Adeept Robot Control / DFRobot Gravity Offline Voice Recogition Module

main.py

import time
import board
import busio
import wifi
import socketpool
import ipaddress
import avoid_obstacles
import keep_distance
import line_tracking
from BPI_PicoW_S3_Car import Motor, Servo, I2CPCF8574Interface, LCD, LCD1602
from DFRobot_DF2301Q import DFRobot_DF2301Q_I2C, DF2301Q_I2C_ADDR
from DFRobot_DF2301Q_Commands import CommandWord
import neopixel
import pwmio

# Initialize I2C bus
i2c = busio.I2C(board.GP21, board.GP20)
DF2301Q = DFRobot_DF2301Q_I2C(i2c, i2c_addr=DF2301Q_I2C_ADDR)

# WS2812 LED strip setup
NUM_PIXELS = 4
pixels = neopixel.NeoPixel(board.GP11, NUM_PIXELS)

# Motor and Servo setup
speed_low = 40
servo = Servo()
motor = Motor()

# Buzzer setup
class Buzzer:
    def __init__(self):
        self._buzzer = pwmio.PWMOut(board.GP26, duty_cycle=0, frequency=440, variable_frequency=True)

    def playtone(self, frequency):
        self._buzzer.duty_cycle = 65535 // 2  # Half-full duty ratio
        self._buzzer.frequency = frequency

    def sound(self):
        self.playtone(1500)

    def bequiet(self):
        self._buzzer.duty_cycle = 0  # Empty duty cycle

buzzer = Buzzer()

# Wi-Fi setup
ssid, pw = ('BPI-PicoW-S3', '12345678')
wifi.radio.start_ap(ssid=ssid, password=pw)
time.sleep(1)
print(f'WiFi AP mode Started! SSID is {ssid}, IP={wifi.radio.ipv4_address_ap}')

pool = socketpool.SocketPool(wifi.radio)
BUFF_SIZE = 1024

# LCD setup
lcd = LCD1602(i2c)
lcd.print("Initializing...")
time.sleep(1)
lcd.clear()

# Brightness variable
brightness = 0.5

# RGB color array
rgb_color = [255, 255, 255]  # Default to white

# Function to set pixel color with brightness adjustment
def update_neopixel():
    adjusted_color = tuple(int(c * brightness) for c in rgb_color)
    pixels.fill(adjusted_color)

# Function to update RGB color
def update_rgb_color(r, g, b):
    global rgb_color
    rgb_color = [r, g, b]
    update_neopixel()

# Function to handle voice commands
def handle_voice_command(CMDID):
    global brightness
    command_name = ""

    if CMDID == CommandWord.GoForward:
        motor.move(1, 'forward', speed_low)
        command_name = "Go Forward"
    elif CMDID == CommandWord.Retreat:
        motor.move(1, 'backward', speed_low)
        command_name = "Retreat"
    elif CMDID == CommandWord.ParkACar:
        motor.motor_stop()
        command_name = "Park a Car"
    elif CMDID == CommandWord.TurnOnTheLight:
        update_rgb_color(255, 255, 255)
        command_name = "Turn On The Light"
    elif CMDID == CommandWord.TurnOffTheLight:
        update_rgb_color(0, 0, 0)
        command_name = "Turn Off The Light"
    elif CMDID == CommandWord.BrightenTheLight:
        if brightness < 1.0:
            brightness += 0.1
        update_neopixel()
        command_name = "Brighten The Light"
    elif CMDID == CommandWord.DimTheLight:
        if brightness > 0.0:
            brightness -= 0.1
        update_neopixel()
        command_name = "Dim The Light"
    elif CMDID == CommandWord.SetToRed:
        update_rgb_color(255, 0, 0)
        command_name = "Set To Red"
    elif CMDID == CommandWord.SetToOrange:
        update_rgb_color(255, 165, 0)
        command_name = "Set To Orange"
    elif CMDID == CommandWord.SetToYellow:
        update_rgb_color(255, 255, 0)
        command_name = "Set To Yellow"
    elif CMDID == CommandWord.SetToGreen:
        update_rgb_color(0, 255, 0)
        command_name = "Set To Green"
    elif CMDID == CommandWord.SetToCyan:
        update_rgb_color(0, 255, 255)
        command_name = "Set To Cyan"
    elif CMDID == CommandWord.SetToBlue:
        update_rgb_color(0, 0, 255)
        command_name = "Set To Blue"
    elif CMDID == CommandWord.SetToPurple:
        update_rgb_color(128, 0, 128)
        command_name = "Set To Purple"
    elif CMDID == CommandWord.SetToWhite:
        update_rgb_color(255, 255, 255)
        command_name = "Set To White"
    elif CMDID == CommandWord.Reset: 
        servo.set_angle(board.GP7, 0)
        command_name = "Set Servo To 0 Degrees"
    elif CMDID == CommandWord.SetServoToTenDegrees: 
        servo.set_angle(board.GP7, 10)
        command_name = "Set Servo To 10 Degrees"
    elif CMDID == CommandWord.SetServoToThirtyDegrees:  
        servo.set_angle(board.GP7, 30)
        command_name = "Set Servo To 30 Degrees"
    elif CMDID == CommandWord.SetServoToFortyFiveDegrees:  
        servo.set_angle(board.GP7, 45)
        command_name = "Set Servo To 45 Degrees"
    elif CMDID == CommandWord.SetServoToSixtyDegrees:  
        servo.set_angle(board.GP7, 60)
        command_name = "Set Servo To 60 Degrees"
    elif CMDID == CommandWord.SetServoToNinetyDegrees:  
        servo.set_angle(board.GP7, 90)
        command_name = "Set Servo To 90 Degrees"
    elif CMDID == CommandWord.TurnOnTheBuzzer:  
        buzzer.sound()
        command_name = "Turn On The Buzzer"
    elif CMDID == CommandWord.TurnOffTheBuzzer:  
        buzzer.bequiet()
        command_name = "Turn Off The Buzzer"

    if command_name:
        lcd.clear()
        lcd.print(command_name)

def setup():
    DF2301Q.set_volume(15)
    DF2301Q.set_mute_mode(0)
    DF2301Q.set_wake_time(20)
    print("wake_time = %u\n" % (DF2301Q.get_wake_time()))

def loop():
    CMDID = DF2301Q.get_CMDID()
    if CMDID != 0:
        print("CMDID = %u\n" % CMDID)
        handle_voice_command(CMDID)
    time.sleep(1)

if __name__ == "__main__":
    setup()
    while True:
        loop()