Python PiStorms.PiStorms类代码示例

#
# You should have received a copy of the GNU General Public License
# along with this program; if not, write to the Free Software
# Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
#
#mindsensors.com invests time and resources providing this open source code,
#please support mindsensors.com  by purchasing products from mindsensors.com!
#Learn more product option visit us @  http://www.mindsensors.com/
#
# History:
# Date      Author          Comments
# 04/18/17  Seth Tenembaum  Initial development.
#

from PiStorms import PiStorms
psm = PiStorms()
psm.screen.termPrintln("Please wait a moment")
psm.screen.termPrintln("as matplotlib loads...")
psm.screen.termPrintAt(3, "Press GO to quit.")

import matplotlib
matplotlib.use("AGG")
import matplotlib.pyplot as plt
import numpy as np
import tempfile
from mindsensors import ABSIMU
import threading, time

plt.figure(figsize=(4,3), dpi=80)
plt.xlabel('time')
plt.ylabel('acceleration')

# You should have received a copy of the GNU General Public License
# along with this program; if not, write to the Free Software
# Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
#
#mindsensors.com invests time and resources providing this open source code, 
#please support mindsensors.com  by purchasing products from mindsensors.com!
#Learn more product option visit us @  http://www.mindsensors.com/
#
# History:
# Date      Author      Comments
# 04/18/16   Deepak     Initial development.
#

from PiStorms import PiStorms
print "running program"
psm = PiStorms()

m = ["EV3ColorSensor-Demo", "Connect EV3 Color sensor to BAS1",
 "and Press OK to continue.", 
 "Then move colored objects in front",
 "of Color sensor"]
psm.screen.askQuestion(m,["OK"])

doExit = False
old_colorValue = True
colorValue = True
ambientMode = False

#main loop
while(not doExit):
    #save the previous value

#!python
"""
DiffDrive robot example
"""

from PiStorms import PiStorms
import bot
import requests
import time

psm = PiStorms()

desc = bot.DiffDescription(
    psm.BAM1,
    psm.BBM1,
    axel_radius=20.47875/100/2,
    wheel_radius=3.6/100/2,
    reverse_forward=True
)

driver = bot.DiffDriver(desc)
#locator = bot.DiffLocator(desc)
locator = bot.RemoteLocator()

path_follower = bot.PathFollower(driver, locator)


def path_changed_handler(path, voxels):
    path_follower.path = path

path_finder = bot.RemotePathFinder(path_changed_handler)

from PiStorms import PiStorms
from time import sleep
import sys

psm = PiStorms() # PiStorms object
exit = False    # break loop

while (not exit):
    
	
    if (psm.isPressed() == True): #exit
	psm.BBM1.brakeSync()
	psm.led(1,0,0,0)
	psm.screen.clearScreen()
	psm.screen.termPrintln("")
	psm.screen.termPrintln("Exiting to menu")
	sleep(0.5)
	exit = True

#mindsensors.com invests time and resources providing this open source code, 
#please support mindsensors.com  by purchasing products from mindsensors.com!
#Learn more product option visit us @  http://www.mindsensors.com/
#
# History:
# Date      Author      Comments
#  July 2015  Henry     Initial Authoring from SensorShield import SensorShield


import os,sys,inspect,time
currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
parentdir = os.path.dirname(currentdir)
sys.path.insert(0,parentdir) 
from PiStorms import PiStorms

psm = PiStorms()
psm.screen.termPrintln("PiStorms ")
psm.screen.termPrintln("GO button test:")
psm.screen.termPrintln(" ")

exit = False
print "Running Button Test"
print "press anywhere in PiStorms Screen to exit"
psm.screen.termPrintln("Touch Display to Exit")
psm.screen.termPrintln(" ")
while(not exit):
 
    pass
    
    psm.screen.termReplaceLastLine("Go Button is = " +str(psm.isKeyPressed()))
    if (psm.screen.checkButton(0,0,320,320)):

#mindsensors.com invests time and resources providing this open source code, 
#please support mindsensors.com  by purchasing products from mindsensors.com!
#Learn more product option visit us @  http://www.mindsensors.com/
#
# History:
# Date      Author      Comments
#  July 2015  Henry     Initial Authoring from SensorShield import SensorShield


import os,sys,inspect,time
currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
parentdir = os.path.dirname(currentdir)
sys.path.insert(0,parentdir) 
from PiStorms import PiStorms

psm = PiStorms()
psm.screen.termPrintAt(2, "PiStorms ")
psm.screen.termPrintAt(3, "GO button test:")

exit = False
print "Running Button Test"
print "press anywhere in PiStorms Screen to exit"
psm.screen.termPrintAt(8, "Touch Display to Exit")
psm.screen.termPrintln(" ")
while(not exit):
 
    pass
    
    psm.screen.termPrintAt(5, "GO Button is = " +str(psm.isKeyPressed()))
    psm.screen.termPrintAt(6, "Press Count = " +str(psm.getKeyPressCount()))
    if (psm.screen.checkButton(0,0,320,320)):

#
# History:
# Date            Author      Comments
# July 7, 2016    Yug Rao     Initial Authoring

from picamera.array import PiRGBArray
from picamera import PiCamera
import os,sys,inspect,time#thread
from subprocess import call
import cv2
import imutils
currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
parentdir = os.path.dirname(currentdir)
sys.path.insert(0,parentdir)
from PiStorms import PiStorms
psm = PiStorms()

try:
    picam = PiCamera()
except:
     m = ["PopHeads", "Camera not enabled.", "Run raspi-config and enable camera"]
     psm.screen.askQuestion(m,["OK"])
     exit()
exitNow = 0
time.sleep(.2)
# Create the haar cascade
haar_path=currentdir+"/haarcascade_frontalface_default.xml"
faceCascade = cv2.CascadeClassifier(haar_path)
#psm.screen.fillRect(95, 145, 110, 160)
#psm.screen.fillRect(100, 150, 100, 150, fill=(0,0,0))
while not exitNow:

#mindsensors.com invests time and resources providing this open source code,
#please support mindsensors.com  by purchasing products from mindsensors.com!
#Learn more product option visit us @  http://www.mindsensors.com/
#
# History:
# Date      Author          Comments
# 04/18/17  Seth Tenembaum  Initial development.
#

# This program demonstrates how to create a live-updating graph, but only displaying
# the latest n values on screen. It also explicitly sets the y-axis range.
# Don't hold the button too long, or you'll turn off the PiStorms!
# Tap the touchscreen to exit.

from PiStorms import PiStorms
psm = PiStorms()
psm.screen.termPrintln("Please wait a moment")
psm.screen.termPrintln("as matplotlib loads...")
psm.screen.termPrintAt(3, "Tap and hold the screen to quit.")

import matplotlib
matplotlib.use("AGG")
import matplotlib.pyplot as plt
import numpy as np
import tempfile

plt.figure(figsize=(4,3), dpi=80)
plt.xlabel('time')
plt.ylabel('GO button state')
plt.title('GO Button')
plt.grid(True)

from PiStorms import PiStorms
from time import sleep
print "running program"
psm = PiStorms()

DISTANCE_THRESHOLD = 700

WHITE_THRESHOLD = 400
BLACK_THRESHOLD = 900
WHITE = [12,13,14]

ALTERNATOR = -0.1 # Used if I fucked up the motor orientation and -1 is actually how we move forward
INV_ALTERNATOR = 0 - ALTERNATOR

def distance():
	return psm.BBS1.distanceUSEV3()

def seeing_other_robot():
	return distance() < DISTANCE_THRESHOLD

def near_edge():
	return psm.BAS2.lightSensorNXT(True) > WHITE_THRESHOLD and psm.BAS2.lightSensorNXT(True) < BLACK_THRESHOLD or psm.BAS1.colorSensorNXT() in WHITE

def gtfo():
	def turn_180():
		psm.BBM1.setSpeed(ALTERNATOR * 100)
		psm.BBM2.setSpeed(INV_ALTERNATOR * 100)
		sleep(0.6)
		psm.BBM1.brake()
		psm.BBM2.brake()
		sleep(0.01)

# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with this program; if not, write to the Free Software
# Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
#
#mindsensors.com invests time and resources providing this open source code,
#please support mindsensors.com  by purchasing products from mindsensors.com!
#Learn more product option visit us @  http://www.mindsensors.com/

import os,sys,inspect,time,thread,random
currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
parentdir = os.path.dirname(currentdir)

from PiStorms import PiStorms
psm = PiStorms()

color = (255, 255, 255)

while True:
    if psm.isKeyPressed():
        break

    if psm.isF1Pressed():
        color = (255, 0, 0)
    if psm.isF2Pressed():
        color = (255, 255, 0)
    if psm.isF3Pressed():
        color = (0, 255, 0)
    if psm.isF4Pressed():
        color = (0, 0, 255)

#
#mindsensors.com invests time and resources providing this open source code,
#please support mindsensors.com  by purchasing products from mindsensors.com!
#Learn more product option visit us @  http://www.mindsensors.com/
#
# History:
# Date      Author          Comments
# 04/18/17  Seth Tenembaum  Initial development.
#

# This program demonstrates using a sensor and displaying multiple lines
# (overlapping data series). Here we plot the three axes of tilt from the
# AbsoluteIMU sensor.

from PiStorms import PiStorms
psm = PiStorms()
psm.screen.termPrintln("Please wait a moment")
psm.screen.termPrintln("as matplotlib loads...")
psm.screen.termPrintAt(3, "Press GO to quit.")

import matplotlib
matplotlib.use("AGG")
import matplotlib.pyplot as plt
import numpy as np
import tempfile
from mindsensors import ABSIMU
import time

plt.figure(figsize=(4,3), dpi=80)
plt.xlabel('time')
plt.ylabel('tilt')

import socket,fcntl,struct
currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
parentdir = os.path.dirname(currentdir)
sys.path.insert(0,parentdir)

from PiStorms import PiStorms
from PiStormsInput import PiStormsInput
from wireless import Wireless
from wifi import Cell
import re, subprocess

# Globals
config_file = "/etc/wpa_supplicant/wpa_supplicant.conf" # Config file for Wi-Fi
wifi = None
wlan_inteface = "wlan0"
psm = PiStorms()

# Check if a wifi adapter is available
try:
    wifi = Wireless()
    wlan_interface = wifi.interfaces()[0]
except Exception as e:
    psm.screen.fillRect(0, 0, 320, 240, fill = (0,0,0), display = False)
    psm.screen.drawAutoText("No Wi-Fi adapter", 35, 20, fill = (255,0,0), size = 25, display = False)
    psm.screen.drawAutoText("available!", 35, 50, fill = (255,0,0), size = 25, display = False)
    psm.screen.drawButton(35, 160, width = 250, height = 40, text="Continue", display=False)
    psm.screen.fillRect(0, 0, 1, 1, fill = (0,0,0), display = True)
    while True:
        cont = psm.screen.checkButton(35, 160, 250, 40)
        if cont: sys.exit(0)

#mindsensors.com invests time and resources providing this open source code,
#please support mindsensors.com  by purchasing products from mindsensors.com!
#Learn more product option visit us @  http://www.mindsensors.com/

# Tic Tac Toe

import random
import os,sys,inspect,time,thread
import socket,fcntl,struct

currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
parentdir = os.path.dirname(currentdir)
sys.path.insert(0,parentdir)
from PiStorms import PiStorms

psm = PiStorms()
psm.led(1,0,0,0)
psm.led(2,0,0,0)


def drawLines():
    #210x210, 55px side border, 15px vertical border,  70px squares
    psm.screen.fillRect(124,15, 2,210)
    psm.screen.fillRect(196,15, 2,210)
    psm.screen.fillRect(55,84, 210,2)
    psm.screen.fillRect(55,154, 210,2)

def drawBoard(board):
    # This function prints out the board that it was passed.
    # "board" is a list of 10 strings representing the board (ignore index 0)

from PiStorms import PiStorms
from time import sleep
from HiTechnicColorV2 import HiTechnicColorV2
from datetime import datetime

print "running program"

psm = PiStorms()
hc = HiTechnicColorV2()
psm.BBS1.activateCustomSensorI2C()
blue = 2
red = 9
red2 = 8
counter = 0
last_time = datetime.now()
exit = False

botDiam = 17.5
wheelDiam = 6.5

target=90
translate=target*botDiam/(wheelDiam)

psm.BAM1.resetPos()
initialEncoderValue = psm.BAM1.pos()
while(psm.BAM1.pos()< translate+initialEncoderValue):
    psm.BAM1.setSpeed(50)
    psm.BAM2.setSpeed(-50)

psm.led(1, 255, 255, 255)
sleep(1)

#
#mindsensors.com invests time and resources providing this open source code, 
#please support mindsensors.com  by purchasing products from mindsensors.com!
#Learn more product option visit us @  http://www.mindsensors.com/
#
# History:
# Date      Author      Comments
#  July 2015  Henry     Initial Authoring from SensorShield import SensorShield

import os,sys,inspect,time,thread

currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
parentdir = os.path.dirname(currentdir)
sys.path.insert(0,parentdir) 
from PiStorms import PiStorms
psm = PiStorms()

psm.screen.termPrintln("Battery Voltage")
psm.screen.termPrintln(" ")

psm.BBS1.resetTouchesEV3()
exit = False
lastled = 0
while(not exit):
    voltVal = psm.battVoltage()
    psm.screen.termReplaceLastLine(str(voltVal) + "V")

    if(voltVal >= 8and lastled != 1):
        psm.led(1,0,255,0)
        psm.led(2,0,255,0)
        lastled = 1