#!/usr/bin/python2
#
# Blink the lights connected to the RomiPi
# The neopixel should turn red, yellow, then red
from romipi_astar.romipi_driver import AStar
import time
led_delay_s = 2.0
romi = AStar()
# turn on red LED
romi.leds(True, False, False)
romi.pixels(250, 0, 0)
print("LED RED")
print("PIXEL RED")
time.sleep(led_delay_s)
# turn on yellow LED
romi.leds(False, True, False)
romi.pixels(0, 250, 0)
print("LED YELLOW")
print("PIXEL GREEN")
time.sleep(led_delay_s)
# turn on green LED
romi.leds(False, False, True)
romi.pixels(0, 0, 250)
print("LED GREEN")
print("PIXEL BLUE")
time.sleep(led_delay_s)
print(args)
romi = AStar()
def monitor_pose():
monitor_freq_hz = 2.0
# move forward for two seconds
i = 0
while True:
print("{:} : poses ->"
" motor m/s {:}"
" twist_tuple {:}".format(i / monitor_freq_hz,
romi.read_pose_motors(),
romi.read_pose_twist()))
# print motor_speeds for two seconds
i = i + 1
time.sleep(1.0 / monitor_freq_hz)
romi.twist(args.twist_linear, args.twist_angular)
if args.twist_linear == 0.0 and args.twist_angular == 0.0:
romi.pixels(0, 0, 255)
else:
romi.pixels(0, 255, 0)
time.sleep(args.time)
romi.twist(0.0, 0.0)
print("all done.")
from romipi_astar.romipi_driver import AStar
import time
romi = AStar()
linear_ms = 0.0
rotate_rads = 0.0
def update_twist():
"""send twist to driver and change light color if moving"""
if linear_ms == 0.0 and rotate_rads == 0.0:
romi.pixels(0, 0, 100)
else:
romi.pixels(0, 100, 0)
romi.twist(linear_ms, rotate_rads)
# all set up, now run the robot
t_end = time.time() + 900
t_end1 = time.time() + 1
while True:
linear_ms = 0
rotate_rads = .2
update_twist()
if t_end1 < time.time():
break
# stop motors and shut down light
romi.twist(0.0, 0.0)
romi.pixels(0, 0, 0)
#!/usr/bin/python2
# pixels_utility.py
#
# Manually control the Neopixel colors
# on the Romi
#
# Peter F. Klemperer
# September 26, 2018
from romipi_astar.romipi_driver import AStar
import argparse
parser = argparse.ArgumentParser()
parser.add_argument('red', type=int, help='red (0-255) value of pixel')
parser.add_argument('green', type=int, help='green (0-255) value of pixel')
parser.add_argument('blue', type=int, help='blue (0-255) value of pixel')
args = parser.parse_args()
print(args)
romi = AStar()
# turn on pixel according to arguments
romi.pixels(args.red, args.green, args.blue)
