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GAME - Iron Collection¶

In this project, prepare 3 shapes of iron pieces: triangle, circle and square. PiArm will randomly say a shape, and you need to control PiArm to put the corresponding shape of iron pieces into the corresponding box.

Run the code

cd /home/pi/piarm/examples
sudo python3 game_iron_collection.py

After the code is run, first press p on the keyboard to start the game, PiArm will prompt the game to start, then randomly say a shape (Round, Triangle and Square). You need to use w, s, a, d, i and k on the keyboard to control Arm, j and l to pick up the corresponding shape (you need to install Electromagnet to PiArm first.).

60 seconds later, the game will be prompted to end and you will no longer be able to control the PiArm. If you want to stop the code from running, you need to press the Esc key first, then press Ctrl+C.

Note

w, s, a, d, i and k are used to control the rotation of the Arm.
j and l are used to control the ON and OFF of the Electromagnet.

Code

from piarm import PiArm
from robot_hat import Pin,PWM,Servo,ADC
from time import time,sleep
from robot_hat.utils import reset_mcu
from robot_hat import TTS

import threading
import sys
import tty
import termios
import random

reset_mcu()
sleep(0.01)
t = TTS()

arm = PiArm([1,2,3])
arm.electromagnet_init(PWM('P3'))
arm.set_offset([0,0,0])
arm.speed = 100
flag = False



def readchar():
    fd = sys.stdin.fileno()
    old_settings = termios.tcgetattr(fd)
    try:
        tty.setraw(sys.stdin.fileno())
        ch = sys.stdin.read(1)
    finally:
        termios.tcsetattr(fd, termios.TCSADRAIN, old_settings)
    return ch

manual1 = '''
Press keys on keyboard
    p: Game Start
    ESC: Stop
'''

manual2 = '''
Press keys on keyboard
    w: extend
    s: retract
    a: turn left
    d: turn right
    i: go up
    k: go down
    j: on
    l: off
'''

# def control():

#     while flag == True:
#         arm.speed = 100
#         flag = False
#         alpha,beta,gamma = arm.servo_positions

def control(key):
    alpha,beta,gamma = arm.servo_positions

    if key == 'a':
        gamma += 3
    elif key == 'd':
        gamma -= 3
    if key == 's':
        alpha -= 3
    elif key == 'w':
        alpha += 3
    if key == 'i':
        beta += 3
    elif key == 'k':
        beta -= 3
    if key == 'j':
        arm.set_electromagnet('on')
    elif key == 'l':
        arm.set_electromagnet('off')
    arm.set_angle([alpha,beta,gamma])


def timing():
    global flag
    while True:
        if flag == True:
            t.say("game start")
            sleep(60)
            t.say("three")
            sleep(1)
            t.say("two")
            sleep(1)
            t.say("one")
            sleep(1)
            t.say("game over")
            flag = False

def say_shape():
    k = random.randint(1,3)
    if k == 1:
        t.say("Round")
    if k == 2:
        t.say("Triangle")
    if k == 3:
        t.say("Square")

if __name__ == "__main__":

    print(manual1)

    thread1 = threading.Thread(target = timing)
    thread1.start()

    while True:
        key = readchar().lower()
        if  key == 'p':
            print(manual2)
            flag = True
            sleep(3)
            say_shape()
        if flag == True:
            control(key)
        if key == chr(27):
            print("press ctrl+c to quit")
            break

How it works?

This code is based on the project Electromagnet - Keyboard Control with the addition of timing and speaking random shapes.

def timing():
    global flag
    while True:
        if flag == True:
            t.say("game start")
            sleep(60)
            t.say("three")
            sleep(1)
            t.say("two")
            sleep(1)
            t.say("one")
            sleep(1)
            t.say("game over")
            flag = False

This timing() function is used for timing. After prompting the game to start, the game is timed for 60 seconds, then a countdown of 3, 2, 1 is performed before the game is prompted to end and the flag is set to False.

def say_shape():
    k = random.randint(1,3)
    if k == 1:
        t.say("Round")
    if k == 2:
        t.say("Triangle")
    if k == 3:
        t.say("Square")

This say_shape() function is to make PiArm say a random shape.

if __name__ == "__main__":

    print(manual1)

    thread1 = threading.Thread(target = timing)
    thread1.start()

    while True:
        key = readchar().lower()
        if  key == 'p':
            print(manual2)
            flag = True
            sleep(3)
            say_shape()
        if flag == True:
            control(key)
        if key == chr(27):
            break
    print("press ctrl+c to quit")

This is the main flow of the code.

Print out the key prompt in the terminal and let timing() run in a separate thread.
Call the readchar() function to read the key value.
If key p is read as being pressed, print out the key prompt and let flag be True, at which point the timing() function starts timing, and after 3 seconds, call the say_shape() function to make PiArm say a random shape.
If flag is True, call the control() function to make the PiArm rotate according to the key value.
chr(27) represents the Esc key, and if the Esc key is pressed, exit the main loop. This step is because the readchar() function is used to read the keyboard all the time, so you can’t stop the code directly with Ctrl+C.
At this point, you can stop the code with Ctrl+C.