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| { | |
| "metadata": { | |
| "css": [ | |
| "" | |
| ], | |
| "name": "", | |
| "signature": "sha256:799225d5b83c773de13af5daca51a595862551b7789d598fe587e6f84c56c3ab" | |
| }, | |
| "nbformat": 3, | |
| "nbformat_minor": 0, | |
| "worksheets": [ | |
| { | |
| "cells": [ | |
| { | |
| "cell_type": "heading", | |
| "level": 1, | |
| "metadata": {}, | |
| "source": [ | |
| "A subsumption architecture for behaviour-based control\n" | |
| ] | |
| }, | |
| { | |
| "cell_type": "markdown", | |
| "metadata": {}, | |
| "source": [ | |
| "####Table of Contents\n", | |
| "* [A subsumption architecture for behaviour-based control\n", | |
| "](#A-subsumption-architecture-for-behaviour-based-control)\n", | |
| "\t* [Class](#Class)\n", | |
| "\t* [Initialize](#Initialize)\n", | |
| "\t* [Clear](#Clear)\n", | |
| "\t* [Cruise forward ](#Cruise-forward)\n", | |
| "\t* [Spin](#Spin)\n", | |
| "\t* [Zigzag](#Zigzag)\n" | |
| ] | |
| }, | |
| { | |
| "cell_type": "heading", | |
| "level": 2, | |
| "metadata": {}, | |
| "source": [ | |
| "Imports" | |
| ] | |
| }, | |
| { | |
| "cell_type": "code", | |
| "collapsed": false, | |
| "input": [ | |
| "%%javascript\n", | |
| "IPython.load_extensions('calico-spell-check', 'calico-document-tools', 'calico-cell-tools');" | |
| ], | |
| "language": "python", | |
| "metadata": { | |
| "run_control": { | |
| "state": "n" | |
| } | |
| }, | |
| "outputs": [ | |
| { | |
| "javascript": [ | |
| "IPython.load_extensions('calico-spell-check', 'calico-document-tools', 'calico-cell-tools');" | |
| ], | |
| "metadata": {}, | |
| "output_type": "display_data", | |
| "text": [ | |
| "<IPython.core.display.Javascript at 0xa807f4c>" | |
| ] | |
| } | |
| ], | |
| "prompt_number": 4 | |
| }, | |
| { | |
| "cell_type": "markdown", | |
| "metadata": {}, | |
| "source": [ | |
| "This is the class that controls the robot" | |
| ] | |
| }, | |
| { | |
| "cell_type": "code", | |
| "collapsed": false, | |
| "input": [ | |
| "import time\n", | |
| "\n", | |
| "import os\n", | |
| "\n", | |
| "from IPython.lib import backgroundjobs as bg\n", | |
| "from IPython import display\n", | |
| "\n", | |
| "from copy import deepcopy\n", | |
| "import datetime\n", | |
| "import sys\n", | |
| "import pandas as pd\n", | |
| "\n", | |
| "import seaborn as sns\n", | |
| "\n", | |
| "from matplotlib import pyplot as plt\n", | |
| "%matplotlib inline" | |
| ], | |
| "language": "python", | |
| "metadata": { | |
| "run_control": { | |
| "state": "n" | |
| } | |
| }, | |
| "outputs": [], | |
| "prompt_number": 1 | |
| }, | |
| { | |
| "cell_type": "markdown", | |
| "metadata": {}, | |
| "source": [ | |
| "Robot brain" | |
| ] | |
| }, | |
| { | |
| "cell_type": "heading", | |
| "level": 2, | |
| "metadata": {}, | |
| "source": [ | |
| "Class" | |
| ] | |
| }, | |
| { | |
| "cell_type": "code", | |
| "collapsed": false, | |
| "input": [ | |
| "import numpy as np" | |
| ], | |
| "language": "python", | |
| "metadata": { | |
| "run_control": { | |
| "state": "n" | |
| } | |
| }, | |
| "outputs": [], | |
| "prompt_number": 2 | |
| }, | |
| { | |
| "cell_type": "code", | |
| "collapsed": false, | |
| "input": [ | |
| "class robotbrain(object):\n", | |
| " \n", | |
| " def __init__(self, is_sim = True, username = 'pi', server = '10.100.102.4'):\n", | |
| " \n", | |
| " #behaviours_list = None, behaviours_dict=None):\n", | |
| " \n", | |
| " #self.jobs = bg.BackgroundJobManager()\n", | |
| " #self.behaviours_dict = behaviours_dict # not using?\n", | |
| " #self.behaviours_list = behaviours_list\n", | |
| "\n", | |
| " self.username = username\n", | |
| " self.server = server\n", | |
| " \n", | |
| " # pins \n", | |
| " self.left_forward_pin = 11\n", | |
| " self.right_forward_pin= 15\n", | |
| " self.left_back_pin = 13\n", | |
| " self.right_back_pin = 7\n", | |
| " \n", | |
| " self.ssh_cmd = ' ssh %s@%s ' %(self.username,self.server)\n", | |
| " self.on_cmd = ' sudo gpio -1 write %s 1 ' \n", | |
| " self.off_cmd = ' sudo gpio -1 write %s 0 '\n", | |
| " \n", | |
| " self.clear_cmd = 'STILL NEED TO DO THIS.' #(alternative = turn pins off)\n", | |
| "\n", | |
| " self.is_sim = is_sim # if simulation, the ssh commands are note executed\n", | |
| " \n", | |
| " \n", | |
| " # set pins to be outputs\n", | |
| " print '\\nsetting pins as outputs:' \n", | |
| " _cmds = ['%s sudo gpio -1 mode %s out' %(self.ssh_cmd,self.left_forward_pin),\n", | |
| " '%s sudo gpio -1 mode %s out' %(self.ssh_cmd,self.right_forward_pin),\n", | |
| " '%s sudo gpio -1 mode %s out' %(self.ssh_cmd,self.left_back_pin),\n", | |
| " '%s sudo gpio -1 mode %s out' %(self.ssh_cmd,self.right_back_pin)]\n", | |
| " for c in _cmds: \n", | |
| " print '\\ncommand: %s' %c\n", | |
| " if not self.is_sim: os.system(c)\n", | |
| " \n", | |
| " \n", | |
| " self.mode = 'play'\n", | |
| " self.mood = 'blah??'\n", | |
| " \n", | |
| " \n", | |
| " \n", | |
| " # Actions / states: \n", | |
| " \n", | |
| " # Level 2: Motor sequences\n", | |
| " \n", | |
| " \n", | |
| " # Primitives:\n", | |
| " # =========== \n", | |
| " \n", | |
| " def left_forward(self, onoff):\n", | |
| " if onoff is 'on': _cmd = self.ssh_cmd + self.on_cmd %self.left_forward_pin\n", | |
| " elif onoff is 'off': _cmd = self.ssh_cmd + self.off_cmd %self.left_forward_pin\n", | |
| " print '\\n left forward is %s; \\ncommand: %s' %(onoff, _cmd)\n", | |
| " if not self.is_sim: os.system(_cmd)\n", | |
| " \n", | |
| " def right_forward(self, onoff): \n", | |
| " if onoff is 'on': _cmd = self.ssh_cmd + (self.on_cmd %self.right_forward_pin)\n", | |
| " elif onoff is 'off':_cmd = self.ssh_cmd + (self.off_cmd %self.right_forward_pin)\n", | |
| " print '\\n right forward is %s; \\ncommand: %s' %(onoff, _cmd)\n", | |
| " if not self.is_sim: os.system(_cmd)\n", | |
| "\n", | |
| " def left_back(self, onoff):\n", | |
| " if onoff is 'on': _cmd = self.ssh_cmd + (self.on_cmd %self.left_back_pin)\n", | |
| " elif onoff is 'off':_cmd = self.ssh_cmd + (self.off_cmd %self.left_back_pin)\n", | |
| " print '\\n left back is %s; \\ncommand: %s' %(onoff, _cmd)\n", | |
| " if not self.is_sim: os.system(_cmd)\n", | |
| " \n", | |
| " def right_back(self, onoff): \n", | |
| " if onoff is 'on': _cmd = self.ssh_cmd + (self.on_cmd %self.right_back_pin)\n", | |
| " elif onoff is 'off': _cmd = self.ssh_cmd + (self.off_cmd %self.right_back_pin)\n", | |
| " print '\\n right back is %s; \\ncommand: %s' %(onoff, _cmd)\n", | |
| " if not self.is_sim: os.system(_cmd)\n", | |
| "\n", | |
| " def clear_actions(self):\n", | |
| " \n", | |
| " _cmds = [ self.ssh_cmd + self.off_cmd %self.left_forward_pin,\n", | |
| " self.ssh_cmd + self.off_cmd %self.right_forward_pin,\n", | |
| " self.ssh_cmd + self.off_cmd %self.left_back_pin,\n", | |
| " self.ssh_cmd + self.off_cmd %self.right_back_pin ]\n", | |
| "\n", | |
| " print '\\n clearing action pins\\n commands: \\n'\n", | |
| " for c in _cmds: \n", | |
| " print '\\n %s ' %c\n", | |
| " if not self.is_sim: os.system(c)\n", | |
| " \n", | |
| "\n", | |
| " # Basic actions\n", | |
| " # ==============\n", | |
| " def go_forward(self):\n", | |
| " self.left_forward('on')\n", | |
| " self.right_forward('on')\n", | |
| " \n", | |
| " def go_back(self):\n", | |
| " self.left_back('on')\n", | |
| " self.right_back('on')\n", | |
| " \n", | |
| " def spin_left(self):\n", | |
| " self.right_forward('on')\n", | |
| " self.left_back('on')\n", | |
| " \n", | |
| " def spin_right(self):\n", | |
| " self.left_forward('on')\n", | |
| " self.right_back('on')\n", | |
| "\n", | |
| " \n", | |
| " \n", | |
| " # Patterns (basic actions, in combinatoins, with a duration)\n", | |
| " # =========\n", | |
| "\n", | |
| " def pause(self, duration):\n", | |
| " time.sleep(duration)\n", | |
| " \n", | |
| " \n", | |
| " def turn_90deg(self, direction, dur90deg = 1.2): \n", | |
| " # dur is the time it takes to spin 90degress\n", | |
| " # may depend on speed. need to find it out. \n", | |
| " \n", | |
| " print 'turning %s 90 degrees. Assuming that %s is correct duration' %(direction, dur90deg)\n", | |
| " if direction is 'left': self.spin_left()\n", | |
| " elif direction is 'right': self.spin_right()\n", | |
| " time.sleep(dur90deg)\n", | |
| " self.clear_actions()\n", | |
| " \n", | |
| " def cruise(self, direction, duration):\n", | |
| "\n", | |
| " print 'cruising for %s ms ' %duration\n", | |
| " if direction is 'forward': self.go_forward()\n", | |
| " elif direction is 'back': self.go_back()\n", | |
| " time.sleep(duration)\n", | |
| " self.clear_actions()\n", | |
| " \n", | |
| "\n", | |
| " def spin(self, direction, duration):\n", | |
| " \n", | |
| " print 'spinning for %s ms ' %duration\n", | |
| " if direction is 'left': self.spin_left()\n", | |
| " elif direction is 'right': self.spin_right()\n", | |
| " time.sleep(duration)\n", | |
| " self.clear_actions()\n", | |
| " \n", | |
| " \n", | |
| " # Combo patterns (don't need to clear actions for these)\n", | |
| " \n", | |
| " \n", | |
| " def zigzag(self, direction, duration, nzags=8):\n", | |
| " \n", | |
| " print 'zigzagging %s, %s times, for %s ms ' %(direction,nzags,duration)\n", | |
| " dur_frac = np.floor(duration/nzags)\n", | |
| " \n", | |
| " if direction is 'left': \n", | |
| " first = 'left'; second = 'right';\n", | |
| " elif direction is 'right':\n", | |
| " first = 'right'; second = 'left'; \n", | |
| " nz = 0\n", | |
| " while nz < nzags:\n", | |
| " self.turn_90deg(first)\n", | |
| " self.cruise('forward', dur_frac); \n", | |
| " self.turn_90deg(second); \n", | |
| " self.cruise('forward', dur_frac)\n", | |
| " nz+=1\n", | |
| "\n", | |
| " \n", | |
| " def back_and_forth(self, duration, ntimes):\n", | |
| " \n", | |
| " \n", | |
| " print 'going back and forth %s times, for %s ms' %(ntimes, duration)\n", | |
| " dur_frac = np.floor(duration/ntimes)\n", | |
| " n = 0\n", | |
| " while n<ntimes:\n", | |
| " self.cruise('forward', dur_frac/2)\n", | |
| " self.cruise('back', dur_frac/2)\n", | |
| " n+=1\n", | |
| " \n", | |
| " \n", | |
| " def arc(self, direction):\n", | |
| " # an arc is a zigzag with 2 zags and long durations\n", | |
| " self.zigzag(direction, duration, nzags=2)\n", | |
| " \n", | |
| " \n", | |
| " def check_fuckup(selff, behav, params):\n", | |
| " # check whether a behaviour wtill bre problematic: \n", | |
| " # if go forward, is there something in the way\n", | |
| " # ... ?\n", | |
| " return False\n", | |
| "\n", | |
| "\n", | |
| " \n", | |
| " def select_play_behav(self):\n", | |
| " # check mood...\n", | |
| " options = [{'behav': self.zigzag, 'params': {'nzags': [10,20,30], 'duration': [1,2,3]} },\n", | |
| " {'behav': self.zigzag, 'params': {'nzags': [10,20,30], 'duration': [1,2,3]} } ]\n", | |
| " \n", | |
| " behav_choice_ind = np.random.randn(0, len(behav_options.keys()) ) # this needs to be an integer\n", | |
| " blah = options.items()[behav_choice_ind]\n", | |
| " behav = blah['behav']\n", | |
| " \n", | |
| " params = {}\n", | |
| " for k,v in blah['params'].items():\n", | |
| " choice_ind = np.random.randn(0,len(v))\n", | |
| " params[k] = v[choice_ind]\n", | |
| " \n", | |
| " return behav, params \n", | |
| " \n", | |
| " def choose_behav(self):\n", | |
| " \n", | |
| " if self.mode is 'play': \n", | |
| " behav,params = self.select_play_behav() # (also return args?)\n", | |
| " if self.check_fuckup(behav,params) is False:\n", | |
| " behav(**params)\n", | |
| " \n", | |
| " elif self.mode is 'follow':\n", | |
| " behav = self.select_follow_behav() \n", | |
| " \n", | |
| " \n", | |
| " " | |
| ], | |
| "language": "python", | |
| "metadata": { | |
| "run_control": { | |
| "state": "d" | |
| } | |
| }, | |
| "outputs": [], | |
| "prompt_number": 3 | |
| }, | |
| { | |
| "cell_type": "heading", | |
| "level": 2, | |
| "metadata": {}, | |
| "source": [ | |
| "Initialize" | |
| ] | |
| }, | |
| { | |
| "cell_type": "markdown", | |
| "metadata": {}, | |
| "source": [ | |
| "Initialize brain" | |
| ] | |
| }, | |
| { | |
| "cell_type": "code", | |
| "collapsed": false, | |
| "input": [ | |
| "R = robotbrain(is_sim=False)" | |
| ], | |
| "language": "python", | |
| "metadata": { | |
| "run_control": { | |
| "state": "d" | |
| } | |
| }, | |
| "outputs": [ | |
| { | |
| "output_type": "stream", | |
| "stream": "stdout", | |
| "text": [ | |
| "\n", | |
| "setting pins as outputs:\n", | |
| "\n", | |
| "command: ssh pi@10.100.102.4 sudo gpio -1 mode 11 out\n", | |
| "\n", | |
| "command: ssh pi@10.100.102.4 sudo gpio -1 mode 15 out" | |
| ] | |
| }, | |
| { | |
| "output_type": "stream", | |
| "stream": "stdout", | |
| "text": [ | |
| "\n", | |
| "\n", | |
| "command: ssh pi@10.100.102.4 sudo gpio -1 mode 13 out" | |
| ] | |
| }, | |
| { | |
| "output_type": "stream", | |
| "stream": "stdout", | |
| "text": [ | |
| "\n", | |
| "\n", | |
| "command: ssh pi@10.100.102.4 sudo gpio -1 mode 7 out" | |
| ] | |
| }, | |
| { | |
| "output_type": "stream", | |
| "stream": "stdout", | |
| "text": [ | |
| "\n" | |
| ] | |
| } | |
| ], | |
| "prompt_number": 4 | |
| }, | |
| { | |
| "cell_type": "heading", | |
| "level": 2, | |
| "metadata": {}, | |
| "source": [ | |
| "Clear" | |
| ] | |
| }, | |
| { | |
| "cell_type": "code", | |
| "collapsed": false, | |
| "input": [ | |
| "R.clear_actions()\n" | |
| ], | |
| "language": "python", | |
| "metadata": { | |
| "run_control": { | |
| "state": "n" | |
| } | |
| }, | |
| "outputs": [ | |
| { | |
| "output_type": "stream", | |
| "stream": "stdout", | |
| "text": [ | |
| "\n", | |
| " clearing action pins\n", | |
| " commands: \n", | |
| "\n", | |
| "\n", | |
| " ssh pi@10.100.102.4 sudo gpio -1 write 11 0 \n", | |
| "\n", | |
| " ssh pi@10.100.102.4 sudo gpio -1 write 15 0 " | |
| ] | |
| }, | |
| { | |
| "output_type": "stream", | |
| "stream": "stdout", | |
| "text": [ | |
| "\n", | |
| "\n", | |
| " ssh pi@10.100.102.4 sudo gpio -1 write 13 0 " | |
| ] | |
| }, | |
| { | |
| "output_type": "stream", | |
| "stream": "stdout", | |
| "text": [ | |
| "\n", | |
| "\n", | |
| " ssh pi@10.100.102.4 sudo gpio -1 write 7 0 " | |
| ] | |
| }, | |
| { | |
| "output_type": "stream", | |
| "stream": "stdout", | |
| "text": [ | |
| "\n" | |
| ] | |
| } | |
| ], | |
| "prompt_number": 5 | |
| }, | |
| { | |
| "cell_type": "heading", | |
| "level": 2, | |
| "metadata": {}, | |
| "source": [ | |
| "Primitives" | |
| ] | |
| }, | |
| { | |
| "cell_type": "code", | |
| "collapsed": false, | |
| "input": [], | |
| "language": "python", | |
| "metadata": { | |
| "run_control": { | |
| "state": "n" | |
| } | |
| }, | |
| "outputs": [] | |
| }, | |
| { | |
| "cell_type": "heading", | |
| "level": 2, | |
| "metadata": {}, | |
| "source": [ | |
| "Cruise forward " | |
| ] | |
| }, | |
| { | |
| "cell_type": "markdown", | |
| "metadata": {}, | |
| "source": [ | |
| "Cruise forward for 2 seconds" | |
| ] | |
| }, | |
| { | |
| "cell_type": "code", | |
| "collapsed": false, | |
| "input": [ | |
| "R.cruise('forward', 2)" | |
| ], | |
| "language": "python", | |
| "metadata": { | |
| "run_control": { | |
| "state": "d" | |
| } | |
| }, | |
| "outputs": [] | |
| }, | |
| { | |
| "cell_type": "markdown", | |
| "metadata": {}, | |
| "source": [ | |
| "Cruis backward for 2 seconds" | |
| ] | |
| }, | |
| { | |
| "cell_type": "code", | |
| "collapsed": false, | |
| "input": [ | |
| "R.cruise('back', 2)" | |
| ], | |
| "language": "python", | |
| "metadata": { | |
| "run_control": { | |
| "state": "n" | |
| } | |
| }, | |
| "outputs": [ | |
| { | |
| "output_type": "stream", | |
| "stream": "stdout", | |
| "text": [ | |
| "cruising for 2 ms \n", | |
| "\n", | |
| " left back is on; \n", | |
| "command: ssh pi@10.100.102.4 sudo gpio -1 write 13 1 \n", | |
| "\n", | |
| " right back is on; \n", | |
| "command: ssh pi@10.100.102.4 sudo gpio -1 write 7 1 " | |
| ] | |
| }, | |
| { | |
| "output_type": "stream", | |
| "stream": "stdout", | |
| "text": [ | |
| "\n", | |
| "\n", | |
| " clearing action pins\n", | |
| " commands: \n" | |
| ] | |
| }, | |
| { | |
| "output_type": "stream", | |
| "stream": "stdout", | |
| "text": [ | |
| "\n", | |
| "\n", | |
| " ssh pi@10.100.102.4 sudo gpio -1 write 11 0 \n", | |
| "\n", | |
| " ssh pi@10.100.102.4 sudo gpio -1 write 15 0 " | |
| ] | |
| }, | |
| { | |
| "output_type": "stream", | |
| "stream": "stdout", | |
| "text": [ | |
| "\n", | |
| "\n", | |
| " ssh pi@10.100.102.4 sudo gpio -1 write 13 0 " | |
| ] | |
| }, | |
| { | |
| "output_type": "stream", | |
| "stream": "stdout", | |
| "text": [ | |
| "\n", | |
| "\n", | |
| " ssh pi@10.100.102.4 sudo gpio -1 write 7 0 " | |
| ] | |
| }, | |
| { | |
| "output_type": "stream", | |
| "stream": "stdout", | |
| "text": [ | |
| "\n" | |
| ] | |
| } | |
| ], | |
| "prompt_number": 26 | |
| }, | |
| { | |
| "cell_type": "heading", | |
| "level": 2, | |
| "metadata": {}, | |
| "source": [ | |
| "Spin" | |
| ] | |
| }, | |
| { | |
| "cell_type": "markdown", | |
| "metadata": {}, | |
| "source": [ | |
| "Spin in circles" | |
| ] | |
| }, | |
| { | |
| "cell_type": "code", | |
| "collapsed": false, | |
| "input": [ | |
| "R.spin('left', 10)" | |
| ], | |
| "language": "python", | |
| "metadata": { | |
| "run_control": { | |
| "state": "n" | |
| } | |
| }, | |
| "outputs": [ | |
| { | |
| "output_type": "stream", | |
| "stream": "stdout", | |
| "text": [ | |
| "spinning for 10 ms \n", | |
| "\n", | |
| " right forward is on; \n", | |
| "command: ssh pi@10.100.102.4 sudo gpio -1 write 15 1 \n", | |
| "\n", | |
| " left back is on; \n", | |
| "command: ssh pi@10.100.102.4 sudo gpio -1 write 13 1 " | |
| ] | |
| }, | |
| { | |
| "output_type": "stream", | |
| "stream": "stdout", | |
| "text": [ | |
| "\n", | |
| "\n", | |
| " clearing action pins\n", | |
| " commands: \n" | |
| ] | |
| }, | |
| { | |
| "output_type": "stream", | |
| "stream": "stdout", | |
| "text": [ | |
| "\n", | |
| "\n", | |
| " ssh pi@10.100.102.4 sudo gpio -1 write 11 0 \n", | |
| "\n", | |
| " ssh pi@10.100.102.4 sudo gpio -1 write 15 0 " | |
| ] | |
| }, | |
| { | |
| "output_type": "stream", | |
| "stream": "stdout", | |
| "text": [ | |
| "\n", | |
| "\n", | |
| " ssh pi@10.100.102.4 sudo gpio -1 write 13 0 " | |
| ] | |
| }, | |
| { | |
| "output_type": "stream", | |
| "stream": "stdout", | |
| "text": [ | |
| "\n", | |
| "\n", | |
| " ssh pi@10.100.102.4 sudo gpio -1 write 7 0 " | |
| ] | |
| }, | |
| { | |
| "output_type": "stream", | |
| "stream": "stdout", | |
| "text": [ | |
| "\n" | |
| ] | |
| } | |
| ], | |
| "prompt_number": 27 | |
| }, | |
| { | |
| "cell_type": "code", | |
| "collapsed": false, | |
| "input": [ | |
| "R.cruise('forward', 5)" | |
| ], | |
| "language": "python", | |
| "metadata": { | |
| "run_control": { | |
| "state": "n" | |
| } | |
| }, | |
| "outputs": [ | |
| { | |
| "output_type": "stream", | |
| "stream": "stdout", | |
| "text": [ | |
| "cruising for 5 ms \n", | |
| "\n", | |
| " left forward is on; \n", | |
| "command: ssh pi@10.100.102.4 sudo gpio -1 write 11 1 \n", | |
| "\n", | |
| " right forward is on; \n", | |
| "command: ssh pi@10.100.102.4 sudo gpio -1 write 15 1 " | |
| ] | |
| }, | |
| { | |
| "output_type": "stream", | |
| "stream": "stdout", | |
| "text": [ | |
| "\n", | |
| "\n", | |
| " clearing action pins\n", | |
| " commands: \n" | |
| ] | |
| }, | |
| { | |
| "output_type": "stream", | |
| "stream": "stdout", | |
| "text": [ | |
| "\n", | |
| "\n", | |
| " ssh pi@10.100.102.4 sudo gpio -1 write 11 0 \n", | |
| "\n", | |
| " ssh pi@10.100.102.4 sudo gpio -1 write 15 0 " | |
| ] | |
| }, | |
| { | |
| "output_type": "stream", | |
| "stream": "stdout", | |
| "text": [ | |
| "\n", | |
| "\n", | |
| " ssh pi@10.100.102.4 sudo gpio -1 write 13 0 " | |
| ] | |
| }, | |
| { | |
| "output_type": "stream", | |
| "stream": "stdout", | |
| "text": [ | |
| "\n", | |
| "\n", | |
| " ssh pi@10.100.102.4 sudo gpio -1 write 7 0 " | |
| ] | |
| }, | |
| { | |
| "output_type": "stream", | |
| "stream": "stdout", | |
| "text": [ | |
| "\n" | |
| ] | |
| } | |
| ], | |
| "prompt_number": 33 | |
| }, | |
| { | |
| "cell_type": "code", | |
| "collapsed": false, | |
| "input": [ | |
| "R.left_forward('on')" | |
| ], | |
| "language": "python", | |
| "metadata": { | |
| "run_control": { | |
| "state": "n" | |
| } | |
| }, | |
| "outputs": [ | |
| { | |
| "output_type": "stream", | |
| "stream": "stdout", | |
| "text": [ | |
| "\n", | |
| " left forward is on; \n", | |
| "command: ssh pi@10.100.102.4 sudo gpio -1 write 11 1 \n" | |
| ] | |
| } | |
| ], | |
| "prompt_number": 34 | |
| }, | |
| { | |
| "cell_type": "code", | |
| "collapsed": false, | |
| "input": [ | |
| "R.left_forward('off')" | |
| ], | |
| "language": "python", | |
| "metadata": { | |
| "run_control": { | |
| "state": "n" | |
| } | |
| }, | |
| "outputs": [ | |
| { | |
| "output_type": "stream", | |
| "stream": "stdout", | |
| "text": [ | |
| "\n", | |
| " left forward is off; \n", | |
| "command: ssh pi@10.100.102.4 sudo gpio -1 write 11 0 \n" | |
| ] | |
| } | |
| ], | |
| "prompt_number": 35 | |
| }, | |
| { | |
| "cell_type": "code", | |
| "collapsed": false, | |
| "input": [ | |
| "R.right_forward('on')" | |
| ], | |
| "language": "python", | |
| "metadata": { | |
| "run_control": { | |
| "state": "n" | |
| } | |
| }, | |
| "outputs": [ | |
| { | |
| "output_type": "stream", | |
| "stream": "stdout", | |
| "text": [ | |
| "\n", | |
| " right forward is on; \n", | |
| "command: ssh pi@10.100.102.4 sudo gpio -1 write 15 1 \n" | |
| ] | |
| } | |
| ], | |
| "prompt_number": 32 | |
| }, | |
| { | |
| "cell_type": "code", | |
| "collapsed": false, | |
| "input": [], | |
| "language": "python", | |
| "metadata": { | |
| "run_control": { | |
| "state": "n" | |
| } | |
| }, | |
| "outputs": [] | |
| }, | |
| { | |
| "cell_type": "heading", | |
| "level": 2, | |
| "metadata": {}, | |
| "source": [ | |
| "Zigzag" | |
| ] | |
| }, | |
| { | |
| "cell_type": "code", | |
| "collapsed": false, | |
| "input": [ | |
| "R.zigzag('left', 10, 8)" | |
| ], | |
| "language": "python", | |
| "metadata": { | |
| "run_control": { | |
| "state": "n" | |
| } | |
| }, | |
| "outputs": [ | |
| { | |
| "output_type": "stream", | |
| "stream": "stdout", | |
| "text": [ | |
| "zigzagging left, 8 times, for 10 ms \n", | |
| "turning left 90 degrees. Assuming that 5 is correct duration\n", | |
| "\n", | |
| " right forward is on; \n", | |
| "command: ssh pi@10.100.102.4 sudo gpio -1 write 15 1 \n", | |
| "\n", | |
| " left back is on; \n", | |
| "command: ssh pi@10.100.102.4 sudo gpio -1 write 13 1 " | |
| ] | |
| }, | |
| { | |
| "output_type": "stream", | |
| "stream": "stdout", | |
| "text": [ | |
| "\n", | |
| "\n", | |
| " clearing action pins\n", | |
| " commands: \n" | |
| ] | |
| }, | |
| { | |
| "output_type": "stream", | |
| "stream": "stdout", | |
| "text": [ | |
| "\n", | |
| "\n", | |
| " ssh pi@10.100.102.4 sudo gpio -1 write 11 0 \n", | |
| "\n", | |
| " ssh pi@10.100.102.4 sudo gpio -1 write 15 0 " | |
| ] | |
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| { | |
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| " ssh pi@10.100.102.4 sudo gpio -1 write 13 0 " | |
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| { | |
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| "\n", | |
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| { | |
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| ] | |
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| { | |
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| "command: ssh pi@10.100.102.4 sudo gpio -1 write 7 1 " | |
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| " commands: \n" | |
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| "command: ssh pi@10.100.102.4 sudo gpio -1 write 13 1 " | |
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| { | |
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| " clearing action pins\n", | |
| " commands: \n" | |
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| { | |
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| "stream": "stdout", | |
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| "\n", | |
| "\n", | |
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| "stream": "stdout", | |
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| ] | |
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| "\n", | |
| " right back is on; \n", | |
| "command: ssh pi@10.100.102.4 sudo gpio -1 write 7 1 " | |
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| " commands: \n" | |
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| "text": [ | |
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| ] | |
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| { | |
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| "command: ssh pi@10.100.102.4 sudo gpio -1 write 11 1 \n", | |
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| " right forward is on; \n", | |
| "command: ssh pi@10.100.102.4 sudo gpio -1 write 15 1 " | |
| ] | |
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| { | |
| "output_type": "stream", | |
| "stream": "stdout", | |
| "text": [ | |
| "\n", | |
| "\n", | |
| " clearing action pins\n", | |
| " commands: \n" | |
| ] | |
| }, | |
| { | |
| "output_type": "stream", | |
| "stream": "stdout", | |
| "text": [ | |
| "\n", | |
| "\n", | |
| " ssh pi@10.100.102.4 sudo gpio -1 write 11 0 \n", | |
| "\n", | |
| " ssh pi@10.100.102.4 sudo gpio -1 write 15 0 " | |
| ] | |
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| { | |
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| "stream": "stdout", | |
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| "\n", | |
| " ssh pi@10.100.102.4 sudo gpio -1 write 13 0 " | |
| ] | |
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| { | |
| "output_type": "stream", | |
| "stream": "stdout", | |
| "text": [ | |
| "\n", | |
| "\n", | |
| " ssh pi@10.100.102.4 sudo gpio -1 write 7 0 " | |
| ] | |
| }, | |
| { | |
| "output_type": "stream", | |
| "stream": "stdout", | |
| "text": [ | |
| "\n", | |
| "turning left 90 degrees. Assuming that 5 is correct duration" | |
| ] | |
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| { | |
| "output_type": "stream", | |
| "stream": "stdout", | |
| "text": [ | |
| "\n", | |
| "\n", | |
| " right forward is on; \n", | |
| "command: ssh pi@10.100.102.4 sudo gpio -1 write 15 1 \n", | |
| "\n", | |
| " left back is on; \n", | |
| "command: ssh pi@10.100.102.4 sudo gpio -1 write 13 1 " | |
| ] | |
| }, | |
| { | |
| "output_type": "stream", | |
| "stream": "stdout", | |
| "text": [ | |
| "\n", | |
| "\n", | |
| " clearing action pins\n", | |
| " commands: \n" | |
| ] | |
| }, | |
| { | |
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| "\n", | |
| " ssh pi@10.100.102.4 sudo gpio -1 write 15 0 " | |
| ] | |
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| { | |
| "output_type": "stream", | |
| "stream": "stdout", | |
| "text": [ | |
| "\n", | |
| "\n", | |
| " ssh pi@10.100.102.4 sudo gpio -1 write 13 0 " | |
| ] | |
| }, | |
| { | |
| "output_type": "stream", | |
| "stream": "stdout", | |
| "text": [ | |
| "\n", | |
| "\n", | |
| " ssh pi@10.100.102.4 sudo gpio -1 write 7 0 " | |
| ] | |
| }, | |
| { | |
| "output_type": "stream", | |
| "stream": "stdout", | |
| "text": [ | |
| "\n", | |
| "cruising for 1.0 ms " | |
| ] | |
| }, | |
| { | |
| "output_type": "stream", | |
| "stream": "stdout", | |
| "text": [ | |
| "\n", | |
| "\n", | |
| " left forward is on; \n", | |
| "command: ssh pi@10.100.102.4 sudo gpio -1 write 11 1 \n", | |
| "\n", | |
| " right forward is on; \n", | |
| "command: ssh pi@10.100.102.4 sudo gpio -1 write 15 1 " | |
| ] | |
| }, | |
| { | |
| "output_type": "stream", | |
| "stream": "stdout", | |
| "text": [ | |
| "\n", | |
| "\n", | |
| " clearing action pins\n", | |
| " commands: \n" | |
| ] | |
| }, | |
| { | |
| "output_type": "stream", | |
| "stream": "stdout", | |
| "text": [ | |
| "\n", | |
| "\n", | |
| " ssh pi@10.100.102.4 sudo gpio -1 write 11 0 \n", | |
| "\n", | |
| " ssh pi@10.100.102.4 sudo gpio -1 write 15 0 " | |
| ] | |
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| { | |
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| "\n", | |
| " ssh pi@10.100.102.4 sudo gpio -1 write 13 0 " | |
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| { | |
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| " ssh pi@10.100.102.4 sudo gpio -1 write 7 0 " | |
| ] | |
| }, | |
| { | |
| "output_type": "stream", | |
| "stream": "stdout", | |
| "text": [ | |
| "\n", | |
| "turning right 90 degrees. Assuming that 5 is correct duration" | |
| ] | |
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| { | |
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| "stream": "stdout", | |
| "text": [ | |
| "\n", | |
| "\n", | |
| " left forward is on; \n", | |
| "command: ssh pi@10.100.102.4 sudo gpio -1 write 11 1 \n", | |
| "\n", | |
| " right back is on; \n", | |
| "command: ssh pi@10.100.102.4 sudo gpio -1 write 7 1 " | |
| ] | |
| }, | |
| { | |
| "output_type": "stream", | |
| "stream": "stdout", | |
| "text": [ | |
| "\n", | |
| "\n", | |
| " clearing action pins\n", | |
| " commands: \n" | |
| ] | |
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| { | |
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| "stream": "stdout", | |
| "text": [ | |
| "\n", | |
| "\n", | |
| " ssh pi@10.100.102.4 sudo gpio -1 write 11 0 \n", | |
| "\n", | |
| " ssh pi@10.100.102.4 sudo gpio -1 write 15 0 " | |
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| " ssh pi@10.100.102.4 sudo gpio -1 write 13 0 " | |
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| " ssh pi@10.100.102.4 sudo gpio -1 write 7 0 " | |
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| { | |
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| "cruising for 1.0 ms " | |
| ] | |
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| { | |
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| "stream": "stdout", | |
| "text": [ | |
| "\n", | |
| "\n", | |
| " left forward is on; \n", | |
| "command: ssh pi@10.100.102.4 sudo gpio -1 write 11 1 \n", | |
| "\n", | |
| " right forward is on; \n", | |
| "command: ssh pi@10.100.102.4 sudo gpio -1 write 15 1 " | |
| ] | |
| }, | |
| { | |
| "output_type": "stream", | |
| "stream": "stdout", | |
| "text": [ | |
| "\n", | |
| "\n", | |
| " clearing action pins\n", | |
| " commands: \n" | |
| ] | |
| }, | |
| { | |
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| "stream": "stdout", | |
| "text": [ | |
| "\n", | |
| "\n", | |
| " ssh pi@10.100.102.4 sudo gpio -1 write 11 0 \n", | |
| "\n", | |
| " ssh pi@10.100.102.4 sudo gpio -1 write 15 0 " | |
| ] | |
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| { | |
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| "stream": "stdout", | |
| "text": [ | |
| "\n", | |
| "\n", | |
| " ssh pi@10.100.102.4 sudo gpio -1 write 13 0 " | |
| ] | |
| }, | |
| { | |
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| "\n", | |
| " ssh pi@10.100.102.4 sudo gpio -1 write 7 0 " | |
| ] | |
| }, | |
| { | |
| "output_type": "stream", | |
| "stream": "stdout", | |
| "text": [ | |
| "\n", | |
| "turning left 90 degrees. Assuming that 5 is correct duration" | |
| ] | |
| }, | |
| { | |
| "output_type": "stream", | |
| "stream": "stdout", | |
| "text": [ | |
| "\n", | |
| "\n", | |
| " right forward is on; \n", | |
| "command: ssh pi@10.100.102.4 sudo gpio -1 write 15 1 \n", | |
| "\n", | |
| " left back is on; \n", | |
| "command: ssh pi@10.100.102.4 sudo gpio -1 write 13 1 " | |
| ] | |
| }, | |
| { | |
| "output_type": "stream", | |
| "stream": "stdout", | |
| "text": [ | |
| "\n", | |
| "\n", | |
| " clearing action pins\n", | |
| " commands: \n" | |
| ] | |
| }, | |
| { | |
| "output_type": "stream", | |
| "stream": "stdout", | |
| "text": [ | |
| "\n", | |
| "\n", | |
| " ssh pi@10.100.102.4 sudo gpio -1 write 11 0 \n", | |
| "\n", | |
| " ssh pi@10.100.102.4 sudo gpio -1 write 15 0 " | |
| ] | |
| }, | |
| { | |
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| "stream": "stdout", | |
| "text": [ | |
| "\n", | |
| "\n", | |
| " ssh pi@10.100.102.4 sudo gpio -1 write 13 0 " | |
| ] | |
| }, | |
| { | |
| "output_type": "stream", | |
| "stream": "stdout", | |
| "text": [ | |
| "\n", | |
| "\n", | |
| " ssh pi@10.100.102.4 sudo gpio -1 write 7 0 " | |
| ] | |
| }, | |
| { | |
| "output_type": "stream", | |
| "stream": "stdout", | |
| "text": [ | |
| "\n", | |
| "cruising for 1.0 ms " | |
| ] | |
| }, | |
| { | |
| "output_type": "stream", | |
| "stream": "stdout", | |
| "text": [ | |
| "\n", | |
| "\n", | |
| " left forward is on; \n", | |
| "command: ssh pi@10.100.102.4 sudo gpio -1 write 11 1 \n", | |
| "\n", | |
| " right forward is on; \n", | |
| "command: ssh pi@10.100.102.4 sudo gpio -1 write 15 1 " | |
| ] | |
| } | |
| ] | |
| }, | |
| { | |
| "cell_type": "code", | |
| "collapsed": false, | |
| "input": [ | |
| "R.spin_right()" | |
| ], | |
| "language": "python", | |
| "metadata": { | |
| "run_control": { | |
| "state": "n" | |
| } | |
| }, | |
| "outputs": [ | |
| { | |
| "output_type": "stream", | |
| "stream": "stdout", | |
| "text": [ | |
| "\n", | |
| " left forward is on; \n", | |
| "command: ssh pi@10.100.102.4 sudo gpio -1 write 11 1 \n", | |
| "\n", | |
| " right back is on; \n", | |
| "command: ssh pi@10.100.102.4 sudo gpio -1 write 7 1 " | |
| ] | |
| }, | |
| { | |
| "output_type": "stream", | |
| "stream": "stdout", | |
| "text": [ | |
| "\n" | |
| ] | |
| } | |
| ], | |
| "prompt_number": 29 | |
| }, | |
| { | |
| "cell_type": "code", | |
| "collapsed": false, | |
| "input": [], | |
| "language": "python", | |
| "metadata": { | |
| "run_control": { | |
| "state": "n" | |
| } | |
| }, | |
| "outputs": [] | |
| }, | |
| { | |
| "cell_type": "code", | |
| "collapsed": false, | |
| "input": [ | |
| "R.turn_90deg('left', 10)" | |
| ], | |
| "language": "python", | |
| "metadata": { | |
| "run_control": { | |
| "state": "d" | |
| } | |
| }, | |
| "outputs": [ | |
| { | |
| "output_type": "stream", | |
| "stream": "stdout", | |
| "text": [ | |
| "turning left 90 degrees. Assuming that 10 is correct duration\n", | |
| "\n", | |
| " right forward is on; \n", | |
| "command: ssh pi@10.100.102.4 sudo gpio -1 write 15 1 \n", | |
| "\n", | |
| " left back is on; \n", | |
| "command: ssh pi@10.100.102.4 sudo gpio -1 write 13 1 " | |
| ] | |
| }, | |
| { | |
| "output_type": "stream", | |
| "stream": "stdout", | |
| "text": [ | |
| "\n", | |
| "\n", | |
| " clearing action pins\n", | |
| " commands: \n" | |
| ] | |
| }, | |
| { | |
| "output_type": "stream", | |
| "stream": "stdout", | |
| "text": [ | |
| "\n", | |
| "\n", | |
| " ssh pi@10.100.102.4 sudo gpio -1 write 11 0 \n", | |
| "\n", | |
| " ssh pi@10.100.102.4 sudo gpio -1 write 15 0 " | |
| ] | |
| }, | |
| { | |
| "output_type": "stream", | |
| "stream": "stdout", | |
| "text": [ | |
| "\n", | |
| "\n", | |
| " ssh pi@10.100.102.4 sudo gpio -1 write 13 0 " | |
| ] | |
| }, | |
| { | |
| "output_type": "stream", | |
| "stream": "stdout", | |
| "text": [ | |
| "\n", | |
| "\n", | |
| " ssh pi@10.100.102.4 sudo gpio -1 write 7 0 " | |
| ] | |
| }, | |
| { | |
| "output_type": "stream", | |
| "stream": "stdout", | |
| "text": [ | |
| "\n" | |
| ] | |
| } | |
| ], | |
| "prompt_number": 17 | |
| }, | |
| { | |
| "cell_type": "code", | |
| "collapsed": false, | |
| "input": [ | |
| "R.spin('left', 20)" | |
| ], | |
| "language": "python", | |
| "metadata": { | |
| "run_control": { | |
| "state": "d" | |
| } | |
| }, | |
| "outputs": [ | |
| { | |
| "output_type": "stream", | |
| "stream": "stdout", | |
| "text": [ | |
| "spinning for 20 ms \n", | |
| "\n", | |
| " right forward is on; \n", | |
| "command: ssh pi@10.100.102.4 sudo gpio -1 write 15 1 \n", | |
| "\n", | |
| " left back is on; \n", | |
| "command: ssh pi@10.100.102.4 sudo gpio -1 write 13 1 " | |
| ] | |
| }, | |
| { | |
| "output_type": "stream", | |
| "stream": "stdout", | |
| "text": [ | |
| "\n", | |
| "\n", | |
| " clearing action pins\n", | |
| " commands: \n" | |
| ] | |
| }, | |
| { | |
| "output_type": "stream", | |
| "stream": "stdout", | |
| "text": [ | |
| "\n", | |
| "\n", | |
| " ssh pi@10.100.102.4 sudo gpio -1 write 11 0 \n", | |
| "\n", | |
| " ssh pi@10.100.102.4 sudo gpio -1 write 15 0 " | |
| ] | |
| }, | |
| { | |
| "output_type": "stream", | |
| "stream": "stdout", | |
| "text": [ | |
| "\n", | |
| "\n", | |
| " ssh pi@10.100.102.4 sudo gpio -1 write 13 0 " | |
| ] | |
| }, | |
| { | |
| "output_type": "stream", | |
| "stream": "stdout", | |
| "text": [ | |
| "\n", | |
| "\n", | |
| " ssh pi@10.100.102.4 sudo gpio -1 write 7 0 " | |
| ] | |
| }, | |
| { | |
| "output_type": "stream", | |
| "stream": "stdout", | |
| "text": [ | |
| "\n" | |
| ] | |
| } | |
| ], | |
| "prompt_number": 23 | |
| }, | |
| { | |
| "cell_type": "code", | |
| "collapsed": false, | |
| "input": [], | |
| "language": "python", | |
| "metadata": { | |
| "run_control": { | |
| "state": "d" | |
| } | |
| }, | |
| "outputs": [] | |
| }, | |
| { | |
| "cell_type": "heading", | |
| "level": 2, | |
| "metadata": {}, | |
| "source": [ | |
| "Graveyard" | |
| ] | |
| }, | |
| { | |
| "cell_type": "code", | |
| "collapsed": false, | |
| "input": [ | |
| "%%writefile robotbrain.py\n", | |
| "\n", | |
| "import time\n", | |
| "\n", | |
| "import os\n", | |
| "\n", | |
| "from IPython.lib import backgroundjobs as bg\n", | |
| "from IPython import display\n", | |
| "\n", | |
| "from copy import deepcopy\n", | |
| "import datetime\n", | |
| "import sys\n", | |
| "\n", | |
| "class robotbrain(object):\n", | |
| " \n", | |
| " def __init__(self, is_sim = True, username = 'pi', server = '10.100.102.4'):\n", | |
| " \n", | |
| " #behaviours_list = None, behaviours_dict=None):\n", | |
| " \n", | |
| " #self.jobs = bg.BackgroundJobManager()\n", | |
| " #self.behaviours_dict = behaviours_dict # not using?\n", | |
| " #self.behaviours_list = behaviours_list\n", | |
| "\n", | |
| " self.username = username\n", | |
| " self.server = server\n", | |
| " \n", | |
| " # pins \n", | |
| " self.left_forward_pin = 11\n", | |
| " self.right_forward_pin= 15\n", | |
| " self.left_back_pin = 13\n", | |
| " self.right_back_pin = 7\n", | |
| " \n", | |
| " self.ssh_cmd = ' ssh %s@%s ' %(self.username,self.server)\n", | |
| " self.on_cmd = ' sudo gpio -1 write %s 1 ' \n", | |
| " self.off_cmd = ' sudo gpio -1 write %s 0 '\n", | |
| " \n", | |
| " self.clear_cmd = 'STILL NEED TO DO THIS.' #(alternative = turn pins off)\n", | |
| "\n", | |
| " self.is_sim = is_sim # if simulation, the ssh commands are note executed\n", | |
| " \n", | |
| " \n", | |
| " # set pins to be outputs\n", | |
| " print '\\nsetting pins as outputs:' \n", | |
| " _cmds = ['%s sudo gpio -1 mode %s out' %(self.ssh_cmd,self.left_forward_pin),\n", | |
| " '%s sudo gpio -1 mode %s out' %(self.ssh_cmd,self.right_forward_pin),\n", | |
| " '%s sudo gpio -1 mode %s out' %(self.ssh_cmd,self.left_back_pin),\n", | |
| " '%s sudo gpio -1 mode %s out' %(self.ssh_cmd,self.right_back_pin)]\n", | |
| " for c in _cmds: \n", | |
| " print '\\ncommand: %s' %c\n", | |
| " if not self.is_sim: os.system(c)\n", | |
| " \n", | |
| " \n", | |
| " self.mode = 'play'\n", | |
| " self.mood = 'blah??'\n", | |
| " \n", | |
| " \n", | |
| " \n", | |
| " # Actions / states: \n", | |
| " \n", | |
| " # Level 2: Motor sequences\n", | |
| " \n", | |
| " \n", | |
| " # Primitives:\n", | |
| " # =========== \n", | |
| " \n", | |
| " def left_forward(self, onoff):\n", | |
| " if onoff is 'on': _cmd = self.ssh_cmd + self.on_cmd %self.left_forward_pin\n", | |
| " elif onoff is 'off': _cmd = self.ssh_cmd + self.off_cmd %self.left_forward_pin\n", | |
| " print '\\n left forward is %s; \\ncommand: %s' %(onoff, _cmd)\n", | |
| " if not self.is_sim: os.system(_cmd)\n", | |
| " \n", | |
| " def right_forward(self, onoff): \n", | |
| " if onoff is 'on': _cmd = self.ssh_cmd + (self.on_cmd %self.right_forward_pin)\n", | |
| " elif onoff is 'off':_cmd = self.ssh_cmd + (self.off_cmd %self.right_forward_pin)\n", | |
| " print '\\n right forward is %s; \\ncommand: %s' %(onoff, _cmd)\n", | |
| " if not self.is_sim: os.system(_cmd)\n", | |
| "\n", | |
| " def left_back(self, onoff):\n", | |
| " if onoff is 'on': _cmd = self.ssh_cmd + (self.on_cmd %self.left_back_pin)\n", | |
| " elif onoff is 'off':_cmd = self.ssh_cmd + (self.off_cmd %self.left_back_pin)\n", | |
| " print '\\n left back is %s; \\ncommand: %s' %(onoff, _cmd)\n", | |
| " if not self.is_sim: os.system(_cmd)\n", | |
| " \n", | |
| " def right_back(self, onoff): \n", | |
| " if onoff is 'on': _cmd = self.ssh_cmd + (self.on_cmd %self.right_back_pin)\n", | |
| " elif onoff is 'off': _cmd = self.ssh_cmd + (self.off_cmd %self.right_back_pin)\n", | |
| " print '\\n right back is %s; \\ncommand: %s' %(onoff, _cmd)\n", | |
| " if not self.is_sim: os.system(_cmd)\n", | |
| "\n", | |
| " def clear_actions(self):\n", | |
| " \n", | |
| " _cmds = [ self.ssh_cmd + self.off_cmd %self.left_forward_pin,\n", | |
| " self.ssh_cmd + self.off_cmd %self.right_forward_pin,\n", | |
| " self.ssh_cmd + self.off_cmd %self.left_back_pin,\n", | |
| " self.ssh_cmd + self.off_cmd %self.right_back_pin ]\n", | |
| "\n", | |
| " print '\\n clearing action pins\\n commands: \\n'\n", | |
| " for c in _cmds: \n", | |
| " print '\\n %s ' %c\n", | |
| " if not self.is_sim: os.system(c)\n", | |
| " \n", | |
| "\n", | |
| " # Basic actions\n", | |
| " # ==============\n", | |
| " def go_forward(self):\n", | |
| " self.left_forward('on')\n", | |
| " self.right_forward('on')\n", | |
| " \n", | |
| " def go_back(self):\n", | |
| " self.left_back('on')\n", | |
| " self.right_back('on')\n", | |
| " \n", | |
| " def spin_left(self):\n", | |
| " self.right_forward('on')\n", | |
| " self.left_back('on')\n", | |
| " \n", | |
| " def spin_right(self):\n", | |
| " self.left_forward('on')\n", | |
| " self.right_back('on')\n", | |
| "\n", | |
| " \n", | |
| " \n", | |
| " # Patterns (basic actions, in combinatoins, with a duration)\n", | |
| " # =========\n", | |
| "\n", | |
| " def pause(self, duration):\n", | |
| " time.sleep(duration)\n", | |
| " \n", | |
| " \n", | |
| " def turn_90deg(self, direction, dur90deg = 5): \n", | |
| " # dur is the time it takes to spin 90degress\n", | |
| " # may depend on speed. need to find it out. \n", | |
| " \n", | |
| " print 'turning %s 90 degrees. Assuming that %s is correct duration' %(direction, dur90deg)\n", | |
| " if direction is 'left': self.spin_left()\n", | |
| " elif direction is 'right': self.spin_right()\n", | |
| " time.sleep(dur90deg)\n", | |
| " self.clear_actions()\n", | |
| " \n", | |
| " def cruise(self, direction, duration):\n", | |
| "\n", | |
| " print 'cruising for %s ms ' %duration\n", | |
| " if direction is 'forward': self.go_forward()\n", | |
| " elif direction is 'back': self.go_back()\n", | |
| " time.sleep(duration)\n", | |
| " self.clear_actions()\n", | |
| " \n", | |
| "\n", | |
| " def spin(self, direction, duration):\n", | |
| " \n", | |
| " print 'spinning for %s ms ' %duration\n", | |
| " if direction is 'left': self.spin_left()\n", | |
| " elif direction is 'right': self.spin_right()\n", | |
| " time.sleep(duration)\n", | |
| " self.clear_actions()\n", | |
| " \n", | |
| " \n", | |
| " # Combo patterns (don't need to clear actions for these)\n", | |
| " \n", | |
| " \n", | |
| " def zigzag(self, direction, duration, nzags=8):\n", | |
| " \n", | |
| " print 'zigzagging %s, %s times, for %s ms ' %(direction,nzags,duration)\n", | |
| " dur_frac = np.floor(duration/nzags)\n", | |
| " \n", | |
| " if direction is 'left': \n", | |
| " first = 'left'; second = 'right';\n", | |
| " elif direction is 'right':\n", | |
| " first = 'right'; second = 'left'; \n", | |
| " nz = 0\n", | |
| " while nz < nzags:\n", | |
| " self.turn_90deg(first)\n", | |
| " self.cruise('forward', dur_frac); \n", | |
| " self.turn_90deg(second); \n", | |
| " self.cruise('forward', dur_frac)\n", | |
| " nz+=1\n", | |
| "\n", | |
| " \n", | |
| " def back_and_forth(self, duration, ntimes):\n", | |
| " \n", | |
| " \n", | |
| " print 'going back and forth %s times, for %s ms' %(ntimes, duration)\n", | |
| " dur_frac = np.floor(duration/ntimes)\n", | |
| " n = 0\n", | |
| " while n<ntimes:\n", | |
| " self.cruise('forward', dur_frac/2)\n", | |
| " self.cruise('back', dur_frac/2)\n", | |
| " n+=1\n", | |
| " \n", | |
| " \n", | |
| " def arc(self, direction):\n", | |
| " # an arc is a zigzag with 2 zags and long durations\n", | |
| " self.zigzag(direction, duration, nzags=2)\n", | |
| " \n", | |
| " \n", | |
| " def check_fuckup(selff, behav, params):\n", | |
| " # check whether a behaviour wtill bre problematic: \n", | |
| " # if go forward, is there something in the way\n", | |
| " # ... ?\n", | |
| " return False\n", | |
| "\n", | |
| "\n", | |
| " \n", | |
| " def select_play_behav(self):\n", | |
| " # check mood...\n", | |
| " options = [{'behav': self.zigzag, 'params': {'nzags': [10,20,30], 'duration': [1,2,3]} },\n", | |
| " {'behav': self.zigzag, 'params': {'nzags': [10,20,30], 'duration': [1,2,3]} } ]\n", | |
| " \n", | |
| " behav_choice_ind = np.random.randn(0, len(behav_options.keys()) ) # this needs to be an integer\n", | |
| " blah = options.items()[behav_choice_ind]\n", | |
| " behav = blah['behav']\n", | |
| " \n", | |
| " params = {}\n", | |
| " for k,v in blah['params'].items():\n", | |
| " choice_ind = np.random.randn(0,len(v))\n", | |
| " params[k] = v[choice_ind]\n", | |
| " \n", | |
| " return behav, params \n", | |
| " \n", | |
| " def choose_behav(self):\n", | |
| " \n", | |
| " if self.mode is 'play': \n", | |
| " behav,params = self.select_play_behav() # (also return args?)\n", | |
| " if self.check_fuckup(behav,params) is False:\n", | |
| " behav(**params)\n", | |
| " \n", | |
| " elif self.mode is 'follow':\n", | |
| " behav = self.select_follow_behav() \n", | |
| " \n", | |
| " \n", | |
| " \n", | |
| " \n" | |
| ], | |
| "language": "python", | |
| "metadata": { | |
| "run_control": { | |
| "state": "d" | |
| } | |
| }, | |
| "outputs": [ | |
| { | |
| "output_type": "stream", | |
| "stream": "stdout", | |
| "text": [ | |
| "Writing robotbrain.py\n" | |
| ] | |
| } | |
| ], | |
| "prompt_number": 1 | |
| }, | |
| { | |
| "cell_type": "code", | |
| "collapsed": false, | |
| "input": [], | |
| "language": "python", | |
| "metadata": { | |
| "run_control": { | |
| "state": "n" | |
| } | |
| }, | |
| "outputs": [] | |
| }, | |
| { | |
| "cell_type": "code", | |
| "collapsed": false, | |
| "input": [ | |
| " \n", | |
| " \n", | |
| " # interact? \n", | |
| " \n", | |
| " \n", | |
| " def spin_left(self):\n", | |
| " self.changeval(self.left_forward, \n", | |
| " \n", | |
| " self.spinning_right=True\n", | |
| " \n", | |
| " def left_forward(self):\n", | |
| " \n", | |
| " _cmd = self.ssh_cmd + self.on_cmd %self.left_forward\n", | |
| " \n", | |
| " def right_forward\n", | |
| " def left_back\n", | |
| " def right_back\n", | |
| " \n", | |
| "\n", | |
| " \n", | |
| " \n", | |
| " def spin_right(self): \n", | |
| " \n", | |
| " _cmd = self.ssh_cmd + self.on_cmd %self.left_forward\n", | |
| " \n", | |
| " \n", | |
| " \n", | |
| " ' %self.left_forward \\\\\n", | |
| " + ' | ' + self.on_cmd %self.right_back) \n", | |
| " print '\\nspinning right: %s' %_cmd\n", | |
| " if not self.is_sim: os.system(_cmd)\n", | |
| " self.spinning_right=True\n", | |
| " \n", | |
| " def spin_left(self): \n", | |
| " \n", | |
| " _cmd = self.ssh_cmd + self.on_cmd + ' %s ' %self.left_back \\\\\n", | |
| " + ' | ' + self.on_cmd %self.right_forward)\n", | |
| " print '\\nspinning left: %s' %_cmd\n", | |
| " if not self.is_sim: os.system(_cmd)\n", | |
| " self.spinning_left=True\n", | |
| " \n", | |
| " def go_forward(self):\n", | |
| " \n", | |
| " _cmd = self.ssh_cmd + self.on_cmd + ' %s ' %self.left_forward \\\\\n", | |
| " + ' | ' + self.on_cmd %self.right_forward)\n", | |
| " print '\\ngoing forward: %s' %_cmd\n", | |
| " if not self.is_sim: os.system(_cmd)\n", | |
| " self.going_forward=True\n", | |
| " \n", | |
| " \n", | |
| " def go_back(self):\n", | |
| " \n", | |
| " _cmd = self.ssh_cmd + self.on_cmd + ' %s ' %self.left_back \\\\\n", | |
| " + ' | ' + self.on_cmd %self.right_back)\n", | |
| " print '\\ngoing back: %s' %_cmd\n", | |
| " if not self.is_sim: os.system(_cmd)\n", | |
| " self.going_back=True\n", | |
| " \n", | |
| "\n", | |
| " # Behaviours\n", | |
| " # ===========\n", | |
| " \n", | |
| " def follow(self):\n", | |
| " \n", | |
| " self.go_forward()\n", | |
| " \n", | |
| " \n", | |
| " \n", | |
| " def decide_from_list(self):\n", | |
| " for b in self.behaviours_list:\n", | |
| " exec 'self.%s()' %b\n", | |
| "\n", | |
| " \n", | |
| " def decide_from_dict(self): # (deprecated?)\n", | |
| " for b in self.behaviours_dict:\n", | |
| " newstr = self.behaviours_dict[b].replace('.', 'self.')\n", | |
| " exec newstr\n", | |
| " \n", | |
| " def start(self, reps=10, interval=1):\n", | |
| " self.running=True\n", | |
| " \n", | |
| " for n in range(reps):\n", | |
| " \n", | |
| " time.sleep(interval)\n", | |
| " \n", | |
| " print '\\n\\nstep %s:\\n\\n' %n\n", | |
| " \n", | |
| " print '\\nmaking decisions'\n", | |
| " self.decide()\n", | |
| " \n", | |
| " self.print_status()\n", | |
| " \n", | |
| " \n", | |
| " def start_in_bg(self):\n", | |
| " self.jobs.new('self.start())')\n", | |
| " \n", | |
| " \n", | |
| " \n", | |
| " def stop(self):\n", | |
| " print 'stop the job now'\n", | |
| " self.running=False\n", | |
| " \n", | |
| " def print_status(self): \n", | |
| " \n", | |
| " display.clear_output(wait=True)\n", | |
| " sys.stdout.flush()\n", | |
| " print 'be_playful: %s' %self.be_playful\n", | |
| " print 'move_to_light %s' %self.move_to_light\n", | |
| " print 'avoid_wall %s' %self.avoid_wall\n", | |
| " \n", | |
| " def check_jobs(self):\n", | |
| " print 'check that all the background jobs are still running properly'\n", | |
| " \n", | |
| "\n", | |
| " \n", | |
| " # States:\n", | |
| " self.nothing_in_the_way = True\n", | |
| " \n", | |
| " \n", | |
| " # Level 1: Don't fuck up\n", | |
| " def obstacle_check(self):\n", | |
| " if self.camera_light == 'oh dear': \n", | |
| " self.obstacle = True\n", | |
| " else: \n", | |
| " self.obstacle = False\n", | |
| "\n", | |
| " \n", | |
| " \n", | |
| "\n", | |
| " \n", | |
| " # Level 3: Mode\n", | |
| " \n", | |
| " # Level 4: Mood\n", | |
| " \n", | |
| " " | |
| ], | |
| "language": "python", | |
| "metadata": { | |
| "run_control": { | |
| "state": "d" | |
| } | |
| }, | |
| "outputs": [], | |
| "prompt_number": 17 | |
| }, | |
| { | |
| "cell_type": "code", | |
| "collapsed": false, | |
| "input": [ | |
| "\n", | |
| "# behaviours from dict: \n", | |
| "\n", | |
| "behavs = {'1. move to light': 'if .is_light and not .is_wall: .move = True',\n", | |
| " '2. avoid wall': 'if .is_wall: .move = False',\n", | |
| " '3. be playful': 'if .is_light and not .is_wall: .be_playful = True'}\n", | |
| "\n", | |
| "thisone = arbitrator(behavs)\n", | |
| "thisone.start()" | |
| ], | |
| "language": "python", | |
| "metadata": { | |
| "run_control": { | |
| "state": "n" | |
| } | |
| }, | |
| "outputs": [], | |
| "prompt_number": 18 | |
| }, | |
| { | |
| "cell_type": "code", | |
| "collapsed": false, | |
| "input": [], | |
| "language": "python", | |
| "metadata": { | |
| "run_control": { | |
| "state": "n" | |
| } | |
| }, | |
| "outputs": [] | |
| }, | |
| { | |
| "cell_type": "code", | |
| "collapsed": false, | |
| "input": [], | |
| "language": "python", | |
| "metadata": { | |
| "run_control": { | |
| "state": "n" | |
| } | |
| }, | |
| "outputs": [] | |
| }, | |
| { | |
| "cell_type": "code", | |
| "collapsed": false, | |
| "input": [], | |
| "language": "python", | |
| "metadata": { | |
| "run_control": { | |
| "state": "n" | |
| } | |
| }, | |
| "outputs": [] | |
| }, | |
| { | |
| "cell_type": "code", | |
| "collapsed": false, | |
| "input": [], | |
| "language": "python", | |
| "metadata": { | |
| "run_control": { | |
| "state": "n" | |
| } | |
| }, | |
| "outputs": [] | |
| }, | |
| { | |
| "cell_type": "code", | |
| "collapsed": false, | |
| "input": [], | |
| "language": "python", | |
| "metadata": { | |
| "run_control": { | |
| "state": "n" | |
| } | |
| }, | |
| "outputs": [] | |
| }, | |
| { | |
| "cell_type": "code", | |
| "collapsed": false, | |
| "input": [], | |
| "language": "python", | |
| "metadata": { | |
| "run_control": { | |
| "state": "n" | |
| } | |
| }, | |
| "outputs": [] | |
| }, | |
| { | |
| "cell_type": "code", | |
| "collapsed": false, | |
| "input": [], | |
| "language": "python", | |
| "metadata": { | |
| "run_control": { | |
| "state": "n" | |
| } | |
| }, | |
| "outputs": [] | |
| }, | |
| { | |
| "cell_type": "code", | |
| "collapsed": false, | |
| "input": [ | |
| "def run_sim_in_bg(self,sim_length=10):\n", | |
| " self.jobs.new('self.run_sim(%s)' %(sim_length)) \n", | |
| " \n", | |
| " \n", | |
| " \n", | |
| "for n in range(reps):\n", | |
| " time.sleep(interval)\n", | |
| " for doplot,name in zip([plot_tavg,plot_bold],['tavg', 'bold']):\n", | |
| " if doplot:\n", | |
| " t,d = self.get_avg_arrs(name)\n", | |
| " if d is not np.nan:\n", | |
| "\n", | |
| " df = pd.DataFrame(d,index=t)[roi_nums]\n", | |
| " fig, ax = plt.subplots() \n", | |
| " ax.axvline(x=t[-1], ymin=vline_lims[0],ymax=vline_lims[1],\n", | |
| " linewidth=2, color='k', axes=ax,linestyle='dashed')\n", | |
| " ax = df.plot(title='Sim state at %s second(s)' %(n+1), ax=ax,\n", | |
| " **plot_params);\n", | |
| " \n", | |
| " display.clear_output(wait=True)\n", | |
| " display.display(plt.gcf()) \n", | |
| " sys.stdout.flush()\n", | |
| " plt.close()\n", | |
| " \n", | |
| " \n", | |
| " " | |
| ], | |
| "language": "python", | |
| "metadata": { | |
| "run_control": { | |
| "state": "n" | |
| } | |
| }, | |
| "outputs": [], | |
| "prompt_number": 1 | |
| }, | |
| { | |
| "cell_type": "code", | |
| "collapsed": false, | |
| "input": [ | |
| "class BackgroundSim(object):\n", | |
| " \n", | |
| " \"\"\"\n", | |
| " Usage:\n", | |
| " -----\n", | |
| " \n", | |
| " bgs = BackgrounSim()\n", | |
| " \n", | |
| " bgs.run_sim()\n", | |
| " bgs.run_sim_in_bg()\n", | |
| " bgs.make_graph()\n", | |
| " \n", | |
| " \"\"\"\n", | |
| " def __init__(self, int_dt=2**-2, oscillator_params=None,sim=None):\n", | |
| " \n", | |
| " if not sim: \n", | |
| " if not oscillator_params: \n", | |
| " oscillator_params = {'a':1.05,'b':-1.0,'c':0,'d':0.1,'e':0,'f':1/3,'g':1,\n", | |
| " 'I':0,'alpha':1,'beta':0.2,'gamma':-1,'tau':1.25} \n", | |
| " oscillator = models.Generic2dOscillator()\n", | |
| " white_matter = connectivity.Connectivity(load_default=True)\n", | |
| " white_matter.speed = numpy.array([8.0])\n", | |
| " white_matter_coupling = coupling.Linear(a=0.0152)\n", | |
| " my_seed = 13\n", | |
| " my_random_state = numpy.random.RandomState(my_seed)\n", | |
| " hiss = noise.Additive(nsig=0.08)\n", | |
| " heunint = integrators.HeunStochastic(dt=int_dt, noise=hiss)\n", | |
| " heunint.configure()\n", | |
| " mama = monitors.TemporalAverage(period=2 ** -1)\n", | |
| " mimi = monitors.Bold()\n", | |
| " what_to_watch = (mama,mimi) #(momo, mama, mimi)\n", | |
| " sim = simulator.Simulator(model=oscillator, connectivity=white_matter,\n", | |
| " coupling=white_matter_coupling,\n", | |
| " integrator=heunint, monitors=what_to_watch)\n", | |
| " sim.configure()\n", | |
| " self.sim = sim\n", | |
| " self.rls = sim.connectivity.region_labels \n", | |
| " self.bold_time = [] \n", | |
| " self.bold_data = [] \n", | |
| " self.tavg_time = [] \n", | |
| " self.tavg_data = [] \n", | |
| " self.jobs = bg.BackgroundJobManager()\n", | |
| "\n", | |
| "\n", | |
| " def run_sim(self,sim_length=10):\n", | |
| " self.sim_running=True\n", | |
| " for tavg,bold in self.sim(simulation_length=sim_length):\n", | |
| " if bold is not None:\n", | |
| " self.bold_time.append(bold[0])\n", | |
| " self.bold_data.append(bold[1])\n", | |
| " if tavg is not None:\n", | |
| " self.tavg_time.append(tavg[0])\n", | |
| " self.tavg_data.append(tavg[1])\n", | |
| " self.running=False\n", | |
| " \n", | |
| " def run_sim_in_bg(self,sim_length=10):\n", | |
| " self.jobs.new('self.run_sim(%s)' %(sim_length)) \n", | |
| " \n", | |
| " def list_arr_size(self,interval=1, reps=5):\n", | |
| " for n in range(reps):\n", | |
| " time.sleep(interval)\n", | |
| " \n", | |
| " display.clear_output(wait=True)\n", | |
| " display.display(plt.gcf()) \n", | |
| " sys.stdout.flush()\n", | |
| " \n", | |
| " def get_avg_arrs(self,varname):\n", | |
| " if varname=='tavg':\n", | |
| " tl = self.tavg_time\n", | |
| " ta = np.squeeze(np.array(self.tavg_time))[:len(tl)]\n", | |
| " da = np.squeeze(np.array(self.tavg_data))[:len(tl),:]\n", | |
| " elif varname=='bold':\n", | |
| " tl = self.bold_time\n", | |
| " if len(tl)>0:\n", | |
| " ta = np.squeeze(np.array(self.bold_time))[:len(tl)]\n", | |
| " da = np.squeeze(np.array(self.bold_data))[:len(tl),:]\n", | |
| " else:\n", | |
| " ta,da = np.nan,np.nan\n", | |
| " \n", | |
| " return ta,da\n", | |
| "\n", | |
| "\n", | |
| " def clock_time_report(self,sim_params,run_in_bg=False):\n", | |
| " import time\n", | |
| " start = time.time()\n", | |
| " if run_in_bg: self.run_sim_in_bg(**sim_params)\n", | |
| " else: self.run_sim(**sim_params)\n", | |
| " finish = time.time()\n", | |
| " duration = (finish-start)*1000\n", | |
| " clock_ratio = sim_params['sim_length']/duration\n", | |
| " return duration, clock_ratio\n", | |
| "\n", | |
| "\n", | |
| " \n", | |
| " def make_graph(self,interval=1, reps=5,xlim=None,ylim=None,make_movie_frames=False,plot_params=None,\n", | |
| " plot_tavg=True,plot_bold=False,vline_lims = [-1,1],\n", | |
| " roi_nums=[0,10,20,30,40,50,60]):\n", | |
| " import time\n", | |
| " import numpy as np\n", | |
| " for n in range(reps):\n", | |
| " time.sleep(interval)\n", | |
| " for doplot,name in zip([plot_tavg,plot_bold],['tavg', 'bold']):\n", | |
| " if doplot:\n", | |
| " t,d = self.get_avg_arrs(name)\n", | |
| " if d is not np.nan:\n", | |
| "\n", | |
| " df = pd.DataFrame(d,index=t)[roi_nums]\n", | |
| " fig, ax = plt.subplots() \n", | |
| " ax.axvline(x=t[-1], ymin=vline_lims[0],ymax=vline_lims[1],\n", | |
| " linewidth=2, color='k', axes=ax,linestyle='dashed')\n", | |
| " ax = df.plot(title='Sim state at %s second(s)' %(n+1), ax=ax,\n", | |
| " **plot_params);\n", | |
| " \n", | |
| " display.clear_output(wait=True)\n", | |
| " display.display(plt.gcf()) \n", | |
| " sys.stdout.flush()\n", | |
| " plt.close()\n" | |
| ], | |
| "language": "python", | |
| "metadata": { | |
| "run_control": { | |
| "state": "n" | |
| } | |
| }, | |
| "outputs": [] | |
| }, | |
| { | |
| "cell_type": "markdown", | |
| "metadata": {}, | |
| "source": [ | |
| "- have a set of behaviours\n", | |
| "- have an arbitrator\n", | |
| "- 'current state' runs as a background job\n", | |
| "- 'update' state runs on a clock cycle\n", | |
| "- 'current state' checks values of arbitrator when saying what to do next\n", | |
| "- arbitrator rank-orders behaviours and/or does logic on combinations\n", | |
| "\n", | |
| "\n", | |
| "- behaviours range from low level to high level; from reactive (sensors) to (something else)\n", | |
| "\n", | |
| "\n", | |
| "\n", | |
| "- behaviours: \n", | |
| " - move towards light\n", | |
| " - follow person\n", | |
| " - respond to sound\n", | |
| " - do 'play' (1,2,3,4..X)\n", | |
| " - hierarchy?\n", | |
| "\n", | |
| "\n", | |
| "- different time-scales of evaluation\n", | |
| " - mood / play / behavioural state is a slower time scale\n", | |
| " \n", | |
| "\n", | |
| "- Program them now and print out values as text or something\n" | |
| ] | |
| }, | |
| { | |
| "cell_type": "markdown", | |
| "metadata": {}, | |
| "source": [ | |
| "Styling" | |
| ] | |
| }, | |
| { | |
| "cell_type": "code", | |
| "collapsed": false, | |
| "input": [ | |
| "from IPython.core.display import HTML\n", | |
| "css_file = '/media/sf_SharedFolder/Code/git_repos_of_mine/bitbucket/tvb-notebooks/styles/CFDPython_css_modified.css'\n", | |
| "HTML(open(css_file, \"r\").read())" | |
| ], | |
| "language": "python", | |
| "metadata": { | |
| "run_control": { | |
| "state": "n" | |
| } | |
| }, | |
| "outputs": [ | |
| { | |
| "html": [ | |
| "<link href='http://fonts.googleapis.com/css?family=Fenix' rel='stylesheet' type='text/css'>\n", | |
| "<link href='http://fonts.googleapis.com/css?family=Alegreya+Sans:100,300,400,500,700,800,900,100italic,300italic,400italic,500italic,700italic,800italic,900italic' rel='stylesheet' type='text/css'>\n", | |
| "<link href='http://fonts.googleapis.com/css?family=Source+Code+Pro:300,400' rel='stylesheet' type='text/css'>\n", | |
| "<style>\n", | |
| " @font-face {\n", | |
| " font-family: \"Computer Modern\";\n", | |
| " src: url('http://mirrors.ctan.org/fonts/cm-unicode/fonts/otf/cmunss.otf');\n", | |
| " }\n", | |
| " div.cell{\n", | |
| " width:800px;\n", | |
| " margin-left:16% !important;\n", | |
| " margin-right:auto;\n", | |
| " }\n", | |
| " h1 {\n", | |
| " font-family: 'Alegreya Sans', sans-serif;\n", | |
| " }\n", | |
| " h2 {\n", | |
| " font-family: 'Fenix', serif;\n", | |
| " }\n", | |
| " h3{\n", | |
| "\t\tfont-family: 'Fenix', serif;\n", | |
| " margin-top:12px;\n", | |
| " margin-bottom: 3px;\n", | |
| " }\n", | |
| "\th4{\n", | |
| "\t\tfont-family: 'Fenix', serif;\n", | |
| " }\n", | |
| " h5 {\n", | |
| " font-family: 'Alegreya Sans', sans-serif;\n", | |
| " }\t \n", | |
| " div.text_cell_render{\n", | |
| " font-family: 'Alegreya Sans',Computer Modern, \"Helvetica Neue\", Arial, Helvetica, Geneva, sans-serif;\n", | |
| " line-height: 135%;\n", | |
| " font-size: 120%;\n", | |
| " width:600px;\n", | |
| " margin-left:auto;\n", | |
| " margin-right:auto;\n", | |
| " }\n", | |
| " .CodeMirror{\n", | |
| " font-family: \"Source Code Pro\";\n", | |
| "\t\t\tfont-size: 90%;\n", | |
| " }\n", | |
| "/* .prompt{\n", | |
| " display: None;\n", | |
| " }*/\n", | |
| " .text_cell_render h1 {\n", | |
| " font-weight: 200;\n", | |
| " font-size: 50pt;\n", | |
| "\t\tline-height: 100%;\n", | |
| " color:#CD2305;\n", | |
| " margin-bottom: 0.5em;\n", | |
| " margin-top: 0.5em;\n", | |
| " display: block;\n", | |
| " }\t\n", | |
| " .text_cell_render h5 {\n", | |
| " font-weight: 300;\n", | |
| " font-size: 16pt;\n", | |
| " color: #CD2305;\n", | |
| " font-style: italic;\n", | |
| " margin-bottom: .5em;\n", | |
| " margin-top: 0.5em;\n", | |
| " display: block;\n", | |
| " }\n", | |
| " \n", | |
| " .warning{\n", | |
| " color: rgb( 240, 20, 20 )\n", | |
| " } \n", | |
| "</style>\n", | |
| "<script>\n", | |
| " MathJax.Hub.Config({\n", | |
| " TeX: {\n", | |
| " extensions: [\"AMSmath.js\"]\n", | |
| " },\n", | |
| " tex2jax: {\n", | |
| " inlineMath: [ ['$','$'], [\"\\\\(\",\"\\\\)\"] ],\n", | |
| " displayMath: [ ['$$','$$'], [\"\\\\[\",\"\\\\]\"] ]\n", | |
| " },\n", | |
| " displayAlign: 'center', // Change this to 'center' to center equations.\n", | |
| " \"HTML-CSS\": {\n", | |
| " styles: {'.MathJax_Display': {\"margin\": 4}}\n", | |
| " }\n", | |
| " });\n", | |
| "</script>\n" | |
| ], | |
| "metadata": {}, | |
| "output_type": "pyout", | |
| "prompt_number": 9, | |
| "text": [ | |
| "<IPython.core.display.HTML at 0xac2144c>" | |
| ] | |
| } | |
| ], | |
| "prompt_number": 9 | |
| }, | |
| { | |
| "cell_type": "code", | |
| "collapsed": false, | |
| "input": [], | |
| "language": "python", | |
| "metadata": { | |
| "run_control": { | |
| "state": "n" | |
| } | |
| }, | |
| "outputs": [] | |
| } | |
| ], | |
| "metadata": {} | |
| } | |
| ] | |
| } |
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