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)