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RobynInmoov2.0.py
2848 lines (2552 loc) · 76.6 KB
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RobynInmoov2.0.py
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sleep(1)#file : InMoov2.Robyn Inmoov
import random
keyboard = Runtime.createAndStart("keyboard", "Keyboard")
keyboard.addListener("keyCommand", python.getName(), "input")
leftPort = "COM3"
rightPort = "COM7"
i01 = Runtime.createAndStart("i01", "InMoov")
cleverbot = Runtime.createAndStart("cleverbot","CleverBot")
# starts everything
i01.startAll(leftPort, rightPort)
torso = i01.startTorso("COM3")
left = Runtime.getService("i01.left")
right = Runtime.getService("i01.right")
#############################################################################################
# Markus Mod
i01.leftArm.omoplate.map(10,80,80,20)
i01.rightArm.omoplate.map(10,80,80,10)
i01.leftArm.shoulder.map(0,180,170,15)
i01.rightArm.shoulder.map(0,180,190,50)
i01.leftArm.rotate.map(40,180,140,20)
i01.rightArm.rotate.map(40,180,140,20)
i01.leftArm.bicep.map(5,90,90,20)
i01.rightArm.bicep.map(5,90,90,20)
i01.head.rothead.map(30,150,150,30)
i01.torso.topStom.map(60,120,70,110)
i01.head.eyeX.map(60,100,90,50)
i01.head.eyeY.map(50,100,100,50)
i01.head.neck.map(20,160,160,20)
############################################################
#to tweak the default Pid values
i01.headTracking.xpid.setPID(10.0,5.0,0.1)
i01.headTracking.ypid.setPID(10.0,5.0,0.1)
i01.eyesTracking.xpid.setPID(15.0,5.0,0.1)
i01.eyesTracking.ypid.setPID(15.0,5.0,0.1)
############################################################
Pin27 = 27
right.digitalReadPollingStart(Pin27)
# make friendly sample rate
right.setSampleRate(3000)
right.addListener("publishPin", "python", "publishPin")
def publishPin(pin):
# print pin.pin, pin.value, pin.type, pin.source,
if (pin.pin == 27 and pin.value == 1):
if pin12 == 0:
i01.mouth.speak("hello")
global pin12
pin12 = 1
i01.head.attach()
sleep(1)
ear.clearLock()
headfront()
sleep(2)
trackHumans()
# if (pin.pin == 12 and pin.value == 0):
# if pin12 == 1:
# global resttimer
# resttimer += 1
# if resttimer == 400:
# global resttimer
# resttimer = 0
# gotosleepnow()
#############################################################################################
time = 0
pin12 = 1
#resttimer = 0
rest = 0
blind = 1
kinect = 0
dance1 = 1
dance2 = 1
helvar = 1
mic = 1
nexagroup = 1
nexa1 = 0
nexa2 = 0
nexa3 = 0
nexa4 = 0
nexa5 = 0
nexa6 = 0
nexa7 = 0
nexa8 = 0
nexa9 = 0
nexa10 = 0
nexa11 = 0
nexa12 = 0
nexa13 = 0
nexa14 = 0
nexa15 = 0
nexa16 = 0
l1="m"
l2="a"
l3="r"
l4="k"
l5="u"
l6="s"
name = l1+l2+l3+l4+l5+l6
# play rock paper scissors
robyn = 0
human = 0
i01.systemCheck()
ear = i01.ear
##################################################################
# Hastighet vid start
i01.setHandSpeed("left", 1.0, 1.0, 1.0, 1.0, 1.0, 1.0)
i01.setHandSpeed("right", 1.0, 1.0, 1.0, 1.0, 1.0, 1.0)
i01.setArmSpeed("left", 1.0, 1.0, 1.0, 1.0)
i01.setArmSpeed("right", 1.0, 1.0, 1.0, 1.0)
i01.setHeadSpeed(0.8, 0.8)
i01.mouth.speak("working on full speed")
##################################################################
# commands with i01.getName() use the InMoov service methods
ear.addCommand("attach head", "i01.head", "attach")
ear.addCommand("disconnect head", "i01.head", "detach")
ear.addCommand("attach eyes", "i01.head.eyeY", "attach")
ear.addCommand("disconnect eyes", "i01.head.eyeY", "detach")
ear.addCommand("attach right hand", "i01.rightHand", "attach")
ear.addCommand("disconnect right hand", "i01.rightHand", "detach")
ear.addCommand("attach left hand", "i01.leftHand", "attach")
ear.addCommand("disconnect left hand", "i01.leftHand", "detach")
ear.addCommand("attach everything", "i01", "attach")
ear.addCommand("disconnect everything", "i01", "detach")
ear.addCommand("attach left arm", "i01.leftArm", "attach")
ear.addCommand("disconnect left arm", "i01.leftArm", "detach")
ear.addCommand("attach right arm", "i01.rightArm", "attach")
ear.addCommand("disconnect right arm", "i01.rightArm", "detach")
ear.addCommand("let's do some exercise", "python", "startkinect")
ear.addCommand("you can stop now", "python", "offkinect")
ear.addCommand("open hand", "python", "handopen")
ear.addCommand("close hand", "python", "handclose")
ear.addCommand("servo", "python", "servos")
ear.addCommand("power down", i01.getName(), "powerDown")
ear.addCommand("power up", i01.getName(), "powerUp")
ear.addCommand("camera on", i01.getName(), "cameraOn")
ear.addCommand("off camera", i01.getName(), "cameraOff")
ear.addCommand("capture gesture", i01.getName(), "captureGesture")
# FIXME - lk tracking setpoint
ear.addCommand("track", i01.getName(), "track")
ear.addCommand("freeze track", i01.getName(), "clearTrackingPoints")
ear.addCommand("giving", i01.getName(), "giving")
ear.addCommand("be a fighter", i01.getName(), "fighter")
ear.addCommand("victory", i01.getName(), "victory")
ear.addCommand("arms up", i01.getName(), "armsUp")
ear.addCommand("arms front", i01.getName(), "armsFront")
ear.addCommand("da vinci", i01.getName(), "daVinci")
ear.addCommand("manual", ear.getName(), "lockOutAllGrammarExcept", "voice control")
ear.addCommand("voice control", ear.getName(), "clearLock")
ear.addCommand("stop listening", ear.getName(), "stopListening")
##sets the servos back to full speed, anywhere in sequence or gestures
ear.addCommand("full speed", "python", "fullspeed")
ear.addCommand("search humans", "python", "trackHumans")
ear.addCommand("go blind", "python", "stopTracking")
ear.addCommand("relax", "python", "relax")
ear.addCommand("perfect", "python", "perfect")
ear.addCommand("finger", "python", "finger")
ear.addCommand("how many fingers do you have", "python", "howmanyfingersdoihave")
# play rock paper scissors
ear.addCommand("let's play rock paper scissors", "python", "rockpaperscissors")
ear.addCommand("arms down", "python", "armsdown")
ear.addCommand("torso", "python", "Torso")
ear.addCommand("move eye", "python", "moveeye")
ear.addCommand("move your mouth", "python", "movemouth")
ear.addCommand("disco time", "python", "discotime")
ear.addCommand("move your head", "python", "movehead")
ear.addCommand("sing little teapot", "python", "littleteapot")
ear.addComfirmations("yes","correct","ya")
ear.addNegations("no","wrong","nope","nah")
ear.startListening("a | b | c | d | e | f | g | h | i | j | k | l | m | n | o | p | q | r | s | t | u | v | w | x | y | z | turn on number four |turn off number four | turn on number three | turn off number three | turn on number two | turn off number two | turn on number one | turn off number one | let's play again | take a rest | shut down your system | do something | do something else | be quiet | turn off the light in your stomach | red light | green light | blue light | wake up robyn | good night robyn | go to sleep now | yes | no thanks | yes let's play again | i have rock | i have paper | i have scissors | look at the people | take a look around | good morning | very good | look to your right | look to your left |look down |look up |look strait forward |how are you | sorry | robyn | can i have your attention | hello robyn | bye bye | i love you | thanks | thank you | nice | goodbye")
# set up a message route from the ear --to--> python method "heard"
ear.addListener("recognized", "python", "heard")
##########################################################################################
# play rock paper scissors
def rockpaperscissors():
fullspeed()
i01.mouth.speak("lets play first to 3 points win")
sleep(4)
rockpaperscissors2()
def rockpaperscissors2():
fullspeed()
ear.lockOutAllGrammarExcept("i have rock")
ear.lockOutAllGrammarExcept("i have paper")
ear.lockOutAllGrammarExcept("i have scissors")
x = (random.randint(1, 3))
if x == 1:
ready()
sleep(2)
rock()
sleep(2)
data = msg_i01_ear_recognized.data[0]
if (data == "i have rock"):
x = (random.randint(1, 3))
if x == 1:
i01.mouth.speak("oh no")
if x == 2:
i01.mouth.speak("that don't work")
if x == 3:
i01.mouth.speak("no points")
sleep(1)
if (data == "i have paper"):
x = (random.randint(1, 3))
if x == 1:
i01.mouth.speak("paper beats rock")
if x == 2:
i01.mouth.speak("your point")
if x == 3:
i01.mouth.speak("you got this one")
global human
human += 1
sleep(1)
if (data == "i have scissors"):
x = (random.randint(1, 3))
if x == 1:
i01.mouth.speak("1 point for me")
if x == 2:
i01.mouth.speak("going fine")
if x == 3:
i01.mouth.speak("rock beats scissors")
global robyn
robyn += 1
sleep(1)
if x == 2:
ready()
sleep(2)
paper()
sleep(2)
data = msg_i01_ear_recognized.data[0]
if (data == "i have rock"):
x = (random.randint(1, 3))
if x == 1:
i01.mouth.speak("1 point")
if x == 2:
i01.mouth.speak("paper beats rock")
if x == 3:
i01.mouth.speak("my point")
global robyn
robyn += 1
sleep(1)
if (data == "i have paper"):
x = (random.randint(1, 3))
if x == 1:
i01.mouth.speak("no points")
if x == 2:
i01.mouth.speak("ok lets try again")
sleep(2)
if x == 3:
i01.mouth.speak("again")
sleep(1)
if (data == "i have scissors"):
x = (random.randint(1, 3))
if x == 1:
i01.mouth.speak("oh no you get 1 point")
if x == 2:
i01.mouth.speak("this is not good for me")
if x == 3:
i01.mouth.speak("your point")
global human
human += 1
sleep(1)
if x == 3:
ready()
sleep(2)
scissors()
sleep(2)
data = msg_i01_ear_recognized.data[0]
if (data == "i have rock"):
x = (random.randint(1, 3))
if x == 1:
i01.mouth.speak("oh no")
if x == 2:
i01.mouth.speak("rock beats scissors")
if x == 3:
i01.mouth.speak("i feel generous today")
global human
human += 1
sleep(1)
if (data == "i have paper"):
x = (random.randint(1, 3))
if x == 1:
i01.mouth.speak("i've got you")
if x == 2:
i01.mouth.speak("my point")
if x == 3:
i01.mouth.speak("good")
global robyn
robyn += 1
sleep(1)
if (data == "i have scissors"):
x = (random.randint(1, 3))
if x == 1:
i01.mouth.speak("no no")
if x == 2:
i01.mouth.speak("that don't work")
if x == 3:
i01.mouth.speak("no points")
sleep(1)
if robyn == 3 or human == 3:
stoprockpaperscissors()
# if robyn > 4 or human > 4:
# i01.mouth.speak("sorry there must have been something wrong with my counting")
# sleep(5)
# stoprockpaperscissors()
rockpaperscissors2()
def stoprockpaperscissors():
armsdown()
handopen()
if robyn < human:
i01.mouth.speak("congratulations you won with" + str(human - robyn) + "points")
sleep(5)
i01.mouth.speak(str(human) + "points to you and" + str(robyn) + "points to me")
if robyn > human:
i01.mouth.speak("yes yes i won with" + str(robyn - human) + "points")
sleep(5)
i01.mouth.speak("i've got " + str(robyn) + "points and you got" + str(human) + "points")
if robyn == human:
i01.mouth.speak("none of us won we both got" + str(robyn) + "points")
global robyn
robyn = 0
global human
human = 0
ear.clearLock()
i01.mouth.speak("that was fun")
sleep(3)
i01.mouth.speak("do you want to play again")
sleep(8)
data = msg_i01_ear_recognized.data[0]
if (data == "yes let's play again"):
rockpaperscissors2()
if (data == "yes"):
rockpaperscissors2()
if (data == "no thanks"):
i01.mouth.speak("maybe some other time then")
else:
i01.mouth.speak("ok i'll find something else to do")
lookaroundyou()
def ready():
i01.mouth.speak("ready")
i01.mouth.speak("go")
i01.moveHead(90,90,80,90,75)
i01.moveArm("left",65,90,75,10)
i01.moveArm("right",5,90,30,10)
i01.moveHand("left",100,171,180,180,180,90)
i01.moveHand("right",2,2,2,2,2,90)
def rock():
i01.moveHead(90,90,80,90,75)
i01.moveArm("left",70,90,75,10)
i01.moveArm("right",5,90,30,10)
i01.moveHand("left",180,171,180,180,180,90)
i01.moveHand("right",2,2,2,2,2,90)
sleep(.3)
i01.setHeadSpeed(.8,.8)
i01.moveHead(60,107,80,90,75)
i01.moveArm("left",49,90,75,10)
i01.moveArm("right",5,90,30,10)
i01.moveHand("left",180,171,180,180,180,90)
i01.moveHand("right",2,2,2,2,2,90)
sleep(.3)
i01.moveHead(60,107,80,90,75)
i01.moveArm("left",70,90,75,10)
i01.moveArm("right",5,90,30,10)
i01.moveHand("left",180,171,180,180,180,90)
i01.moveHand("right",2,2,2,2,2,90)
sleep(.3)
i01.moveHead(60,107,80,90,75)
i01.moveArm("left",49,90,75,10)
i01.moveArm("right",5,90,30,10)
i01.moveHand("left",180,171,180,180,180,90)
i01.moveHand("right",2,2,2,2,2,90)
sleep(.3)
i01.moveHead(60,107,80,90,75)
i01.moveArm("left",70,90,75,10)
i01.moveArm("right",5,90,30,10)
i01.moveHand("left",180,171,180,180,180,90)
i01.moveHand("right",2,2,2,2,2,90)
sleep(.3)
i01.moveHead(90,90,80,90,75)
i01.moveArm("left",49,90,75,10)
i01.moveArm("right",5,90,30,10)
i01.moveHand("left",180,171,180,180,180,140)
i01.moveHand("right",2,2,2,2,2,90)
sleep(.3)
x = (random.randint(1, 2))
if x == 1:
i01.mouth.speakBlocking("i have rock what do you have")
if x == 2:
i01.mouth.speakBlocking("what do you have")
def paper():
i01.moveHead(90,90,80,90,75)
i01.moveArm("left",70,90,75,10)
i01.moveArm("right",5,90,30,10)
i01.moveHand("left",180,171,180,180,180,90)
i01.moveHand("right",2,2,2,2,2,90)
sleep(.3)
i01.setHeadSpeed(.8,.8)
i01.moveHead(60,107,80,90,75)
i01.moveArm("left",49,90,75,10)
i01.moveArm("right",5,90,30,10)
i01.moveHand("left",180,171,180,180,180,90)
i01.moveHand("right",2,2,2,2,2,90)
sleep(.3)
i01.moveHead(60,107,80,90,75)
i01.moveArm("left",70,90,75,10)
i01.moveArm("right",5,90,30,10)
i01.moveHand("left",180,171,180,180,180,90)
i01.moveHand("right",2,2,2,2,2,90)
sleep(.3)
i01.moveHead(60,107,80,90,75)
i01.moveArm("left",49,90,75,10)
i01.moveArm("right",5,90,30,10)
i01.moveHand("left",180,171,180,180,180,90)
i01.moveHand("right",2,2,2,2,2,90)
sleep(.3)
i01.moveHead(60,107,80,90,75)
i01.moveArm("left",70,90,75,10)
i01.moveArm("right",5,90,30,10)
i01.moveHand("left",180,171,180,180,180,90)
i01.moveHand("right",2,2,2,2,2,90)
sleep(.3)
i01.moveHead(90,90,80,90,75)
i01.moveArm("left",49,90,75,10)
i01.moveArm("right",5,90,30,10)
i01.moveHand("left",0,0,0,0,0,165)
i01.moveHand("right",2,2,2,2,2,90)
sleep(.3)
x = (random.randint(1, 2))
if x == 1:
i01.mouth.speakBlocking("i have paper what do you have")
if x == 2:
i01.mouth.speakBlocking("what do you have")
def scissors():
i01.moveHead(90,90,80,90,75)
i01.moveArm("left",70,90,75,10)
i01.moveArm("right",5,90,30,10)
i01.moveHand("left",180,171,180,180,180,90)
i01.moveHand("right",2,2,2,2,2,90)
sleep(.3)
i01.setHeadSpeed(0.8,0.8)
i01.moveHead(60,107,80,90,75)
i01.moveArm("left",49,90,75,10)
i01.moveArm("right",5,90,30,10)
i01.moveHand("left",180,171,180,180,180,90)
i01.moveHand("right",2,2,2,2,2,90)
sleep(.3)
i01.moveHead(60,107,80,90,75)
i01.moveArm("left",70,90,75,10)
i01.moveArm("right",5,90,30,10)
i01.moveHand("left",180,171,180,180,180,90)
i01.moveHand("right",2,2,2,2,2,90)
sleep(.3)
i01.moveHead(60,107,80,90,75)
i01.moveArm("left",49,90,75,10)
i01.moveArm("right",5,90,30,10)
i01.moveHand("left",180,171,180,180,180,90)
i01.moveHand("right",2,2,2,2,2,90)
sleep(.3)
i01.moveHead(60,107,80,90,75)
i01.moveArm("left",70,90,75,10)
i01.moveArm("right",5,90,30,10)
i01.moveHand("left",180,171,180,180,180,90)
i01.moveHand("right",2,2,2,2,2,90)
sleep(.3)
i01.moveHead(90,90,80,90,75)
i01.moveArm("left",49,90,75,10)
i01.moveArm("right",5,90,30,10)
i01.moveHand("left",50,0,0,180,180,90)
i01.moveHand("right",2,2,2,2,2,90)
sleep(.3)
x = (random.randint(1, 2))
if x == 1:
i01.mouth.speakBlocking("i have scissors what do you have")
if x == 2:
i01.mouth.speakBlocking("what do you have")
##########################################################################################
def input(cmd):
# print 'python object is',msg_[service]_[method]
cmd = msg_keyboard_keyCommand.data[0]
print 'python data is', cmd
if (cmd == "C"):
i01.mouth.audioFile.playFile("C:\Users\Markus\Music\markustest.mp3", False)
sleep(12.0)
i01.head.jaw.moveTo(50)
sleep(0.2)
i01.head.jaw.moveTo(10)
sleep(0.23)
i01.head.jaw.moveTo(50)
sleep(0.2)
i01.head.jaw.moveTo(10)
sleep(0.17)
i01.head.jaw.moveTo(50)
sleep(0.2)
i01.head.jaw.moveTo(10)
sleep(0.68)
i01.head.jaw.moveTo(50)
sleep(0.2)
i01.head.jaw.moveTo(10)
sleep(1.44)
i01.head.jaw.moveTo(50)
sleep(0.2)
i01.head.jaw.moveTo(10)
sleep(0.2)
i01.head.jaw.moveTo(50)
sleep(0.2)
i01.head.jaw.moveTo(10)
sleep(0.22)
i01.head.jaw.moveTo(50)
sleep(0.2)
i01.head.jaw.moveTo(10)
sleep(0.59)
i01.head.jaw.moveTo(50)
sleep(0.2)
i01.head.jaw.moveTo(10)
sleep(0.22)
i01.head.jaw.moveTo(50)
sleep(0.2)
i01.head.jaw.moveTo(10)
sleep(0.27)
i01.head.jaw.moveTo(50)
sleep(0.2)
i01.head.jaw.moveTo(10)
sleep(0.65)
i01.head.jaw.moveTo(50)
sleep(0.2)
i01.head.jaw.moveTo(10)
sleep(0.61)
i01.head.jaw.moveTo(50)
sleep(0.2)
i01.head.jaw.moveTo(10)
sleep(0.68)
i01.head.jaw.moveTo(50)
sleep(0.2)
i01.head.jaw.moveTo(10)
sleep(12.91)
i01.head.jaw.moveTo(50)
sleep(0.2)
i01.head.jaw.moveTo(10)
sleep(0.14)
i01.head.jaw.moveTo(50)
sleep(0.2)
i01.head.jaw.moveTo(10)
sleep(0.26)
i01.head.jaw.moveTo(50)
sleep(0.2)
i01.head.jaw.moveTo(10)
sleep(0.59)
i01.head.jaw.moveTo(50)
sleep(0.2)
i01.head.jaw.moveTo(10)
sleep(1.46)
i01.head.jaw.moveTo(50)
sleep(0.2)
i01.head.jaw.moveTo(10)
sleep(0.16)
i01.head.jaw.moveTo(50)
sleep(0.2)
i01.head.jaw.moveTo(10)
sleep(0.22)
i01.head.jaw.moveTo(50)
sleep(0.2)
i01.head.jaw.moveTo(10)
sleep(0.61)
i01.head.jaw.moveTo(50)
sleep(0.2)
i01.head.jaw.moveTo(10)
sleep(0.16)
i01.head.jaw.moveTo(50)
sleep(0.2)
i01.head.jaw.moveTo(10)
sleep(0.25)
i01.head.jaw.moveTo(50)
sleep(0.2)
i01.head.jaw.moveTo(10)
sleep(0.69)
i01.head.jaw.moveTo(50)
sleep(0.2)
i01.head.jaw.moveTo(10)
sleep(0.66)
i01.head.jaw.moveTo(50)
sleep(0.2)
i01.head.jaw.moveTo(10)
sleep(0.62)
i01.head.jaw.moveTo(50)
sleep(0.2)
i01.head.jaw.moveTo(10)
if (cmd == "T"):
talk()
if (cmd == "R"):
if rest == 0:
shutdownyoursystem()
elif rest == 1:
robyn()
if (cmd == "W"):
i01.head.neck.moveTo(i01.head.neck.getPosFloat() + 1)
if (cmd == "Z"):
i01.head.neck.moveTo(i01.head.neck.getPosFloat() - 1)
if (cmd == "A"):
i01.head.rothead.moveTo(i01.head.rothead.getPosFloat() + 1)
if (cmd == "D"):
i01.head.rothead.moveTo(i01.head.rothead.getPosFloat() - 1)
if (cmd == "S"):
headfront()
if (cmd == "K"):
if kinect == 0:
startkinect()
elif kinect == 1:
offkinect()
if (cmd == "B"):
if blind == 1:
trackHumans()
elif blind == 0:
stopTracking()
if (cmd == "Q"):
i01.rightArm.shoulder.moveTo(i01.rightArm.shoulder.getPosFloat() + 0.5)
if (cmd == "P"):
discotime()
#################################################
if (cmd == "5"):
if nexagroup == 1:
i01.mouth.speakBlocking("nexa group 2")
global nexagroup
nexagroup = 2
elif nexagroup == 2:
i01.mouth.speakBlocking("nexa group 3")
global nexagroup
nexagroup = 3
elif nexagroup == 3:
i01.mouth.speakBlocking("nexa group 4")
global nexagroup
nexagroup = 4
elif nexagroup == 4:
i01.mouth.speakBlocking("nexa group 1")
global nexagroup
nexagroup = 1
if (cmd == "1"):
if nexagroup == 1:
if nexa1 == 0:
nexa1on()
elif nexa1 == 1:
nexa1off()
elif nexagroup == 2:
if nexa5 == 0:
nexa5on()
elif nexa5 == 1:
nexa5off()
elif nexagroup == 3:
if nexa9 == 0:
nexa9on()
elif nexa9 == 1:
nexa9off()
elif nexagroup == 4:
if nexa13 == 0:
nexa13on()
elif nexa13 == 1:
nexa13off()
if (cmd == "2"):
if nexagroup == 1:
if nexa2 == 0:
nexa2on()
elif nexa2 == 1:
nexa2off()
elif nexagroup == 2:
if nexa6 == 0:
nexa6on()
elif nexa6 == 1:
nexa6off()
elif nexagroup == 3:
if nexa10 == 0:
nexa10on()
elif nexa10 == 1:
nexa10off()
elif nexagroup == 4:
if nexa14 == 0:
nexa14on()
elif nexa14 == 1:
nexa14off()
if (cmd == "3"):
if nexagroup == 1:
if nexa3 == 0:
nexa3on()
elif nexa3 == 1:
nexa3off()
elif nexagroup == 2:
if nexa7 == 0:
nexa7on()
elif nexa7 == 1:
nexa7off()
elif nexagroup == 3:
if nexa11 == 0:
nexa11on()
elif nexa11 == 1:
nexa11off()
elif nexagroup == 4:
if nexa15 == 0:
nexa15on()
elif nexa15 == 1:
nexa15off()
if (cmd == "4"):
if nexagroup == 1:
if nexa4 == 0:
nexa4on()
elif nexa4 == 1:
nexa4off()
elif nexagroup == 2:
if nexa8 == 0:
nexa8on()
elif nexa8 == 1:
nexa8off()
elif nexagroup == 3:
if nexa12 == 0:
nexa12on()
elif nexa12 == 1:
nexa12off()
elif nexagroup == 4:
if nexa16 == 0:
nexa16on()
elif nexa16 == 1:
nexa16off()
#################################################
if (cmd == "M"):
if mic == 1:
ear.lockOutAllGrammarExcept("robin")
i01.mouth.speak("i'm not listening")
global mic
mic = 0
elif mic == 0:
ear.clearLock()
i01.mouth.speak("i can hear again")
global mic
mic = 1
##########################################################################################
def heard(data):
data = msg_i01_ear_recognized.data[0]
if (data == name):
i01.mouth.speak("this is great")
if (data == "a"):
i01.mouth.speak(name)
if (data == "turn on number one"):
nexa1on()
if (data == "turn off number one"):
nexa1off()
if (data == "turn on number two"):
nexa2on()
if (data == "turn off number two"):
nexa2off()
if (data == "turn on number three"):
nexa3on()
if (data == "turn off number three"):
nexa3off()
if (data == "turn on number four"):
nexa4on()
if (data == "turn off number four"):
nexa4off()
if (data == "let's play again"):
rockpaperscissors2()
if (data == "be quiet"):
blue()
ear.lockOutAllGrammarExcept("robyn")
i01.mouth.speak("ok i will only listen if you say my name")
global mic
mic = 0
if (data == "turn off the light in your stomach"):
ledoff()
if (data == "red light"):
red()
if (data == "green light"):
green()
if (data == "blue light"):
blue()
if (data == "shut down your system") or (data == "take a rest"):
shutdownyoursystem()
if (data == "go to sleep now") or (data == "good night robyn"):
gotosleepnow()
if (data == "wake up robyn") or (data == "good morning"):
i01.attach()
green()
global rest
rest = 0
global mic
mic = 1
global pin12
pin12 = 1
headfront()
eyesfront()
i01.mouth.speak("good morning")
ear.clearLock()
x = (random.randint(1, 4))
if x == 1:
i01.mouth.speak("i hope you had a good night sleep")
if x == 2:
i01.mouth.speak("nice to see you again")
if x == 3:
i01.mouth.speak("this is going to be a good day")
if (data == "look at the people"):
i01.setHeadSpeed(0.8, 0.8)
for y in range(0, 10):
x = (random.randint(1, 5))
if x == 1:
i01.head.neck.moveTo(90)
eyeslooking()
sleep(1)
trackHumans()
sleep(10)
stopTracking()
if x == 2:
i01.head.rothead.moveTo(80)
eyeslooking()
sleep(1)
trackHumans()
sleep(10)
stopTracking()
if x == 3:
headdown()
eyeslooking()
sleep(1)
trackHumans()
sleep(10)
stopTracking()
if x == 4:
headright()
eyeslooking()
sleep(1)
trackHumans()
sleep(10)
stopTracking()
if x == 5:
headleft()
eyeslooking()
sleep(1)
trackHumans()
sleep(10)
stopTracking()
sleep(1)
headfront()
eyesfront()
sleep(3)
i01.mouth.speak("nice to meet you all")
if (data == "take a look around"):
lookaroundyou()
if (data == "do something else"):
lookaroundyou()
if (data == "do something"):
lookaroundyou()
if (data == "very good"):
i01.mouth.speak("thanks")
if (data == "look to your right"):
headright()
if (data == "look to your left"):
headleft()