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| #!/usr/bin/env python | |
| ''' | |
| Simple program that uses the 'bpmdetect' GStreamer plugin to detect | |
| the BPM of a song, and outputs that to console. | |
| Requires GStreamer 1.x, PyGObject 1.x, and gst-plugins-bad | |
| Copyright (C) 2015 Dustin Spicuzza | |
| This program is free software; you can redistribute it and/or modify | |
| it under the terms of the GNU General Public License version 2 as | |
| published by the Free Software Foundation. | |
| ''' | |
| from __future__ import print_function | |
| from paramiko import client | |
| import inspect | |
| import sys | |
| from gi.repository import Gst, GObject, Gio | |
| import paramiko | |
| ##### | |
| import socket | |
| def detect_bpm(uri, on_complete): | |
| ''' | |
| Detects the BPM of a song using GStreamer's bpmdetect plugin | |
| .. note:: The plugin emits the BPM at various times during | |
| song processing, but the bpm detector accumulates | |
| the results so this will only return the last | |
| result. | |
| ''' | |
| bpm = [None] | |
| def _on_message(bus, msg): | |
| if msg.type == Gst.MessageType.TAG: | |
| tags = msg.parse_tag() | |
| # Discard tags already set on the file | |
| if tags.n_tags() > 1: | |
| return | |
| v = tags.get_value_index('beats-per-minute', 0) | |
| try: | |
| v = float(v) | |
| except: | |
| return | |
| if v > 0: | |
| bpm[0] = v | |
| elif msg.type == Gst.MessageType.ERROR: | |
| playbin.set_state(Gst.State.NULL) | |
| gerror, debug_info = msg.parse_error() | |
| if gerror: | |
| on_complete(None, gerror.message.rstrip(".")) | |
| else: | |
| on_complete(None, debug_info) | |
| elif msg.type == Gst.MessageType.EOS: | |
| playbin.set_state(Gst.State.NULL) | |
| on_complete(bpm[0], None) | |
| audio_sink = Gst.Bin.new('audiosink') | |
| # bpmdetect doesn't work properly with more than one channel, | |
| # see https://bugzilla.gnome.org/show_bug.cgi?id=751457 | |
| cf = Gst.ElementFactory.make('capsfilter') | |
| cf.props.caps = Gst.Caps.from_string('audio/x-raw,channels=1') | |
| fakesink = Gst.ElementFactory.make('fakesink') | |
| fakesink.props.sync = False | |
| fakesink.props.signal_handoffs = False | |
| bpmdetect = Gst.ElementFactory.make('bpmdetect') | |
| if bpmdetect is None: | |
| on_complete(None, "GStreamer BPM detection plugin not found") | |
| return | |
| audio_sink.add(cf) | |
| audio_sink.add(bpmdetect) | |
| audio_sink.add(fakesink) | |
| cf.link(bpmdetect) | |
| bpmdetect.link(fakesink) | |
| audio_sink.add_pad(Gst.GhostPad.new('sink', cf.get_static_pad('sink'))) | |
| playbin = Gst.ElementFactory.make('playbin') | |
| playbin.props.audio_sink = audio_sink | |
| bus = playbin.get_bus() | |
| bus.add_signal_watch() | |
| bus.connect('message', _on_message) | |
| playbin.props.uri = uri | |
| playbin.set_state(Gst.State.PLAYING) | |
| class ssh: | |
| client = None | |
| def __init__(self, address, username, password): | |
| # Let the user know we're connecting to the server | |
| print("Connecting to server.") | |
| # Create a new SSH client | |
| self.client = client.SSHClient() | |
| # The following line is required if you want the script to be able to access a server that's not yet in the known_hosts file | |
| self.client.set_missing_host_key_policy(client.AutoAddPolicy()) | |
| # Make the connection | |
| self.client.connect(address, username=username, password=password) | |
| def sendCommand(self, command): | |
| # Check if connection is made previously | |
| if(self.client): | |
| stdin, stdout, stderr = self.client.exec_command(command) | |
| '''while not stdout.channel.exit_status_ready(): | |
| # Print stdout data when available | |
| if stdout.channel.recv_ready(): | |
| # Retrieve the first 1024 bytes | |
| alldata = stdout.channel.recv(1024) | |
| while stdout.channel.recv_ready(): | |
| # Retrieve the next 1024 bytes | |
| alldata += stdout.channel.recv(1024) | |
| # Print as string with utf8 encoding | |
| print(str(alldata))''' | |
| #self.client.close() | |
| else: | |
| print("Connection not opened.") | |
| ##### | |
| connection = ssh("169.254.35.81", "robot", "maker") | |
| connection.sendCommand("python3 TestDegrees.py") | |
| Gst.init(None) | |
| """if len(sys.argv) != 2: | |
| print("Usage: %s filename\n" % sys.argv[0]) | |
| print(inspect.cleandoc(__doc__)) | |
| exit(1) | |
| """ | |
| uri = Gio.File.new_for_commandline_arg("final.wav").get_uri()#"Nightwish_-_Storytime_audiopoisk.wav" | |
| print("Processing file: ", uri) | |
| def on_complete(bpm, error): | |
| if error is not None: | |
| print("ERROR:", error) | |
| else: | |
| print("BPM:", bpm) | |
| bpm=int(bpm) | |
| connection.sendCommand("echo 'maker' | sudo -S python3 write.py %i" % bpm) | |
| ml.quit() | |
| detect_bpm(uri, on_complete) | |
| ml = GObject.MainLoop() | |
| ml.run() | |
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| from ev3dev.ev3 import * | |
| import time | |
| import random | |
| A=LargeMotor('outA') | |
| B=LargeMotor('outB') | |
| bpm = 131 | |
| sleepTime = 0.092*1.5 | |
| power = 300 | |
| M1A1 = LargeMotor('in1:i2c3:M1') | |
| M1A2 = LargeMotor('in1:i2c3:M2') | |
| M2A1 = LargeMotor('in2:i2c3:M1') | |
| M2A2 = LargeMotor('in2:i2c3:M2') | |
| while 1: | |
| number = random.choice([1,2,3,4,5])#1,,2,3,4,5 | |
| print(number) | |
| if number == 1: | |
| #Zero | |
| time1=time.time() | |
| M1A2.run_forever(speed_sp = -power) | |
| M2A2.run_forever(speed_sp = -power) | |
| while time.time() - time1 < (sleepTime*2): #and | |
| M1A2.run_forever(speed_sp = -power) | |
| M2A2.run_forever(speed_sp = -power) | |
| M1A2.stop(stop_action = "brake") | |
| M2A2.stop(stop_action = "brake") | |
| time.sleep(sleepTime) | |
| #Hands down | |
| M1A2.reset() | |
| M2A2.reset() | |
| M1A2.run_forever(speed_sp = power) | |
| M2A2.run_forever(speed_sp = power) | |
| time1=time.time() | |
| while M2A2.position < 30 or M1A2.position < 30: #and | |
| if time.time() - time1 > sleepTime*4: | |
| M1A2.stop(stop_action = "brake") | |
| M2A2.stop(stop_action = "brake") | |
| break | |
| if M1A2.position > 30: | |
| M1A2.stop(stop_action = "brake") | |
| else: | |
| M1A2.run_forever(speed_sp = power) | |
| if M2A2.position > 30: | |
| M2A2.stop(stop_action = "brake") | |
| else: | |
| M2A2.run_forever(speed_sp = power) | |
| M1A2.stop(stop_action = "brake") | |
| M2A2.stop(stop_action = "brake") | |
| time.sleep(sleepTime) | |
| #Turn Hand Right | |
| M1A1.reset() | |
| M2A1.reset() | |
| M1A1.run_forever(speed_sp = power) | |
| M2A1.run_forever(speed_sp = -power) | |
| while M1A1.position < 90 or M2A1.position > -90: | |
| if M1A1.position > 90: | |
| M1A1.stop(stop_action = "brake") | |
| else: | |
| M1A1.run_forever(speed_sp = power) | |
| if M2A1.position < -90: | |
| M2A1.stop(stop_action = "brake") | |
| else: | |
| M2A1.run_forever(speed_sp = -power) | |
| M1A1.stop(stop_action = "brake") | |
| M2A1.stop(stop_action = "brake") | |
| time.sleep(sleepTime/2) | |
| """ | |
| """ | |
| #1-st Combination | |
| for x in range(5): | |
| #Turn Hands Right | |
| M1A1.reset() | |
| M2A1.reset() | |
| M1A1.run_forever(speed_sp = -power) | |
| M2A1.run_forever(speed_sp = power) | |
| while M1A1.position > -180 or M2A1.position < 180: | |
| if M1A1.position < -180: | |
| M1A1.stop(stop_action = "brake") | |
| else: | |
| M1A1.run_forever(speed_sp = -power) | |
| if M2A1.position > 180: | |
| M2A1.stop(stop_action = "brake") | |
| else: | |
| M2A1.run_forever(speed_sp = power) | |
| M1A1.stop(stop_action = "brake") | |
| M2A1.stop(stop_action = "brake") | |
| #Turn Hand Right | |
| M1A1.reset() | |
| M2A1.reset() | |
| M1A1.run_forever(speed_sp = power) | |
| M2A1.run_forever(speed_sp = -power) | |
| while M1A1.position < 180 or M2A1.position > -180: | |
| if M1A1.position > 180: | |
| M1A1.stop(stop_action = "brake") | |
| else: | |
| M1A1.run_forever(speed_sp = power) | |
| if M2A1.position < -180: | |
| M2A1.stop(stop_action = "brake") | |
| else: | |
| M2A1.run_forever(speed_sp = -power) | |
| M1A1.stop(stop_action = "brake") | |
| M2A1.stop(stop_action = "brake") | |
| time.sleep(sleepTime/2) | |
| #Turn Hands Right | |
| M1A1.reset() | |
| M2A1.reset() | |
| M1A1.run_forever(speed_sp = -power) | |
| M2A1.run_forever(speed_sp = power) | |
| while M1A1.position > -90 or M2A1.position < 90: | |
| if M1A1.position < -90: | |
| M1A1.stop(stop_action = "brake") | |
| else: | |
| M1A1.run_forever(speed_sp = -power) | |
| if M2A1.position > 90: | |
| M2A1.stop(stop_action = "brake") | |
| else: | |
| M2A1.run_forever(speed_sp = power) | |
| M1A1.stop(stop_action = "brake") | |
| M2A1.stop(stop_action = "brake") | |
| if number == 2: | |
| #Zero | |
| time1=time.time() | |
| M1A2.run_forever(speed_sp = -power) | |
| M2A2.run_forever(speed_sp = -power) | |
| while time.time() - time1 < (sleepTime*2): #and | |
| M1A2.run_forever(speed_sp = -power) | |
| M2A2.run_forever(speed_sp = -power) | |
| M1A2.stop(stop_action = "brake") | |
| M2A2.stop(stop_action = "brake") | |
| time.sleep(sleepTime) | |
| #Hands down | |
| M1A2.reset() | |
| M2A2.reset() | |
| M1A2.run_forever(speed_sp = power) | |
| M2A2.run_forever(speed_sp = power) | |
| time1=time.time() | |
| while M2A2.position < 30 or M1A2.position < 30: #and | |
| if time.time() - time1 > sleepTime*4: | |
| M1A2.stop(stop_action = "brake") | |
| M2A2.stop(stop_action = "brake") | |
| break | |
| if M1A2.position > 30: | |
| M1A2.stop(stop_action = "brake") | |
| else: | |
| M1A2.run_forever(speed_sp = power) | |
| if M2A2.position > 30: | |
| M2A2.stop(stop_action = "brake") | |
| else: | |
| M2A2.run_forever(speed_sp = power) | |
| M1A2.stop(stop_action = "brake") | |
| M2A2.stop(stop_action = "brake") | |
| time.sleep(sleepTime) | |
| #2-nd Combination | |
| #Hands down | |
| M1A2.reset() | |
| M2A2.reset() | |
| M1A2.run_forever(speed_sp = -power) | |
| #M2A2.run_forever(speed_sp = power) | |
| time1 = time.time() | |
| while time.time() - time1 < (sleepTime/1.5)*4: #and | |
| M1A2.run_forever(speed_sp = -power) | |
| M2A2.run_forever(speed_sp = power) | |
| M1A2.stop(stop_action = "brake") | |
| M2A2.stop(stop_action = "brake") | |
| time.sleep(sleepTime/2) | |
| print("OK") | |
| for x in range(5): | |
| time1 = time.time() | |
| M1A2.run_forever(speed_sp = power) | |
| M2A2.run_forever(speed_sp = -power) | |
| while time.time() - time1 < (sleepTime/1.5)*8: #and | |
| M1A2.run_forever(speed_sp = power) | |
| M2A2.run_forever(speed_sp = -power) | |
| M1A2.stop(stop_action = "brake") | |
| M2A2.stop(stop_action = "brake") | |
| time.sleep(sleepTime/2) | |
| time1 = time.time() | |
| M1A2.run_forever(speed_sp = -power) | |
| M2A2.run_forever(speed_sp = power) | |
| while time.time() - time1 < (sleepTime/1.5)*8: #and | |
| M1A2.run_forever(speed_sp = -power) | |
| M2A2.run_forever(speed_sp = power) | |
| M1A2.stop(stop_action = "brake") | |
| M2A2.stop(stop_action = "brake") | |
| time.sleep(sleepTime/2) | |
| time.sleep(sleepTime) | |
| print("OK") | |
| M1A2.reset() | |
| M2A2.reset() | |
| M1A2.run_forever(speed_sp = power) | |
| M2A2.run_forever(speed_sp = -power) | |
| while M1A2.position < 10 or M2A2.position > -80: | |
| if M1A2.position > 10: | |
| M1A2.stop(stop_action = "brake") | |
| else: | |
| M1A2.run_forever(speed_sp = power) | |
| if M2A2.position < -80: | |
| M2A2.stop(stop_action = "brake") | |
| else: | |
| M2A2.run_forever(speed_sp = -power) | |
| M1A2.stop(stop_action = "brake") | |
| M2A2.stop(stop_action = "brake") | |
| time.sleep(sleepTime/2) | |
| if number == 3: | |
| #Zero | |
| time1=time.time() | |
| M1A2.run_forever(speed_sp = -power) | |
| M2A2.run_forever(speed_sp = -power) | |
| while time.time() - time1 < (sleepTime*2): #and | |
| M1A2.run_forever(speed_sp = -power) | |
| M2A2.run_forever(speed_sp = -power) | |
| M1A2.stop(stop_action = "brake") | |
| M2A2.stop(stop_action = "brake") | |
| time.sleep(sleepTime) | |
| #Hands down | |
| M1A2.reset() | |
| M2A2.reset() | |
| M1A2.run_forever(speed_sp = power) | |
| M2A2.run_forever(speed_sp = power) | |
| time1=time.time() | |
| while M2A2.position < 30 or M1A2.position < 30: #and | |
| if time.time() - time1 > sleepTime*4: | |
| M1A2.stop(stop_action = "brake") | |
| M2A2.stop(stop_action = "brake") | |
| break | |
| if M1A2.position > 30: | |
| M1A2.stop(stop_action = "brake") | |
| else: | |
| M1A2.run_forever(speed_sp = power) | |
| if M2A2.position > 30: | |
| M2A2.stop(stop_action = "brake") | |
| else: | |
| M2A2.run_forever(speed_sp = power) | |
| M1A2.stop(stop_action = "brake") | |
| M2A2.stop(stop_action = "brake") | |
| time.sleep(sleepTime) | |
| """ | |
| """ | |
| #3-rd Combination | |
| #Turn Hands left | |
| M1A1.reset() | |
| M2A1.reset() | |
| M1A1.run_forever(speed_sp = power) | |
| M2A1.run_forever(speed_sp = power) | |
| while M1A1.position < 90 or M2A1.position < 90: | |
| if M1A1.position > 90: | |
| M1A1.stop(stop_action = "brake") | |
| else: | |
| M1A1.run_forever(speed_sp = power) | |
| if M2A1.position > 90: | |
| M2A1.stop(stop_action = "brake") | |
| else: | |
| M2A1.run_forever(speed_sp = power) | |
| M1A1.stop(stop_action = "brake") | |
| M2A1.stop(stop_action = "brake") | |
| time.sleep(sleepTime) | |
| for x in range(5): | |
| #Turn Hands Right | |
| M1A1.reset() | |
| M2A1.reset() | |
| M1A1.run_forever(speed_sp = power) | |
| M2A1.run_forever(speed_sp = power) | |
| while M1A1.position > -180 or M2A1.position > -180: | |
| if M1A1.position < -180: | |
| M1A1.stop(stop_action = "brake") | |
| else: | |
| M1A1.run_forever(speed_sp = -power) | |
| if M2A1.position < -180: | |
| M2A1.stop(stop_action = "brake") | |
| else: | |
| M2A1.run_forever(speed_sp = -power) | |
| M1A1.stop(stop_action = "brake") | |
| M2A1.stop(stop_action = "brake") | |
| #Turn Hand Right | |
| M1A1.reset() | |
| M2A1.reset() | |
| M1A1.run_forever(speed_sp = power) | |
| M2A1.run_forever(speed_sp = power) | |
| while M1A1.position < 180 or M2A1.position < 180: | |
| if M1A1.position > 180: | |
| M1A1.stop(stop_action = "brake") | |
| else: | |
| M1A1.run_forever(speed_sp = power) | |
| if M2A1.position > 180: | |
| M2A1.stop(stop_action = "brake") | |
| else: | |
| M2A1.run_forever(speed_sp = power) | |
| M1A1.stop(stop_action = "brake") | |
| M2A1.stop(stop_action = "brake") | |
| time.sleep(sleepTime/2) | |
| #Turn Hand Right | |
| M1A1.reset() | |
| M2A1.reset() | |
| M1A1.run_forever(speed_sp = -power) | |
| M2A1.run_forever(speed_sp = -power) | |
| while M1A1.position > -70 or M2A1.position > -90: | |
| if M1A1.position < -70: | |
| M1A1.stop(stop_action = "brake") | |
| else: | |
| M1A1.run_forever(speed_sp = -power) | |
| if M2A1.position < -90: | |
| M2A1.stop(stop_action = "brake") | |
| else: | |
| M2A1.run_forever(speed_sp = -power) | |
| M1A1.stop(stop_action = "brake") | |
| M2A1.stop(stop_action = "brake") | |
| time.sleep(sleepTime/2) | |
| if number == 4: | |
| #Zero | |
| time1=time.time() | |
| M1A2.run_forever(speed_sp = -power) | |
| M2A2.run_forever(speed_sp = -power) | |
| while time.time() - time1 < (sleepTime*2): #and | |
| M1A2.run_forever(speed_sp = -power) | |
| M2A2.run_forever(speed_sp = -power) | |
| M1A2.stop(stop_action = "brake") | |
| M2A2.stop(stop_action = "brake") | |
| time.sleep(sleepTime) | |
| #Hands down | |
| M1A2.reset() | |
| M2A2.reset() | |
| M1A2.run_forever(speed_sp = power) | |
| M2A2.run_forever(speed_sp = power) | |
| time1=time.time() | |
| while M2A2.position < 30 or M1A2.position < 30: #and | |
| if time.time() - time1 > sleepTime*4: | |
| M1A2.stop(stop_action = "brake") | |
| M2A2.stop(stop_action = "brake") | |
| break | |
| if M1A2.position > 30: | |
| M1A2.stop(stop_action = "brake") | |
| else: | |
| M1A2.run_forever(speed_sp = power) | |
| if M2A2.position > 30: | |
| M2A2.stop(stop_action = "brake") | |
| else: | |
| M2A2.run_forever(speed_sp = power) | |
| M1A2.stop(stop_action = "brake") | |
| M2A2.stop(stop_action = "brake") | |
| time.sleep(sleepTime) | |
| """ | |
| """ | |
| #4-th Combination | |
| #Turn Hands inside | |
| M1A1.reset() | |
| M2A1.reset() | |
| M1A1.run_forever(speed_sp = -power) | |
| M2A1.run_forever(speed_sp = power) | |
| while M1A1.position > -45 or M2A1.position < 45: | |
| if M1A1.position < -45: | |
| M1A1.stop(stop_action = "brake") | |
| else: | |
| M1A1.run_forever(speed_sp = -power) | |
| if M2A1.position > 45: | |
| M2A1.stop(stop_action = "brake") | |
| else: | |
| M2A1.run_forever(speed_sp = power) | |
| M1A1.stop(stop_action = "brake") | |
| M2A1.stop(stop_action = "brake") | |
| time.sleep(sleepTime) | |
| M1A2.run_forever(speed_sp = -power) | |
| M2A2.run_forever(speed_sp = power) | |
| time1 = time.time() | |
| while time.time() - time1 < (sleepTime/1.5)*2: #and | |
| M1A2.run_forever(speed_sp = -power) | |
| M2A2.run_forever(speed_sp = power) | |
| M1A2.stop(stop_action = "brake") | |
| M2A2.stop(stop_action = "brake") | |
| time.sleep(sleepTime/2) | |
| print("OK") | |
| for x in range(5): | |
| time1 = time.time() | |
| M1A2.run_forever(speed_sp = power) | |
| M2A2.run_forever(speed_sp = -power) | |
| while time.time() - time1 < (sleepTime/1.5)*6: #and | |
| M1A2.run_forever(speed_sp = power) | |
| M2A2.run_forever(speed_sp = -power) | |
| M1A2.stop(stop_action = "brake") | |
| M2A2.stop(stop_action = "brake") | |
| time.sleep(sleepTime/2) | |
| time1 = time.time() | |
| M1A2.run_forever(speed_sp = -power) | |
| M2A2.run_forever(speed_sp = power) | |
| while time.time() - time1 < (sleepTime/1.5)*6: #and | |
| M1A2.run_forever(speed_sp = -power) | |
| M2A2.run_forever(speed_sp = power) | |
| M1A2.stop(stop_action = "brake") | |
| M2A2.stop(stop_action = "brake") | |
| time.sleep(sleepTime/2) | |
| time.sleep(sleepTime) | |
| print("OK") | |
| M1A2.reset() | |
| M2A2.reset() | |
| M1A2.run_forever(speed_sp = power) | |
| M2A2.run_forever(speed_sp = -power) | |
| while M1A2.position < 60 or M2A2.position > -60: | |
| if M1A2.position > 60: | |
| M1A2.stop(stop_action = "brake") | |
| else: | |
| M1A2.run_forever(speed_sp = power) | |
| if M2A2.position < -60: | |
| M2A2.stop(stop_action = "brake") | |
| else: | |
| M2A2.run_forever(speed_sp = -power) | |
| M1A2.stop(stop_action = "brake") | |
| M2A2.stop(stop_action = "brake") | |
| time.sleep(sleepTime/2) | |
| #Turn Hands outside | |
| M1A1.reset() | |
| M2A1.reset() | |
| M1A1.run_forever(speed_sp = power) | |
| M2A1.run_forever(speed_sp = -power) | |
| while M1A1.position < 45 or M2A1.position > -45: | |
| if M1A1.position > 45: | |
| M1A1.stop(stop_action = "brake") | |
| else: | |
| M1A1.run_forever(speed_sp = power) | |
| if M2A1.position < -45: | |
| M2A1.stop(stop_action = "brake") | |
| else: | |
| M2A1.run_forever(speed_sp = -power) | |
| M1A1.stop(stop_action = "brake") | |
| M2A1.stop(stop_action = "brake") | |
| time.sleep(sleepTime) | |
| if number == 5: | |
| #Zero | |
| time1=time.time() | |
| M1A2.run_forever(speed_sp = -power) | |
| M2A2.run_forever(speed_sp = -power) | |
| while time.time() - time1 < (sleepTime*2): #and | |
| M1A2.run_forever(speed_sp = -power) | |
| M2A2.run_forever(speed_sp = -power) | |
| M1A2.stop(stop_action = "brake") | |
| M2A2.stop(stop_action = "brake") | |
| time.sleep(sleepTime) | |
| #Hands down | |
| M1A2.reset() | |
| M2A2.reset() | |
| M1A2.run_forever(speed_sp = power) | |
| M2A2.run_forever(speed_sp = power) | |
| time1=time.time() | |
| while M2A2.position < 30 or M1A2.position < 30: #and | |
| if time.time() - time1 > sleepTime*4: | |
| M1A2.stop(stop_action = "brake") | |
| M2A2.stop(stop_action = "brake") | |
| break | |
| if M1A2.position > 30: | |
| M1A2.stop(stop_action = "brake") | |
| else: | |
| M1A2.run_forever(speed_sp = power) | |
| if M2A2.position > 30: | |
| M2A2.stop(stop_action = "brake") | |
| else: | |
| M2A2.run_forever(speed_sp = power) | |
| M1A2.stop(stop_action = "brake") | |
| M2A2.stop(stop_action = "brake") | |
| time.sleep(sleepTime) | |
| #5-th Combination | |
| #Turn Hands inside | |
| M1A1.reset() | |
| M2A1.reset() | |
| M1A1.run_forever(speed_sp = -power) | |
| M2A1.run_forever(speed_sp = power) | |
| while M1A1.position > -45 or M2A1.position < 45: | |
| if M1A1.position < -45: | |
| M1A1.stop(stop_action = "brake") | |
| else: | |
| M1A1.run_forever(speed_sp = -power) | |
| if M2A1.position > 45: | |
| M2A1.stop(stop_action = "brake") | |
| else: | |
| M2A1.run_forever(speed_sp = power) | |
| M1A1.stop(stop_action = "brake") | |
| M2A1.stop(stop_action = "brake") | |
| time.sleep(sleepTime) | |
| M1A2.run_forever(speed_sp = -power) | |
| M2A2.run_forever(speed_sp = power) | |
| time1 = time.time() | |
| while time.time() - time1 < (sleepTime/1.5)*2: #and | |
| M1A2.run_forever(speed_sp = -power) | |
| M2A2.run_forever(speed_sp = power) | |
| M1A2.stop(stop_action = "brake") | |
| M2A2.stop(stop_action = "brake") | |
| time.sleep(sleepTime/2) | |
| print("OK") | |
| for x in range(5): | |
| time1 = time.time() | |
| M1A2.run_forever(speed_sp = power) | |
| M2A2.run_forever(speed_sp = power) | |
| while time.time() - time1 < (sleepTime/1.5)*6: #and | |
| M1A2.run_forever(speed_sp = power) | |
| M2A2.run_forever(speed_sp = power) | |
| M1A2.stop(stop_action = "brake") | |
| M2A2.stop(stop_action = "brake") | |
| time.sleep(sleepTime/2) | |
| time1 = time.time() | |
| M1A2.run_forever(speed_sp = -power) | |
| M2A2.run_forever(speed_sp = -power) | |
| while time.time() - time1 < (sleepTime/1.5)*6: #and | |
| M1A2.run_forever(speed_sp = -power) | |
| M2A2.run_forever(speed_sp = -power) | |
| M1A2.stop(stop_action = "brake") | |
| M2A2.stop(stop_action = "brake") | |
| time.sleep(sleepTime/2) | |
| time.sleep(sleepTime) | |
| print("OK") | |
| M1A2.reset() | |
| M2A2.reset() | |
| M1A2.run_forever(speed_sp = -power) | |
| M2A2.run_forever(speed_sp = -power) | |
| time1=time.time() | |
| while M1A2.position > -60 or M2A2.position > -60: | |
| if time.time() - time1 > sleepTime: | |
| break | |
| if M1A2.position < -60: | |
| M1A2.stop(stop_action = "brake") | |
| else: | |
| M1A2.run_forever(speed_sp = -power) | |
| if M2A2.position < -60: | |
| M2A2.stop(stop_action = "brake") | |
| else: | |
| M2A2.run_forever(speed_sp = -power) | |
| M1A2.stop(stop_action = "brake") | |
| M2A2.stop(stop_action = "brake") | |
| time.sleep(sleepTime/2) | |
| #Turn Hands outside | |
| M1A1.reset() | |
| M2A1.reset() | |
| M1A1.run_forever(speed_sp = power) | |
| M2A1.run_forever(speed_sp = -power) | |
| while M1A1.position < 45 or M2A1.position > -45: | |
| if M1A1.position > 45: | |
| M1A1.stop(stop_action = "brake") | |
| else: | |
| M1A1.run_forever(speed_sp = power) | |
| if M2A1.position < -45: | |
| M2A1.stop(stop_action = "brake") | |
| else: | |
| M2A1.run_forever(speed_sp = -power) | |
| M1A1.stop(stop_action = "brake") | |
| M2A1.stop(stop_action = "brake") | |
| time.sleep(sleepTime) | |
| #Zero | |
| M1A2.run_forever(speed_sp = -power) | |
| M2A2.run_forever(speed_sp = -power) | |
| while time.time() - time1 < (sleepTime/2): #and | |
| M1A2.run_forever(speed_sp = -power) | |
| M2A2.run_forever(speed_sp = -power) | |
| #Hands down | |
| M1A2.reset() | |
| M2A2.reset() | |
| M1A2.run_forever(speed_sp = power) | |
| M2A2.run_forever(speed_sp = power) | |
| time1=time.time() | |
| while M2A2.position < 60 or M1A2.position < 60: #and | |
| if time.time() - time1 > sleepTime*4: | |
| M1A2.stop(stop_action = "brake") | |
| M2A2.stop(stop_action = "brake") | |
| break | |
| if M1A2.position > 60: | |
| M1A2.stop(stop_action = "brake") | |
| else: | |
| M1A2.run_forever(speed_sp = power) | |
| if M2A2.position > 60: | |
| M2A2.stop(stop_action = "brake") | |
| else: | |
| M2A2.run_forever(speed_sp = power) | |
| M1A2.stop(stop_action = "brake") | |
| M2A2.stop(stop_action = "brake") | |
| time.sleep(sleepTime) | |
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| from os import * | |
| import sys | |
| file = open("bpm.txt", "w") | |
| file.write(sys.argv[1]) | |
| file.close() | |
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