.. note:: こんにちは、SunFounderのRaspberry Pi & Arduino & ESP32愛好家コミュニティへようこそ！Facebook上でRaspberry Pi、Arduino、ESP32についてもっと深く掘り下げ、他の愛好家と交流しましょう。 **参加する理由は？** - **エキスパートサポート**：コミュニティやチームの助けを借りて、販売後の問題や技術的な課題を解決します。 - **学び＆共有**：ヒントやチュートリアルを交換してスキルを向上させましょう。 - **独占的なプレビュー**：新製品の発表や先行プレビューに早期アクセスしましょう。 - **特別割引**：最新製品の独占割引をお楽しみください。 - **祭りのプロモーションとギフト**：ギフトや祝日のプロモーションに参加しましょう。 👉 私たちと一緒に探索し、創造する準備はできていますか？[|link_sf_facebook|]をクリックして今すぐ参加しましょう！ 2. 機能デモンストレーション =============================== このプロジェクトでは、PiDogの一般的な動作と音をすべて紹介します。シリアル番号を入力することで、PiDogに動作や音を出させることができます。現在この例に含まれている動作/音響効果は以下の通りです。 .. image:: img/py_2.gif .. list-table:: :widths: 25 25 :header-rows: 1 * - Actions: - Sound Effect: * - 1.stand - 16.angry * - 2.sit - 17.confused_1 * - 3.lie - 18.confused_2 * - 4.lie_with_hands_out - 19.confused_3 * - 5.trot - 20.growl_1 * - 6.forward - 21.growl_2 * - 7.backward - 22.howling * - 8.turn_left - 23.pant * - 9.turn_right - 24.single_bark_1 * - 10.doze_off - 25.single_bark_2 * - 11.stretch - 26.snoring * - 12.pushup - 27.woohoo * - 13.shake_head - * - 14.tilting_head - * - 15.wag_tail - **コードの実行** .. raw:: html .. code-block:: cd ~/pidog/examples sudo python3 2_function_demonstration.py この例を実行した後、 ``1`` と入力して ``ENTER`` キーを押すと、PiDogが立ち上がります； ``2`` と入力すると、PiDogが座ります； ``27`` と入力すると、PiDogが ``woohoo~`` と音を発します。プログラムを終了するには ``Ctrl+C`` を押します。 **コード** .. note:: 以下のコードを **変更/リセット/コピー/実行/停止** することができます。ただし、それにはまず ``pidog\examples`` のようなソースコードのパスに移動する必要があります。コードを変更した後、直接実行して効果を確認することができます。 .. raw:: html .. code-block:: python #!/usr/bin/env python3 from time import sleep from pidog import Pidog import os import curses import curses_utils # init pidog # ====================================== my_dog = Pidog() sleep(0.5) # global variables # ====================================== actions = [ # name, head_pitch_adjust(-1, use last_pitch), speed ['stand', 0, 50], ['sit', -30, 50], ['lie', 0, 20], ['lie_with_hands_out', 0, 20], ['trot', 0, 95], ['forward', 0, 98], ['backward', 0, 98], ['turn_left', 0, 98], ['turn_right', 0, 98], ['doze_off', -30, 90], ['stretch', 20, 20], ['push_up', -30, 50], ['shake_head', -1, 90], ['tilting_head', -1, 60], ['wag_tail', -1, 100], ] actions_len = len(actions) sound_effects = [] # change working directory abspath = os.path.abspath(os.path.dirname(__file__)) # print(abspath) os.chdir(abspath) for name in os.listdir('../sounds'): sound_effects.append(name.split('.')[0]) sound_effects.sort() sound_len = len(sound_effects) # limit sound quantity if sound_len > actions_len: sound_len = actions_len sound_effects = sound_effects[:actions_len] last_index = 0 last_display_index = 0 exit_flag = False last_head_pitch = 0 STANDUP_ACTIONS = ['trot', 'forward', 'backward', 'turn_left', 'turn_right'] # define pad size # ====================================== curses_utils.PAD_Y = 22 curses_utils.PAD_X = 70 # display fuctions # ====================================== def display_head(subpad): title = "Function Demonstration" tip1 = "Input Function number to see how it goes." tip2 = "Actions will repeat 10 times." type_name_1 = "Actions:" type_name_2 = "Sound Effect:" tip3 = "(need to run with sudo)" curses_utils.clear_line(subpad, 0, color=curses_utils.BLACK_BLUE) subpad.addstr(0, 2, title, curses_utils.BLACK_BLUE | curses.A_BOLD) subpad.addstr(1, 2, tip1, curses_utils.GRAY) subpad.addstr(2, 2, tip2, curses_utils.GRAY) curses_utils.clear_line(subpad, 3, color=curses_utils.WHITE_GRAY) subpad.addstr(3, 2, type_name_1, curses_utils.WHITE_GRAY) subpad.addstr(3, 30, type_name_2, curses_utils.WHITE_GRAY) subpad.addstr(3, 31+len(type_name_2), tip3, curses_utils.YELLOW_GRAY) def display_selection(subpad, index): global last_display_index # reset last selection if last_display_index > actions_len + sound_len-1 or last_display_index < 0: last_display_index = 0 if last_display_index != index: if last_display_index < actions_len: subpad.addstr(last_display_index, 2, f"{last_display_index+1}. {actions[last_display_index][0]}", curses_utils.LIGHT_GRAY) else: sound_index = last_display_index-actions_len subpad.addstr(sound_index, 30, f"{last_display_index+1}. {sound_effects[sound_index]}", curses_utils.LIGHT_GRAY) last_display_index = index # highlight currernt selection if index > actions_len + sound_len-1 or index < 0: pass elif index < actions_len: subpad.addstr(index, 2, f"{index+1}. {actions[index][0]}", curses_utils.WHITE_BLUE) else: sound_index = index-actions_len subpad.addstr(sound_index, 30, f"{index+1}. {sound_effects[sound_index]}", curses_utils.WHITE_BLUE) def display_actions(subpad): for i in range(actions_len): subpad.addstr(i, 2, f"{i+1}. {actions[i][0]}", curses_utils.LIGHT_GRAY) for i in range(sound_len): subpad.addstr(i, 30, f"{i+actions_len+1}. {sound_effects[i]}", curses_utils.LIGHT_GRAY) def display_bottom(subpad): curses_utils.clear_line(subpad, 0, color=curses_utils.WHITE_GRAY) subpad.addstr(0, 0, "Enter function number: ", curses_utils.WHITE_GRAY) subpad.addstr(0, curses_utils.PAD_X-16, "Ctrl^C to quit", curses_utils.WHITE_GRAY) def do_function(index): global last_index, last_head_pitch my_dog.body_stop() if index < 0: return if index < actions_len: name, head_pitch_adjust, speed = actions[index] # If last action is push_up, then lie down first if last_index < len(actions) and actions[last_index][0] in ('push_up'): last_head_pitch = 0 my_dog.do_action('lie', speed=60) # If this action is trot, forward, turn left, turn right and backward, and, last action is not, then stand up if name in STANDUP_ACTIONS and last_index < len(actions) and actions[last_index][0] not in STANDUP_ACTIONS: last_head_pitch = 0 my_dog.do_action('stand', speed=60) if head_pitch_adjust != -1: last_head_pitch = head_pitch_adjust my_dog.head_move_raw([[0, 0, last_head_pitch]], immediately=False, speed=60) my_dog.do_action(name, step_count=10, speed=speed, pitch_comp=last_head_pitch) last_index = index elif index < actions_len + sound_len: my_dog.speak(sound_effects[index - len(actions)], volume=80) last_index = index def main(stdscr): # reset screen stdscr.clear() stdscr.move(4, 0) stdscr.refresh() # disable cursor curses.curs_set(0) # init color curses.start_color() curses.use_default_colors() curses_utils.init_preset_colors() curses_utils.init_preset__color_pairs() # init pad pad = curses.newpad(curses_utils.PAD_Y, curses_utils.PAD_X) # init subpad head_pad = pad.subpad(4, curses_utils.PAD_X, 0, 0) selection_pad = pad.subpad(actions_len, curses_utils.PAD_X, 4, 0) bottom_pad = pad.subpad(1, curses_utils.PAD_X, actions_len+4, 0) # add content to a display_head(head_pad) display_actions(selection_pad) display_head(head_pad) curses_utils.pad_refresh(pad) curses_utils.pad_refresh(selection_pad) # for i in range(2): # for i in range(30): # display_selection(selection_pad, i) # curses_utils.pad_refresh(selection_pad) # sleep(0.1) # enable cursor and echo curses.curs_set(0) curses.echo() while True: # draw bottom bar display_bottom(bottom_pad) curses_utils.pad_refresh(bottom_pad) # reset cursor stdscr.move(actions_len+4, 23) stdscr.refresh() # red key key = stdscr.getstr() try: index = int(key) - 1 except ValueError: index = -1 # display selection display_selection(selection_pad, index) curses_utils.pad_refresh(selection_pad) # do fuction do_function(index) sleep(0.2) if __name__ == "__main__": try: curses.wrapper(main) except KeyboardInterrupt: pass except Exception as e: print(f"\033[31mERROR: {e}\033[m") finally: my_dog.close()