# Copyright 2019 Google LLC # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # https://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. from __future__ import absolute_import from __future__ import division from __future__ import print_function import argparse import os from random import randint from threading import Thread import time from edgetpu.basic.basic_engine import BasicEngine import model import pygame from pygame.locals import * import queue from random import randrange from adafruit_servokit import ServoKit import board import busio import adafruit_pca9685 import time i2c = busio.I2C(board.SCL, board.SDA) hat = adafruit_pca9685.PCA9685(i2c) hat.frequency = 60 kit = ServoKit(channels=16) # set number of channels #kit.servo[0].actuation_range = 160 #kit.servo[0].set_pulse_width_range(1000, 2000) # up, mid and down settings for left and right arms up_l = 35 md_l = 90 dn_l = 160 up_r = 160 md_r = 90 dn_r = 35 lft= 15 # number of servo port, left servo (0-8) rgt= 11 # number of servo port, right servo (0-8) led_channel_0 = hat.channels[0] # LED set on port 0 led_channel_0.duty_cycle = 0 #turn on LED 100% #list of arm settings for nine positions position = [(md_l,md_r), (up_l,up_r),(up_l,md_r),(up_l,dn_r), (md_l,up_r),(md_l,md_r),(md_l,dn_r), (dn_l,up_r),(dn_l,md_r),(dn_l,dn_r)] # defines 9 JumpingJack positions, indicated by integers 0-9 dance1 =(0,8,7,4,1,2,3,6,9,8,5,2,1,4,7,8,9,6,3,2,0) # a "dance" class Controler(object): #Callback function def __init__(self, q): self._q = q def callback(self, command): self._q.put(command) class App: def __init__(self): self._running = True def on_init(self): pygame.init() self.game_started = True self._running = True return True def on_event(self, event): if event.type == pygame.QUIT: self._running = False def JumpingJack0(self, keys): # controls Jumping Jack, keywords: "position x" key = int(keys) p = position[key] a = p[0] b = p[1] print ("Position: ", key, " left/right: ",a,"/",b,"degree") # sys.stdout.write("Position: ", key, " left/right: ",a,"/",b,"degree") kit.servo[lft].angle = a kit.servo[rgt].angle = b time.sleep(0.1) def JumpingJack1(self): # controls Jumping Jack dance, keyword: "next game" dnce = dance1 sp=(len(dnce)) for r in range (sp): #dancing order of positions, sp steps dc = dnce[r] if (dc not in range(10)): # print ("input error at position ", sp) dc=4 p = position[dc] a = p[0] b = p[1] kit.servo[lft].angle = a kit.servo[rgt].angle = b time.sleep(0.25) # sets velocity of movements def JumpingJack2(self, keys): # controls Jumping Jack LEDs, keywords: "switch on/off" led = int(keys) if led == 1: led_channel_0.duty_cycle = 0xffff #turn on LED 100% time.sleep (0.1) if led == 0: led_channel_0.duty_cycle = 0 # turn off LED time.sleep (0.1) if led == 2 : # blink led_channel_0.duty_cycle = 0xffff #turn on LED 100% time.sleep (0.5) led_channel_0.duty_cycle = 0 #turn on LED 100% time.sleep (0.5) led_channel_0.duty_cycle = 0xffff #turn on LED 100% time.sleep (0.5) led_channel_0.duty_cycle = 0 #turn on LED 100% time.sleep (0.5) led_channel_0.duty_cycle = 0xffff #turn on LED 100% time.sleep (0.1) def JumpingJack3(self): # controls Jumping Jack dance, keyword: "random game" # for h in range (10): dr= randrange (9) p = position[dr] a = p[0] b = p[1] kit.servo[lft].angle = a kit.servo[rgt].angle = b time.sleep(0.25) # sets velocity of movements def spotter(self, args): engine = BasicEngine(args.model_file) mic = args.mic if args.mic is None else int(args.mic) model.classify_audio(mic, engine, labels_file="config/labels_gc2.raw.txt", commands_file="config/commands_v2_hampelmann.txt", dectection_callback=self._controler.callback, sample_rate_hz=int(args.sample_rate_hz), num_frames_hop=int(args.num_frames_hop)) def on_execute(self, args): if not self.on_init(): self._running = False q = model.get_queue() self._controler = Controler(q) if not args.debug_keyboard: t = Thread(target=self.spotter, args=(args,)) t.daemon = True t.start() item = -1 while self._running: pygame.event.pump() if args.debug_keyboard: keys = pygame.key.get_pressed() else: try: new_item = q.get(True, 0.1) except queue.Empty: new_item = None if new_item is not None: item = new_item if (args.debug_keyboard and keys[pygame.K_ESCAPE]) or item == "stop": self._running = False # if (args.debug_keyboard and keys[pygame.K_SPACE]) or item == "go": # self.JumpingJack0(7) # if (args.debug_keyboard and keys[pygame.K_RIGHT]) or item == "right": self.JumpingJack0(6) if (args.debug_keyboard and keys[pygame.K_LEFT]) or item == "left": self.JumpingJack0(4) if (args.debug_keyboard and keys[pygame.K_UP]) or item == "up": self.JumpingJack0(1) if (args.debug_keyboard and keys[pygame.K_DOWN]) or item == "down": self.JumpingJack0(9) if (args.debug_keyboard and keys[pygame.K_0]) or item == "0": self.JumpingJack0(0) if (args.debug_keyboard and keys[pygame.K_1]) or item == "1": self.JumpingJack0(1) if (args.debug_keyboard and keys[pygame.K_2]) or item == "2": self.JumpingJack0(2) if (args.debug_keyboard and keys[pygame.K_3]) or item == "3": self.JumpingJack0(3) if (args.debug_keyboard and keys[pygame.K_4]) or item == "4": self.JumpingJack0(4) if (args.debug_keyboard and keys[pygame.K_5]) or item == "5": self.JumpingJack0(5) if (args.debug_keyboard and keys[pygame.K_6]) or item == "6": self.JumpingJack0(6) if (args.debug_keyboard and keys[pygame.K_7]) or item == "7": self.JumpingJack0(7) if (args.debug_keyboard and keys[pygame.K_8]) or item == "8": self.JumpingJack0(8) if (args.debug_keyboard and keys[pygame.K_9]) or item == "9": self.JumpingJack0(9) if (args.debug_keyboard and keys[pygame.K_a]) or item == "d": self.JumpingJack1() #dancing Jack, on "next_game" if (args.debug_keyboard and keys[pygame.K_j]) or item == "j": self.JumpingJack2(0) #LED on, ON "switch_on" if (args.debug_keyboard and keys[pygame.K_k]) or item == "k": self.JumpingJack2(1) #LED off, on "swithch off" if (args.debug_keyboard and keys[pygame.K_l]) or item == "l": self.JumpingJack2(1) #LED blink "target" if (args.debug_keyboard and keys[pygame.K_r]) or item == "r": self.JumpingJack3() #random dance "random game" time.sleep(0.05) self.on_cleanup() if __name__ == '__main__': parser = argparse.ArgumentParser() parser.add_argument( '--debug_keyboard', help='Use the keyboard to control the JumpingJack.', action='store_true', default=False) model.add_model_flags(parser) args = parser.parse_args() the_app = App() the_app.on_execute(args)