forked from runmyrobot/runmyrobot
/
controller.py
1435 lines (1110 loc) · 43 KB
/
controller.py
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import platform
import os
import uuid
import urllib2
import json
import traceback
import tempfile
import re
import getpass
#import configparser
import sys
import argparse
import random
import telly
import robot_util
parser = argparse.ArgumentParser(description='start robot control program')
parser.add_argument('robot_id', help='Robot ID')
parser.add_argument('--info-server', help="Server that robot will connect to for information about servers and things", default='letsrobot.tv')
parser.add_argument('--type', help="Serial or motor_hat or gopigo2 or gopigo3 or l298n or motozero or pololu or mdd10", default='motor_hat')
parser.add_argument('--serial-device', help="Serial device", default='/dev/ttyACM0')
parser.add_argument('--male', dest='male', action='store_true')
parser.add_argument('--female', dest='male', action='store_false')
parser.add_argument('--voice-number', type=int, default=1)
parser.add_argument('--led', help="Type of LED for example max7219", default=None)
parser.add_argument('--ledrotate', help="Rotates the LED matrix. Example: 180", default=None)
parser.add_argument('--tts-volume', type=int, default=80)
parser.add_argument('--secret-key', default=None)
parser.add_argument('--turn-delay', type=float, default=0.4)
parser.add_argument('--straight-delay', type=float, default=0.5)
parser.add_argument('--driving-speed', type=int, default=90)
parser.add_argument('--day-speed', type=int, default=255)
parser.add_argument('--night-speed', type=int, default=255)
parser.add_argument('--forward', default='[-1,1,-1,1]')
parser.add_argument('--left', default='[1,1,1,1]')
parser.add_argument('--festival-tts', dest='festival_tts', action='store_true')
parser.set_defaults(festival_tts=False)
parser.add_argument('--auto-wifi', dest='auto_wifi', action='store_true')
parser.set_defaults(auto_wifi=False)
parser.add_argument('--no-anon-tts', dest='anon_tts', action='store_false')
parser.set_defaults(anon_tts=True)
parser.add_argument('--no-chat-server-connection', dest='enable_chat_server_connection', action='store_false')
parser.set_defaults(enable_chat_server_connection=True)
parser.add_argument('--no-secure-cert', dest='secure_cert', action='store_false')
parser.set_defaults(secure_cert=True)
parser.add_argument('--filter-url-tts', dest='filter_url_tts', action='store_true')
parser.set_defaults(filter_url_tts=False)
parser.add_argument('--slow-for-low-battery', dest='slow_for_low_battery', action='store_true')
parser.set_defaults(slow_for_low_battery=False)
parser.add_argument('--reverse-ssh-key-file', default='/home/pi/reverse_ssh_key1.pem')
parser.add_argument('--reverse-ssh-host', default='ubuntu@52.52.204.174')
parser.add_argument('--charge-hours', type=float, default = 3.0)
parser.add_argument('--discharge-hours', type=float, default = 8.0)
parser.add_argument('--right-wheel-forward-speed', type=int)
parser.add_argument('--right-wheel-backward-speed', type=int)
parser.add_argument('--left-wheel-forward-speed', type=int)
parser.add_argument('--left-wheel-backward-speed', type=int)
parser.add_argument('--led-max-brightness', type=int)
commandArgs = parser.parse_args()
print commandArgs
chargeCheckInterval = 5
chargeValue = 0.0
secondsToCharge = 60.0 * 60.0 * commandArgs.charge_hours
secondsToDischarge = 60.0 * 60.0 * commandArgs.discharge_hours
maxSpeedEnabled = False
# watch dog timer
os.system("sudo modprobe bcm2835_wdt")
os.system("sudo /usr/sbin/service watchdog start")
# set volume level
# tested for 3.5mm audio jack
os.system("amixer set PCM -- 100%d%%" % commandArgs.tts_volume)
#if commandArgs.tts_volume > 50:
#os.system("amixer set PCM -- -100")
# tested for USB audio device
os.system("amixer -c 2 cset numid=3 %d%%" % commandArgs.tts_volume)
infoServer = commandArgs.info_server
#infoServer = "letsrobot.tv"
#infoServer = "runmyrobot.com"
#infoServer = "52.52.213.92"
#infoServer = "letsrobot.tv:3100"
print "info server:", infoServer
tempDir = tempfile.gettempdir()
print "temporary directory:", tempDir
# motor controller specific intializations
if commandArgs.type == 'none':
pass
elif commandArgs.type == 'serial':
import serial
elif commandArgs.type == 'motor_hat':
pass
elif commandArgs.type == 'gopigo2':
import gopigo
elif commandArgs.type == 'gopigo3':
sys.path.append("/home/pi/Dexter/GoPiGo3/Software/Python")
import easygopigo3
easyGoPiGo3 = easygopigo3.EasyGoPiGo3()
elif commandArgs.type == 'l298n':
try:
import configparser
except ImportError:
print "You need to install configparser (sudo python -m pip install configparser)\n Ctrl-C to quit"
while True:
pass # Halt program to avoid error down the line.
elif commandArgs.type == 'motozero':
pass
elif commandArgs.type == 'pololu':
pass
elif commandArgs.type == 'screencap':
pass
elif commandArgs.type == 'adafruit_pwm':
from Adafruit_PWM_Servo_Driver import PWM
elif commandArgs.led == 'max7219':
import spidev
elif commandArgs.type == 'owi_arm':
import owi_arm
elif commandArgs.type == 'mdd10':
pass
else:
print "invalid --type in command line"
exit(0)
serialDevice = commandArgs.serial_device
if commandArgs.type == 'motor_hat':
try:
from Adafruit_MotorHAT import Adafruit_MotorHAT, Adafruit_DCMotor
motorsEnabled = True
except ImportError:
print "You need to install Adafruit_MotorHAT"
print "Please install Adafruit_MotorHAT for python and restart this script."
print "To install: cd /usr/local/src && sudo git clone https://github.com/adafruit/Adafruit-Motor-HAT-Python-Library.git"
print "cd /usr/local/src/Adafruit-Motor-HAT-Python-Library && sudo python setup.py install"
print "Running in test mode."
print "Ctrl-C to quit"
motorsEnabled = False
# todo: specificity is not correct, this is specific to a bot with a claw, not all motor_hat based bots
if commandArgs.type == 'motor_hat':
from Adafruit_PWM_Servo_Driver import PWM
import time
import atexit
import sys
import thread
import subprocess
if (commandArgs.type == 'motor_hat') or (commandArgs.type == 'l298n') or (commandArgs.type == 'motozero'):
import RPi.GPIO as GPIO
import datetime
from socketIO_client import SocketIO, LoggingNamespace
chargeIONumber = 17
robotID = commandArgs.robot_id
if commandArgs.type == 'motor_hat':
GPIO.setmode(GPIO.BCM)
GPIO.setup(chargeIONumber, GPIO.IN)
if commandArgs.type == 'l298n':
mode=GPIO.getmode()
print " mode ="+str(mode)
GPIO.cleanup()
#Change the GPIO Pins to your connected motors in gpio.conf
#visit http://bit.ly/1S5nQ4y for reference
gpio_config = configparser.ConfigParser()
gpio_config.read('gpio.conf')
if str(robotID) in gpio_config.sections():
config_id = str(robotID)
else:
config_id = 'default'
StepPinForward = int(str(gpio_config[config_id]['StepPinForward']).split(',')[0]),int(str(gpio_config[config_id]['StepPinForward']).split(',')[1])
StepPinBackward = int(str(gpio_config[config_id]['StepPinBackward']).split(',')[0]),int(str(gpio_config[config_id]['StepPinBackward']).split(',')[1])
StepPinLeft = int(str(gpio_config[config_id]['StepPinLeft']).split(',')[0]),int(str(gpio_config[config_id]['StepPinLeft']).split(',')[1])
StepPinRight = int(str(gpio_config[config_id]['StepPinRight']).split(',')[0]),int(str(gpio_config[config_id]['StepPinRight']).split(',')[1])
GPIO.setmode(GPIO.BOARD)
GPIO.setup(StepPinForward, GPIO.OUT)
GPIO.setup(StepPinBackward, GPIO.OUT)
GPIO.setup(StepPinLeft, GPIO.OUT)
GPIO.setup(StepPinRight, GPIO.OUT)
#Test if user
if commandArgs.type == "pololu":
try:
from pololu_drv8835_rpi import motors, MAX_SPEED
except ImportError:
print "You need to install drv8835-motor-driver-rpi"
print "Please install drv8835-motor-driver-rpi for python and restart this script."
print "To install: cd /usr/local/src && sudo git clone https://github.com/pololu/drv8835-motor-driver-rpi"
print "cd /usr/local/src/drv8835-motor-driver-rpi && sudo python setup.py install"
print "Running in test mode."
print "Ctrl-C to quit"
if commandArgs.type == 'motozero':
GPIO.cleanup()
GPIO.setmode(GPIO.BCM)
# Motor1 is back left
# Motor1A is reverse
# Motor1B is forward
Motor1A = 24
Motor1B = 27
Motor1Enable = 5
# Motor2 is back right
# Motor2A is reverse
# Motor2B is forward
Motor2A = 6
Motor2B = 22
Motor2Enable = 17
# Motor3 is ?
# Motor3A is reverse
# Motor3B is forward
Motor3A = 23
Motor3B = 16
Motor3Enable = 12
# Motor4 is ?
# Motor4A is reverse
# Motor4B is forward
Motor4A = 13
Motor4B = 18
Motor4Enable = 25
GPIO.setup(Motor1A,GPIO.OUT)
GPIO.setup(Motor1B,GPIO.OUT)
GPIO.setup(Motor1Enable,GPIO.OUT)
GPIO.setup(Motor2A,GPIO.OUT)
GPIO.setup(Motor2B,GPIO.OUT)
GPIO.setup(Motor2Enable,GPIO.OUT)
GPIO.setup(Motor3A,GPIO.OUT)
GPIO.setup(Motor3B,GPIO.OUT)
GPIO.setup(Motor3Enable,GPIO.OUT)
GPIO.setup(Motor4A,GPIO.OUT)
GPIO.setup(Motor4B,GPIO.OUT)
GPIO.setup(Motor4Enable,GPIO.OUT)
#Cytron MDD10 GPIO setup
if commandArgs.type == 'mdd10' :
# pwm.setPWMFreq(60)
import RPi.GPIO as GPIO
GPIO.setmode(GPIO.BCM)
GPIO.setwarnings(False)
AN2 = 13
AN1 = 12
DIG2 = 24
DIG1 = 26
GPIO.setup(AN2, GPIO.OUT)
GPIO.setup(AN1, GPIO.OUT)
GPIO.setup(DIG2, GPIO.OUT)
GPIO.setup(DIG1, GPIO.OUT)
time.sleep(1)
p1 = GPIO.PWM(AN1, 100)
p2 = GPIO.PWM(AN2, 100)
#LED controlling
if commandArgs.led == 'max7219':
spi = spidev.SpiDev()
spi.open(0,0)
#VCC -> RPi Pin 2
#GND -> RPi Pin 6
#DIN -> RPi Pin 19
#CLK -> RPi Pin 23
#CS -> RPi Pin 24
# decoding:BCD
spi.writebytes([0x09])
spi.writebytes([0x00])
# Start with low brightness
spi.writebytes([0x0a])
spi.writebytes([0x03])
# scanlimit; 8 LEDs
spi.writebytes([0x0b])
spi.writebytes([0x07])
# Enter normal power-mode
spi.writebytes([0x0c])
spi.writebytes([0x01])
# Activate display
spi.writebytes([0x0f])
spi.writebytes([0x00])
columns = [0x1,0x2,0x3,0x4,0x5,0x6,0x7,0x8]
LEDOn = [0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF]
LEDOff = [0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0]
LEDEmoteSmile = [0x0,0x0,0x24,0x0,0x42,0x3C,0x0,0x0]
LEDEmoteSad = [0x0,0x0,0x24,0x0,0x0,0x3C,0x42,0x0]
LEDEmoteTongue = [0x0,0x0,0x24,0x0,0x42,0x3C,0xC,0x0]
LEDEmoteSuprise = [0x0,0x0,0x24,0x0,0x18,0x24,0x24,0x18]
if commandArgs.ledrotate == '180':
LEDEmoteSmile = LEDEmoteSmile[::-1]
LEDEmoteSad = LEDEmoteSad[::-1]
LEDEmoteTongue = LEDEmoteTongue[::-1]
LEDEmoteSuprise = LEDEmoteSuprise[::-1]
def SetLED_On():
if commandArgs.led == 'max7219':
for i in range(len(columns)):
spi.xfer([columns[i],LEDOn[i]])
def SetLED_Off():
if commandArgs.led == 'max7219':
for i in range(len(columns)):
spi.xfer([columns[i],LEDOff[i]])
def SetLED_E_Smiley():
if commandArgs.led == 'max7219':
for i in range(len(columns)):
spi.xfer([columns[i],LEDEmoteSmile[i]])
def SetLED_E_Sad():
if commandArgs.led == 'max7219':
for i in range(len(columns)):
spi.xfer([columns[i],LEDEmoteSad[i]])
def SetLED_E_Tongue():
if commandArgs.led == 'max7219':
for i in range(len(columns)):
spi.xfer([columns[i],LEDEmoteTongue[i]])
def SetLED_E_Suprised():
if commandArgs.led == 'max7219':
for i in range(len(columns)):
spi.xfer([columns[i],LEDEmoteSuprise[i]])
def SetLED_Low():
if commandArgs.led == 'max7219':
# brightness MIN
spi.writebytes([0x0a])
spi.writebytes([0x00])
def SetLED_Med():
if commandArgs.led == 'max7219':
#brightness MED
spi.writebytes([0x0a])
spi.writebytes([0x06])
def SetLED_Full():
if commandArgs.led == 'max7219':
# brightness MAX
spi.writebytes([0x0a])
spi.writebytes([0x0F])
SetLED_Off()
steeringSpeed = 90
steeringHoldingSpeed = 90
global drivingSpeed
#drivingSpeed = 90
drivingSpeed = commandArgs.driving_speed
handlingCommand = False
# Marvin
turningSpeedActuallyUsed = 250
dayTimeDrivingSpeedActuallyUsed = commandArgs.day_speed
nightTimeDrivingSpeedActuallyUsed = commandArgs.night_speed
# Initialise the PWM device
if commandArgs.type == 'motor_hat':
pwm = PWM(0x42)
elif commandArgs.type == 'adafruit_pwm':
pwm = PWM(0x40)
# Note if you'd like more debug output you can instead run:
#pwm = PWM(0x40, debug=True)
servoMin = [150, 150, 130] # Min pulse length out of 4096
servoMax = [600, 600, 270] # Max pulse length out of 4096
armServo = [300, 300, 300]
#def setMotorsToIdle():
# s = 65
# for i in range(1, 2):
# mh.getMotor(i).setSpeed(s)
# mh.getMotor(i).run(Adafruit_MotorHAT.FORWARD)
#if commandArgs.env == 'dev':
# print 'DEV MODE ***************'
# print "using dev port 8122"
# port = 8122
#elif commandArgs.env == 'prod':
# print 'PROD MODE *************'
# print "using prod port 8022"
# port = 8022
#else:
# print "invalid environment"
# sys.exit(0)
if commandArgs.type == 'serial':
# initialize serial connection
serialBaud = 9600
print "baud:", serialBaud
#ser = serial.Serial('/dev/tty.usbmodem12341', 19200, timeout=1) # open serial
ser = None
try:
ser = serial.Serial(serialDevice, serialBaud, timeout=1) # open serial
except:
print "error: could not open serial port"
try:
ser = serial.Serial('/dev/ttyACM0', serialBaud, timeout=1) # open serial
except:
print "error: could not open serial port /dev/ttyACM0"
try:
ser = serial.Serial('/dev/ttyUSB0', serialBaud, timeout=1) # open serial
except:
print "error: could not open serial port /dev/ttyUSB0"
try:
ser = serial.Serial('/dev/ttyUSB1', serialBaud, timeout=1) # open serial
except:
print "error: could not open serial port /dev/ttyUSB1"
try:
ser = serial.Serial('/dev/ttyUSB2', serialBaud, timeout=1) # open serial
except:
print "error: could not open serial port /dev/ttyUSB2"
if ser is None:
print "error: could not find any valid serial port"
else:
telly.sendSettings(ser, commandArgs)
def getControlHostPort():
url = 'https://%s/get_control_host_port/%s' % (infoServer, commandArgs.robot_id)
response = robot_util.getWithRetry(url, secure=commandArgs.secure_cert)
return json.loads(response)
def getChatHostPort():
url = 'https://%s/get_chat_host_port/%s' % (infoServer, commandArgs.robot_id)
response = robot_util.getWithRetry(url, secure=commandArgs.secure_cert)
return json.loads(response)
controlHostPort = getControlHostPort()
chatHostPort = getChatHostPort()
print "connecting to control socket.io", controlHostPort
controlSocketIO = SocketIO(controlHostPort['host'], controlHostPort['port'], LoggingNamespace)
print "finished using socket io to connect to control host port", controlHostPort
if commandArgs.enable_chat_server_connection:
print "connecting to chat socket.io", chatHostPort
chatSocket = SocketIO(chatHostPort['host'], chatHostPort['port'], LoggingNamespace)
print 'finished using socket io to connect to chat ', chatHostPort
else:
print "chat server connection disabled"
print "connecting to app server socket.io"
appServerSocketIO = SocketIO(infoServer, 8022, LoggingNamespace)
print "finished connecting to app server"
def setServoPulse(channel, pulse):
pulseLength = 1000000 # 1,000,000 us per second
pulseLength /= 60 # 60 Hz
print "%d us per period" % pulseLength
pulseLength /= 4096 # 12 bits of resolution
print "%d us per bit" % pulseLength
pulse *= 1000
pulse /= pulseLength
pwm.setPWM(channel, 0, pulse)
if commandArgs.type == 'motor_hat' or commandArgs.type == 'adafruit_pwm':
pwm.setPWMFreq(60) # Set frequency to 60 Hz
WPA_FILE_TEMPLATE = """ctrl_interface=DIR=/var/run/wpa_supplicant GROUP=netdev
update_config=1
country=GB
network={{
ssid=\"beepx\"
psk=\"yellow123\"
key_mgmt=WPA-PSK
}}
network={{
ssid=\"{name}\"
psk=\"{password}\"
key_mgmt=WPA-PSK
}}
"""
def isInternetConnected():
try:
urllib2.urlopen('https://www.google.com', timeout=1)
return True
except urllib2.URLError as err:
return False
def configWifiLogin(secretKey):
url = 'https://%s/get_wifi_login/%s' % (infoServer, secretKey)
try:
print "GET", url
response = urllib2.urlopen(url).read()
responseJson = json.loads(response)
print "get wifi login response:", response
with open("/etc/wpa_supplicant/wpa_supplicant.conf", 'r') as originalWPAFile:
originalWPAText = originalWPAFile.read()
wpaText = WPA_FILE_TEMPLATE.format(name=responseJson['wifi_name'], password=responseJson['wifi_password'])
print "original(" + originalWPAText + ")"
print "new(" + wpaText + ")"
if originalWPAText != wpaText:
wpaFile = open("/etc/wpa_supplicant/wpa_supplicant.conf", 'w')
print wpaText
print
wpaFile.write(wpaText)
wpaFile.close()
say("Updated wifi settings. I will automatically reset in 10 seconds.")
time.sleep(8)
say("Reseting")
time.sleep(2)
os.system("reboot")
except:
print "exception while configuring setting wifi", url
traceback.print_exc()
def incrementArmServo(channel, amount):
armServo[channel] += amount
print "arm servo positions:", armServo
if armServo[channel] > servoMax[channel]:
armServo[channel] = servoMax[channel]
if armServo[channel] < servoMin[channel]:
armServo[channel] = servoMin[channel]
pwm.setPWM(channel, 0, armServo[channel])
def times(lst, number):
return [x*number for x in lst]
def runMotor(motorIndex, direction):
motor = mh.getMotor(motorIndex+1)
if direction == 1:
motor.setSpeed(drivingSpeed)
motor.run(Adafruit_MotorHAT.FORWARD)
if direction == -1:
motor.setSpeed(drivingSpeed)
motor.run(Adafruit_MotorHAT.BACKWARD)
if direction == 0.5:
motor.setSpeed(128)
motor.run(Adafruit_MotorHAT.FORWARD)
if direction == -0.5:
motor.setSpeed(128)
motor.run(Adafruit_MotorHAT.BACKWARD)
forward = json.loads(commandArgs.forward)
backward = times(forward, -1)
left = json.loads(commandArgs.left)
right = times(left, -1)
straightDelay = commandArgs.straight_delay
turnDelay = commandArgs.turn_delay
#Change sleeptime to adjust driving speed
#Change rotatetimes to adjust the rotation. Will be multiplicated with sleeptime.
l298n_sleeptime=0.2
l298n_rotatetimes=5
def handle_exclusive_control(args):
if 'status' in args and 'robot_id' in args and args['robot_id'] == robotID:
status = args['status']
if status == 'start':
print "start exclusive control"
if status == 'end':
print "end exclusive control"
def say(message):
tempFilePath = os.path.join(tempDir, "text_" + str(uuid.uuid4()))
f = open(tempFilePath, "w")
f.write(message)
f.close()
#os.system('"C:\Program Files\Jampal\ptts.vbs" -u ' + tempFilePath) Whaa?
if commandArgs.festival_tts:
# festival tts
os.system('festival --tts < ' + tempFilePath)
#os.system('espeak < /tmp/speech.txt')
else:
# espeak tts
for hardwareNumber in (2, 0, 3, 1, 4):
print 'plughw:%d,0' % hardwareNumber
if commandArgs.male:
os.system('cat ' + tempFilePath + ' | espeak --stdout | aplay -D plughw:%d,0' % hardwareNumber)
else:
os.system('cat ' + tempFilePath + ' | espeak -ven-us+f%d -s170 --stdout | aplay -D plughw:%d,0' % (commandArgs.voice_number, hardwareNumber))
os.remove(tempFilePath)
def handle_chat_message(args):
print "chat message received:", args
rawMessage = args['message']
withoutName = rawMessage.split(']')[1:]
message = "".join(withoutName)
urlRegExp = "(http|ftp|https)://([\w_-]+(?:(?:\.[\w_-]+)+))([\w.,@?^=%&:/~+#-]*[\w@?^=%&/~+#-])?"
if message[1] == ".":
exit()
elif commandArgs.anon_tts != True and args['anonymous'] == True:
exit()
elif commandArgs.filter_url_tts == True and re.search(urlRegExp, message):
exit()
else:
say(message)
#MDD10 speed and movement controls
def moveMDD10(command, speedPercent):
if command == 'F':
GPIO.output(DIG1, GPIO.LOW)
GPIO.output(DIG2, GPIO.LOW)
p1.start(speedPercent) # set speed for M1
p2.start(speedPercent) # set speed for M2
time.sleep(straightDelay)
if command == 'B':
GPIO.output(DIG1, GPIO.HIGH)
GPIO.output(DIG2, GPIO.HIGH)
p1.start(speedPercent)
p2.start(speedPercent)
time.sleep(straightDelay)
if command == 'L':
GPIO.output(DIG1, GPIO.LOW)
GPIO.output(DIG2, GPIO.HIGH)
p1.start(speedPercent)
p2.start(speedPercent)
time.sleep(turnDelay)
if command == 'R':
GPIO.output(DIG1, GPIO.HIGH)
GPIO.output(DIG2, GPIO.LOW)
p1.start(speedPercent)
p2.start(speedPercent)
time.sleep(turnDelay)
def moveAdafruitPWM(command):
print "move adafruit pwm command", command
if command == 'L':
pwm.setPWM(1, 0, 300) # turn left
pwm.setPWM(0, 0, 445) # drive forward
time.sleep(0.5)
pwm.setPWM(1, 0, 400) # turn neutral
pwm.setPWM(0, 0, 335) # drive neutral
if command == 'R':
pwm.setPWM(1, 0, 500) # turn right
pwm.setPWM(0, 0, 445) # drive forward
time.sleep(0.5)
pwm.setPWM(1, 0, 400) # turn neutral
pwm.setPWM(0, 0, 335) # drive neutral
if command == 'BL':
pwm.setPWM(1, 0, 300) # turn left
pwm.setPWM(0, 0, 270) # drive backward
time.sleep(0.5)
pwm.setPWM(1, 0, 400) # turn neutral
pwm.setPWM(0, 0, 335) # drive neutral
if command == 'BR':
pwm.setPWM(1, 0, 500) # turn right
pwm.setPWM(0, 0, 270) # drive backward
time.sleep(0.5)
pwm.setPWM(1, 0, 400) # turn neurtral
pwm.setPWM(0, 0, 335) # drive neutral
if command == 'F':
pwm.setPWM(0, 0, 445) # drive forward
time.sleep(0.3)
pwm.setPWM(0, 0, 345) # drive slowly forward
time.sleep(0.4)
pwm.setPWM(0, 0, 335) # drive neutral
if command == 'B':
pwm.setPWM(0, 0, 270) # drive backward
time.sleep(0.3)
pwm.setPWM(0, 0, 325) # drive slowly backward
time.sleep(0.4)
pwm.setPWM(0, 0, 335) # drive neutral
if command == 'S2INC': # neutral
pwm.setPWM(2, 0, 300)
if command == 'S2DEC':
pwm.setPWM(2, 0, 400)
if command == 'POS60':
pwm.setPWM(2, 0, 490)
if command == 'NEG60':
pwm.setPWM(2, 0, 100)
def moveGoPiGo2(command):
if command == 'L':
gopigo.left_rot()
time.sleep(0.15)
gopigo.stop()
if command == 'R':
gopigo.right_rot()
time.sleep(0.15)
gopigo.stop()
if command == 'F':
gopigo.forward()
time.sleep(0.35)
gopigo.stop()
if command == 'B':
gopigo.backward()
time.sleep(0.35)
gopigo.stop()
def changeVolumeHighThenNormal(seconds):
os.system("amixer -c 2 cset numid=3 %d%%" % 50)
time.sleep(seconds)
os.system("amixer -c 2 cset numid=3 %d%%" % commandArgs.tts_volume)
def maxSpeedThenNormal():
global maxSpeedEnabled
maxSpeedEnabled = True
print "max speed"
time.sleep(120)
maxSpeedEnabled = False
print "normal speed"
def handleLoudCommand(seconds):
thread.start_new_thread(changeVolumeHighThenNormal, (seconds,))
def handleMaxSpeedCommand():
thread.start_new_thread(maxSpeedThenNormal, ())
def moveGoPiGo3(command):
e = easyGoPiGo3
if command == 'L':
e.set_motor_dps(e.MOTOR_LEFT, -e.get_speed())
e.set_motor_dps(e.MOTOR_RIGHT, e.get_speed())
time.sleep(0.15)
easyGoPiGo3.stop()
if command == 'R':
e.set_motor_dps(e.MOTOR_LEFT, e.get_speed())
e.set_motor_dps(e.MOTOR_RIGHT, -e.get_speed())
time.sleep(0.15)
easyGoPiGo3.stop()
if command == 'F':
easyGoPiGo3.forward()
time.sleep(0.35)
easyGoPiGo3.stop()
if command == 'B':
easyGoPiGo3.backward()
time.sleep(0.35)
easyGoPiGo3.stop()
def handle_command(args):
now = datetime.datetime.now()
now_time = now.time()
# if it's late, make the robot slower
if now_time >= datetime.time(21,30) or now_time <= datetime.time(9,30):
#print "within the late time interval"
drivingSpeedActuallyUsed = nightTimeDrivingSpeedActuallyUsed
else:
drivingSpeedActuallyUsed = dayTimeDrivingSpeedActuallyUsed
global drivingSpeed
global handlingCommand
if 'robot_id' in args and args['robot_id'] == robotID: print "received message:", args
# Note: If you are adding features to your bot,
# you can get direct access to incomming commands right here.
if handlingCommand:
return
#if 'robot_id' in args:
# print "args robot id:", args['robot_id']
#if 'command' in args:
# print "args command:", args['command']
if 'command' in args and 'robot_id' in args and args['robot_id'] == robotID:
print('got command', args)
command = args['command']
# don't turn set handlingCommand true for
# commands that persist for a while and are not exclusive
# so others are allowed to run
if command not in ("SOUND2", "WALL", "LOUD", "MAXSPEED"):
handlingCommand = True
if command == 'LOUD':
handleLoudCommand(25)
if command == 'MAXSPEED':
handleMaxSpeedCommand()
if commandArgs.type == 'mdd10':
if maxSpeedEnabled:
print "AT MAX....................."
print maxSpeedEnabled
moveMDD10(command, 100)
else:
print "NORMAL................."
print maxSpeedEnabled
moveMDD10(command, int(float(drivingSpeedActuallyUsed) / 2.55))
if commandArgs.type == 'adafruit_pwm':
moveAdafruitPWM(command)
if commandArgs.type == 'gopigo2':
moveGoPiGo2(command)
if commandArgs.type == 'gopigo3':
moveGoPiGo3(command)
if commandArgs.type == 'owi_arm':
owi_arm.handleOwiArm(command)
if commandArgs.type == 'serial':
robot_util.sendSerialCommand(ser, command)
if commandArgs.type == 'motor_hat' and motorsEnabled:
motorA.setSpeed(drivingSpeed)
motorB.setSpeed(drivingSpeed)
if command == 'F':
drivingSpeed = drivingSpeedActuallyUsed
for motorIndex in range(4):
runMotor(motorIndex, forward[motorIndex])
time.sleep(straightDelay)
if command == 'B':
drivingSpeed = drivingSpeedActuallyUsed
for motorIndex in range(4):
runMotor(motorIndex, backward[motorIndex])
time.sleep(straightDelay)
if command == 'L':
drivingSpeed = turningSpeedActuallyUsed
for motorIndex in range(4):
runMotor(motorIndex, left[motorIndex])
time.sleep(turnDelay)
if command == 'R':
drivingSpeed = turningSpeedActuallyUsed
for motorIndex in range(4):
runMotor(motorIndex, right[motorIndex])
time.sleep(turnDelay)
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 commandArgs.type == 'mdd10':
turnOffMotorsMDD10()
if commandArgs.type == 'motor_hat':
turnOffMotors()
if command == 'WALL':
handleLoudCommand(25)
os.system("aplay -D plughw:2,0 /home/pi/wall.wav")
if command == 'SOUND2':
handleLoudCommand(25)
os.system("aplay -D plughw:2,0 /home/pi/sound2.wav")
if commandArgs.type == 'l298n':
runl298n(command)
#setMotorsToIdle()
if commandArgs.type == 'motozero':
runmotozero(command)
if commandArgs.type == 'pololu':
runPololu(command)
if commandArgs.led == 'max7219':
if command == 'LED_OFF':
SetLED_Off()
if command == 'LED_FULL':
SetLED_On()
SetLED_Full()
if command == 'LED_MED':
SetLED_On()
SetLED_Med()
if command == 'LED_LOW':
SetLED_On()
SetLED_Low()
if command == 'LED_E_SMILEY':
SetLED_On()
SetLED_E_Smiley()
if command == 'LED_E_SAD':
SetLED_On()
SetLED_E_Sad()
if command == 'LED_E_TONGUE':
SetLED_On()
SetLED_E_Tongue()
if command == 'LED_E_SUPRISED':
SetLED_On()
SetLED_E_Suprised()
handlingCommand = False
def runl298n(direction):
if direction == 'F':
GPIO.output(StepPinForward, GPIO.HIGH)
time.sleep(l298n_sleeptime * l298n_rotatetimes)
GPIO.output(StepPinForward, GPIO.LOW)
if direction == 'B':
GPIO.output(StepPinBackward, GPIO.HIGH)
time.sleep(l298n_sleeptime * l298n_rotatetimes)
GPIO.output(StepPinBackward, GPIO.LOW)
if direction == 'L':
GPIO.output(StepPinLeft, GPIO.HIGH)
time.sleep(l298n_sleeptime)