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Demo of haptic feedback glove for ycombinator hardware hackathon
#!/usr/bin/python
import time
import RPi.GPIO as GPIO
from robot_brain.servo import Servo
GPIO.setmode(GPIO.BCM)
GPIO_TRIGGER = 25
GPIO_ECHO = 24
k = .7 # filter constant
rotation_filtered = 0
servo = Servo(min=60, max=250)
scalar = 50 # smaller is more finger movement
GPIO.setup(GPIO_TRIGGER, GPIO.OUT) # Trigger
GPIO.setup(GPIO_ECHO, GPIO.IN) # Echo
GPIO.output(GPIO_TRIGGER, False)
# Allow module to settle
time.sleep(0.5)
while True:
# Send 10us pulse to trigger
GPIO.output(GPIO_TRIGGER, True)
time.sleep(0.00001)
GPIO.output(GPIO_TRIGGER, False)
while GPIO.input(GPIO_ECHO)==0:
pass # wait for pin to go high
start = time.time()
while GPIO.input(GPIO_ECHO)==1:
stop = time.time()
if (stop - start) > .1:
break
# Calculate pulse length
elapsed = stop - start
# Distance pulse travelled in that time is time
# multiplied by the speed of sound (cm/s)
distance = elapsed * 34300
# That was the distance there and back so halve the value
distance = distance / 2
# Calculate how much to rotate the servo (scale between 0 and 1)
rotation = distance / 50
if rotation > 1:
rotation = 1
# A simple moving average filter
rotation_filtered = k * rotation_filtered + (1.0 - k) * rotation
rot = 1 - rotation_filtered
servo.set(rot)
print 'setting servo to:', rot
time.sleep(.1)
@jminardi
Owner

You can find the robot_brain package here: https://github.com/jminardi/RobotBrain

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