading, Direction.forward)
print(f"Motors Engaged!")
sleep(1)
sphero.sensor.cancel_notify_sensors()
print(f"Sensors Disengaged!")
def main():
mac_address = "aa:bb:cc:dd:ee:ff"
with Sphero(mac_address=mac_address) as sphero:
sphero.power.wake()
sleep(10)
#get battery info
battery_state = sphero.power.get_battery_state_LMQ()
print("Battery is: ", battery_state.name)
#get battery percentage
battery_percentage = sphero.power.get_battery_percentage()
print("Battery level: ", battery_percentage, " %")
sphero.power.enter_soft_sleep()
def main(args=None):
rclpy.init(args=args)
quaternion_publisher = QuaternionPublisher()
mac_address = "d6:bc:6a:05:79:b6"
with Sphero(mac_address=mac_address) as sphero:
sphero.power.wake()
sphero.sensor.set_notify(notify_callback, Quaternion)
rclpy.spin(quaternion_publisher)
quaternion_publisher.destroy_node()
rclpy.shutdown()
sphero.sensor.cancel_notify_sensors()
sphero.power.enter_soft_sleep()
def main():
mac_address = "aa:bb:cc:dd:ee:ff"
with Sphero(mac_address=mac_address) as sphero:
sphero.power.wake()
sleep(10)
#Force front headlight on
sphero.user_io.set_headlights(255)
#Headlight in automatic
sphero.user_io.set_headlights(0)
for x in range(0x0, 0x39, 0x2):
sphero.user_io.set_taillights(x)
sleep(0.1)
sphero.power.enter_soft_sleep()
def mild_bump():
speed = 75
heading = 0
with Sphero(mac_address=mac_address) as sphero:
sleep(2)
print(f"Bump with speed {speed} and heading {heading}")
for i in range(2):
sphero.driving.drive_with_heading(speed, heading,
Direction.forward)
sleep(0.4)
sphero.driving.drive_with_heading(0, heading, Direction.forward)
sleep(1)
sphero.driving.drive_with_heading(speed, heading,
Direction.reverse)
sleep(0.3)
sphero.driving.drive_with_heading(0, heading, Direction.forward)
sleep(1)
return "mild bump performed"
def calm_bump():
speed = 50
heading = 0
with Sphero(mac_address=mac_address) as sphero:
sleep(2)
print(f"Bump with speed {speed} and heading {heading}")
for i in range(2):
sphero.driving.drive_with_heading(speed, heading,
Direction.forward)
sleep(0.75)
sphero.driving.drive_with_heading(0, heading, Direction.forward)
sleep(1.25)
sphero.driving.drive_with_heading(speed, heading,
Direction.reverse)
sleep(0.65)
sphero.driving.drive_with_heading(0, heading, Direction.forward)
sleep(1.25)
return "calm bump performed"
def main():
mac_address = "aa:bb:cc:dd:ee:ff"
with Sphero(mac_address=mac_address) as sphero:
sphero.power.wake()
sleep(8)
sphero.driving.ackermann_reset(0x0,0x0)
sphero.driving.ackermann_drive(0x0, 0x0)
#right
for x in range(0x3e800000,0x3f800000, 0x50000):
sphero.driving.ackermann_drive(x, 0x0)
sleep(0.1)
sleep(2)
for x in range(0x3f800000,0x3e800000, -0x50000):
sphero.driving.ackermann_drive(x, 0x0)
sleep(0.1)
#left
for x in range(0xbe800000,0xbf800000, 0x50000):
sphero.driving.ackermann_drive(x, 0x0)
sleep(0.1)
sleep(2)
for x in range(0xbf800000,0xbe800000, -0x50000):
sphero.driving.ackermann_drive(x, 0x0)
sleep(0.1)
#forward
for x in range(0x3e000000,0x3f800000, 0x50000):
sphero.driving.ackermann_drive(0x0, x)
sleep(0.1)
for x in range(0x3f800000,0x3e000000, -0x50000):
sphero.driving.ackermann_drive(0x0, x)
sleep(0.1)
#reverse
for x in range(0xBe000000,0xBf800000, 0x50000):
sphero.driving.ackermann_drive(0x0, x)
sleep(0.1)
for x in range(0xBf800000,0xBe000000, -0x50000):
sphero.driving.ackermann_drive(0x0, x)
sleep(0.1)
sphero.power.enter_soft_sleep()
def main(args=None):
mac_address = "d6:bc:6a:05:79:b6"
with Sphero(mac_address=mac_address) as sphero:
try:
sphero.power.wake()
rclpy.init(args=args)
simple_sphero_driver = SimpleSpheroDriver(sphero)
rclpy.spin(simple_sphero_driver)
print("Spin end")
sphero.power.enter_soft_sleep()
except KeyboardInterrupt:
print("Keyboarrd Interrupt!")
pass
finally:
print("Finally")
sphero.power.enter_soft_sleep()
simple_sphero_driver.destroy_node()
rclpy.shutdown()
def dizzy_look_left():
with Sphero(mac_address=mac_address) as sphero:
sleep(2)
print("Look left")
pixels = [
# Left Eye
Pixel(x=1, y=3),
Pixel(x=2, y=3),
# Right Eye
Pixel(x=6, y=1),
Pixel(x=7, y=1)
]
colors = [
# Left Eye
Color(red=0xff, green=0xff, blue=0xff),
Color(blue=0xff),
# Right Eye
Color(red=0xff, green=0xff, blue=0xff),
Color(blue=0xff)
]
for (pixel, color) in zip(pixels, colors):
sphero.user_io.set_led_matrix_pixel(pixel, color)
def happy_look_right():
with Sphero(mac_address=mac_address) as sphero:
sleep(2)
print("Look right")
pixels = [
# Left Eye
Pixel(x=1, y=2),
Pixel(x=0, y=2),
# Right Eye
Pixel(x=6, y=2),
Pixel(x=5, y=2)
]
colors = [
# Left Eye
Color(red=0xff, green=0xff, blue=0xff),
Color(blue=0xff),
# Right Eye
Color(red=0xff, green=0xff, blue=0xff),
Color(blue=0xff)
]
for (pixel, color) in zip(pixels, colors):
sphero.user_io.set_led_matrix_pixel(pixel, color)
logger.debug(f"Send {packet}")
self.ch_api_v2.write(packet.build(), withResponse=False) #changed to false
#return self.packet_collector.get_response(packet, raise_api_error, timeout=timeout)
#I love python
BluepyAdapter.write = my_write
#total time for the robot running
RUNNING_TIME=10
#the lab's robots' adresses
addresses=["E4:C9:D4:82:B8:4A", "CF:A1:99:E6:60:CA", "EA:16:30:8A:40:0A"]
#change the adress here depanding which robot you want to use
robot_adress=addresses[1]
def drive(addresses, starting_time
with Sphero(mac_address=robot_address) as sphero:
print('robot connected')
try:
sphero.power.wake()
print('robot awake')
except:
sphero.power.enter_soft_sleep()
print('go back to sleep')
sphero.power.wake()
print("now you're awake ?")
current_time=time.time()
#constantly print the bot's gyroscope info
try:
sphero.sensor.set_notify(notify_callback, CoreTime, Quaternion)
print('sensor on')
except:
def main():
mac_address = "C2:03:29:02:E7:17"
with Sphero(mac_address=mac_address) as sphero:
sphero.power.wake()
sleep(2)
sphero.power.enter_soft_sleep()
def main():
print("Connecting to Sphero...", end=" ")
### Connect to Sphero Bolt ###
mac_address = "f7:e2:c2:7d:4c:bb"
with Sphero(mac_address=mac_address) as sphero:
print("DONE!")
sphero.power.wake()
sleep(2)
sphero.user_io.set_all_leds_8_bit_mask()
sleep(1)
print("Gathering Pin Points...")
getPinLocation(25)
print("")
print("DONE!")
print("Gathering Sphero Points...")
sphero.user_io.set_led_matrix_one_color(color=Color(blue=255))
getSpheroLocation(25)
print("")
print("DONE!")
print("pinCoords:", pinCoords)
print("roboCoords:", roboCoords)
### Calibration Run ###
angle = 0
start = [roboCoords[0][0], roboCoords[0][1]]
sleep(1)
sphero.driving.drive_with_heading(0, 0, Direction.forward)
sleep(.75)
sphero.driving.drive_with_heading(100, 0, Direction.forward)
sleep(1)
sphero.driving.drive_with_heading(0, 0, Direction.forward)
sleep(1.25)
oldCoords = roboCoords
print("Gathering Sphero Points...")
getSpheroLocation(25)
print("")
print("DONE!")
print("roboCoords:", roboCoords)
target = [roboCoords[0][0], roboCoords[0][1]]
print("Calculating Angle...", end=" ")
offset_angle = findangle(start, target)
print("offset_angle:", offset_angle, "degrees")
### First Pin ###
start = [roboCoords[0][0], roboCoords[0][1]]
target = [pinCoords[0][0], pinCoords[0][1]]
print("Calculating Angle...", end=" ")
angle = findangle(start, target)
angle = angle - offset_angle
if angle < 0:
print("its neg")
angle = angle + 360
sleep(1)
print("angle:", angle, "degrees")
print("sending command to robot...")
sleep(.25)
sphero.driving.drive_with_heading(0, angle, Direction.forward)
sleep(.75)
sphero.driving.drive_with_heading(100, angle, Direction.forward)
sleep(2.5)
sphero.driving.drive_with_heading(0, angle, Direction.forward)
sleep(.25)
### Back up
angle = 180
angle = angle - offset_angle
if angle < 0:
print("its neg")
angle = angle + 360
print("sending command to robot...")
sleep(.25)
sphero.driving.drive_with_heading(0, angle, Direction.forward)
sleep(.75)
sphero.driving.drive_with_heading(100, angle, Direction.forward)
sleep(1)
sphero.driving.drive_with_heading(0, angle, Direction.forward)
sleep(.75)
### Second Pin ###
print("Gathering Sphero Points...")
getSpheroLocation(25)
print("")
print("DONE!")
print("roboCoords:", roboCoords)
print("Calculating Angle...", end=" ")
start = [roboCoords[0][0], roboCoords[0][1]]
target = [pinCoords[1][0], pinCoords[1][1]]
angle = findangle(start, target)
angle = angle - offset_angle
if angle < 0:
print("its neg")
angle = angle + 360
print("angle:", angle, "degrees")
print("sending command to robot...")
sleep(.25)
sphero.driving.drive_with_heading(0, angle, Direction.forward)
sleep(.75)
sphero.driving.drive_with_heading(100, angle, Direction.forward)
sleep(1.25)
sphero.driving.drive_with_heading(0, angle, Direction.forward)
sleep(.25)
### Back up
angle = 180
angle = angle - offset_angle
if angle < 0:
print("its neg")
angle = angle + 360
print("sending command to robot...")
sleep(.25)
sphero.driving.drive_with_heading(0, angle, Direction.forward)
sleep(.75)
sphero.driving.drive_with_heading(100, angle, Direction.forward)
sleep(1)
sphero.driving.drive_with_heading(0, angle, Direction.forward)
sleep(.75)
### Third Pin ###
print("Gathering Sphero Points...")
getSpheroLocation(25)
print("")
print("DONE!")
print("roboCoords:", roboCoords)
print("Calculating Angle...", end=" ")
start = [roboCoords[0][0], roboCoords[0][1]]
target = [pinCoords[2][0], pinCoords[2][1]]
angle = findangle(start, target)
angle = angle - offset_angle
if angle < 0:
print("its neg")
angle = angle + 360
print("angle:", angle, "degrees")
print("sending command to robot...")
sleep(.25)
sphero.driving.drive_with_heading(0, angle, Direction.forward)
sleep(.75)
sphero.driving.drive_with_heading(100, angle, Direction.forward)
sleep(1.5)
sphero.driving.drive_with_heading(0, angle, Direction.forward)
sphero.power.enter_soft_sleep()
def sphero_sleep():
with Sphero(mac_address=mac_address) as sphero:
sphero.power.enter_soft_sleep()
def sphero_wake():
with Sphero(mac_address=mac_address) as sphero:
sphero.power.wake()
def main():
mac_address = "d6:bc:6a:05:79:b6"
with Sphero(mac_address=mac_address) as sphero:
sphero.power.wake()
sleep(2)
sphero.power.enter_soft_sleep()