Python library for Misty. BETA V 0.0.2
Project description
mistyPy
Official Python library to work with your Misty robot. Currently in BETA
Requirements
python >= 3.4
requests
websocket
Installing
Step 1: Easy start
If you are already comfortable using Python, skip to step 2
Install anaconda for python >= 3.4 version
https://www.anaconda.com/download/
Enter the following in your terminal
conda create -n <your_custom_environment_name> python=3.4 requests
Now your environment is setup. To activate your environment enter the below command in your terminal:
Say you used the name 'misty_developer' in the conda create step
source activate misty_developer
pip install websocket
pip install mistyPy
skip step 2
Note:
Everytime you open a new termial, enter
source activate <your_custom_environment_name>
Step 2: Self Setup
use the command after setting up python >= 3.4
pip install mistyPy
pip install requests
pip install websocket
Current support
API
Chanaging LED, Changing image on screen, Playing audio, Moving Head, Driving Misty
WebSockets
Backpack string stream, Time of Flights
Writing your own python program for Misty
import mistyPy
Connecting to the robot
Syntax: robot_name = mistyPy.Robot("Enter the robot IP here") Name your misty- > let me call mine 'mia'
mia = mistyPy.Robot("10.0.1.206")
Now you can refer to your robot as mia
Change LED color
Synatx: robot_name.changeLED(red,green,blue)
mia.changeLED(0,200,255) # Purple
Change image on the screen
Syntax: robot_name.changeImage("image_name.format")
mia.changeImage("Happy.jpg")
to get a list of all the images saved on your misty
mia.printImageList() # prints ["Happy.jpg","Confused.jpg","Angry.jpg" ....]
images = mia.getImageList() # Return list of saved image files
Play saved audio file
Synatx: robot_name.playAudio("file_name.format")
mia.playAudio("008-Ah.wav")
to get a list of all the audio files saved on your misty
mia.printAudioList() # prints ["eeee.wav","Aaah.wav","nah.wav"....]
audios = mia.getAudioList() # returns list of saved audio files
Battery check
Synatx: output = robot_name.battery()
charge_percentage = mia.battery()
print(charge_percentage)
Move the head
Roll, pitch and yaw values can range from -5 to 5
One Command to control roll, pitch, and yaw
Syntax: robot_name.moveHead(roll_value, pitch_value, yaw_value, optional velocity_value)
mia.moveHead(-1,-5,3)
mia.moveHead(-1,-5,3, velocity = 5)
Individial command per axis (also can take an optional velocity argument)
mia.headRoll(-1)
mia.headPitch(-5, velocity = 5)
mia.headYaw(3)
Drive Misty
There are three modes to drive Misty
- drive : you tell the linear and angular speed and Misty keeps on driving
- driveTime : you tell misty the speeds and also how long misty has to execute it
- driveTrack : instead of telling misty linear and angular speed, you tell the speed of left and right wheels individually
Syntax: robot_name.drive(linear_velocity, angular_velocity)
Syntax: robot_name.driveTime(linear_velocity, angular_velocity,time_in_milli_second)
Syntax: robot_name.driveTrack(left_track_speed,right_track_speed)
mia.drive(50,20) # goes forward and turns
mia.driveTime(70,0,3000) # goes forward for three seconds
mia.driveTrack(50,-50) # spins in the same place
Note: velocity range -100 to 100
Stop Driving
You could either send a command with velocities 0 or use this
Syntax: robot_name.stop()
mia.stop()
WebSockets - a brief into
Consider all the above commands as a short handshakes while websockets work like you keep holding hands for a long time. You could continuosly stream data with websockets. Comes in handy when working with sensors on Misty, Arduino/Raspberry backpacks.
To start the handshake you got to subscribe to a topic
--- Continuos data stream ---
To end the handshake you got to unsubscribe from the same topic
--- No more data ---
Arduino/RaspberryPy backpack
To start the hanshake / to subscribe to the backpack (anything you send from arduino Serial.println("your_data") to Misty)
Syntax: robot_name.subscribe("StringMessage")
mia.subscribe("StringMessage")
This streams all data into the function call 'backpack()'
Syntax: robot_name.backpack()
You could call this any number of times at any time instant to get the data steram from you arduino
Lets say arduino is sending me temparature data in celcius and i want to turn my air cooler on at a threshold of 25˚C
while True:
temp = mia.backpack()
if int(temp) > 25:
turn_on_air_cooler()
else:
pass
To end the handshake / to unsubscribe from the backpack data stream
Syntax: robot_name.unsubscribe("StringMessage")
mia.unsubscribe("StringMessage")
Time Of Flights
Misty has three time of flight sensors in the front and one on the back. They stream distance to obstacles in meters.
To start handshake / subscribe to time of flight sensors data
Syntax: robot_name.subscribe("TimeOfFlight")
mia.subscribe("TimeOfFlight")
This streams all 4 time of flight sensor data into the function call 'time_of_flight()'
Syntax: robot_name.time_of_flight()
incoming_data = mia.time_of_flight()
print(incoming_data) would print {'Left': 0.233, 'Center': 0.072, 'Right': 0.037, 'Back': 0.115}
To get just the Left time of flight sensor data
print(incoming_data["Left"])
Say misty is driving backwards and you want to stop if the wall is just or closer than 10 cm
mia.drive(-10,0)
while True:
if mia.time_of_flight()["Back"] <= 0.010:
mia.stop()
break
Project details
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