def main():
Vilib.camera_start(vflip=True, hflip=True)
Vilib.display(local=True, web=True)
Vilib.human_detect_switch(True)
while True:
object_show()
sleep(0.2)
def human_follow():
global pan_angle_human, tilt_angle_human
Vilib.human_detect_switch(True)
status = [Vilib.human_detect_object('x'), Vilib.human_detect_object('y')]
time.sleep(0.005)
#on left -1 on right 1
if status[0] == -1:
pan_angle_human = pan_angle_human + 1
set_camera_servo1_angle(min(90, pan_angle_human))
elif status[0] == 1:
pan_angle_human = pan_angle_human - 1
set_camera_servo1_angle(max(-90, pan_angle_human))
if status[1] == -1:
tilt_angle_human = tilt_angle_human + 1
set_camera_servo2_angle(min(45, tilt_angle_human))
elif status[1] == 1:
tilt_angle_human = tilt_angle_human - 1
set_camera_servo2_angle(max(-45, tilt_angle_human))
import time
__reset_mcu__()
time.sleep(0.01)
from vilib import Vilib
from picarmini import dir_servo_angle_calibration
from picarmini import set_camera_servo2_angle
from ezblock import delay
from ezblock import TTS
from picarmini import camera_servo1_angle_calibration
from picarmini import camera_servo2_angle_calibration
from ezblock import WiFi
__tts__ = TTS()
Vilib.camera_start(True)
Vilib.human_detect_switch(True)
dir_servo_angle_calibration(0)
camera_servo1_angle_calibration(0)
camera_servo2_angle_calibration(0)
WiFi().write('DE', 'Projesh', 'Syepto17')
def forever():
if (Vilib.human_detect_object(('number'))) >= 1:
set_camera_servo1_angle(30)
delay(150)
set_camera_servo1_angle((-30))
delay(150)
set_camera_servo2_angle(0)
delay(150)
__tts__.say('Hello,nice to meet projesh!')
async def main_func(self):
while 1:
self.gs_list = car.get_adc_value()
if self.recv_dict['CD'][0] == 'on':
if self.is_on_edge(int(self.recv_dict['CD'][1]),self.gs_list):
car.backward(50)
time.sleep(0.5)
car.stop()
if self.recv_dict['TL'][0] =='on':
# print("line_follow on")
car.ref = int(self.recv_dict['TL'][1])
car.line_follow()
if self.recv_dict['OA'] == 'on':
# print("ultrasonic on")
distance = self.us.read()
if distance > 40 or distance == -2:
car.set_dir_servo_angle(0)
car.forward(50)
elif distance < 10:
car.set_dir_servo_angle(-40)
car.backward(50)
time.sleep(0.5)
elif distance < 30:
car.set_dir_servo_angle(40)
car.forward(50)
time.sleep(0.5)
if self.recv_dict['HT'] == 'on':
Vilib.human_detect_switch(True)
if self.recv_dict['HT'] == 'off':
Vilib.human_detect_switch(False)
if self.recv_dict['HF'] == 'on':
car.human_follow()
if self.recv_dict['CT'] == 'on':
Vilib.color_detect_switch(True)
if self.recv_dict['CT'] == 'off':
Vilib.color_detect_switch(False)
if self.recv_dict['CF'] == 'on':
car.color_follow()
if self.recv_dict['SS'][0] == 'on':
music.sound_effect_threading(self.sound_name[int(self.recv_dict['SS'][1])], float(self.recv_dict['SS'][2]))
self.recv_dict['SS'][0] = 'off'
if self.recv_dict['SM'][0] == 'on':
temp = int(self.recv_dict['SM'][1])
if self.current_music != temp:
music.music_stop()
self.music_flag = True
self.current_music = temp
if self.music_flag:
try:
music_file = self.music_name[self.current_music]
volume = float(self.recv_dict['SM'][2])
music.background_music(music_file, volume=volume)
except IndexError:
print("no such music file: ", int(self.recv_dict['SM'][1]) + 1)
self.music_flag = False
# self.recv_dict['SM'][0] = 'off'
elif self.recv_dict['SM'][0] == 'off':
if self.music_flag == False:
music.music_stop()
self.music_flag = True
# if self.recv_dict['SL'][0] == 'on':
# if self.found_name(self.record_name[int(self.recv_dict['SL'][1])]):
# self.send_dict['FF'] = 'True'
# print("play")
# music.record_play(self.record_name[int(self.recv_dict['SL'][1])],volume = float(self.recv_dict['SL'][2]))
# self.recv_dict['SL'][0] = 'off'
# else:
# self.send_dict['FF'] = 'False'
if self.recv_dict['TT'][0] == 'on':
self.tts.say(self.recv_dict['TT'][1])
self.recv_dict['TT'][0] = 'off'
await asyncio.sleep(0.01)