projector

mini_bdx_runtime/mini_bdx_runtime/projector.py

@@ -0,0 +1,29 @@
+import RPi.GPIO as GPIO
+import time
+
+PROJECTOR_GPIO = 25
+
+class Projector:
+    def __init__(self):
+        GPIO.setmode(GPIO.BCM)
+        GPIO.setwarnings(False)
+        GPIO.setup(PROJECTOR_GPIO, GPIO.OUT)
+
+        GPIO.output(PROJECTOR_GPIO, GPIO.LOW)
+        self.on = False
+
+    def switch(self):
+        self.on = not self.on
+
+        if self.on:
+            GPIO.output(PROJECTOR_GPIO, GPIO.HIGH)
+        else:
+            GPIO.output(PROJECTOR_GPIO, GPIO.LOW)
+
+
+if __name__ == "__main__":
+    p = Projector()
+    while True:
+
+        p.switch()
+        time.sleep(1)

scripts/head_puppet.py

@@ -8,10 +8,19 @@ import time
 import pygame
 import numpy as np
 
+
+from mini_bdx_runtime.sounds import Sounds
+from mini_bdx_runtime.antennas import Antennas
+from mini_bdx_runtime.projector import Projector
+
+sounds = Sounds(volume=1.0, sound_directory="../mini_bdx_runtime/assets/")
+antennas = Antennas()
+
 eyes = Eyes()
+projector = Projector()
 hwi = HWI()
 
-kps = [16] * 14
+kps = [8] * 14
 kds = [0] * 14
 
 hwi.set_kps(kps)
@@ -36,13 +45,29 @@ l_x = 0
 l_y = 0
 r_x = 0
 r_y = 0
+left_trigger = 0
+right_trigger = 0
 while True:
+    X_pressed = False
+    A_pressed = False
+
     for event in pygame.event.get():
         l_x = round(_p1.get_axis(0), 3)
         l_y = round(_p1.get_axis(1), 3)
         r_x = round(_p1.get_axis(2), 3)
         r_y = round(_p1.get_axis(3), 3)
 
+
+        right_trigger = np.around((_p1.get_axis(4) + 1) / 2, 3)
+        left_trigger = np.around((_p1.get_axis(5) + 1) / 2, 3)
+
+        if _p1.get_button(0):  # A button
+            A_pressed = True
+
+
+        if _p1.get_button(3):  # X button
+            X_pressed = True
+
     # print("l_x", l_x)
     # print("l_y", l_y)
     # print("r_x", r_x)
@@ -73,5 +98,14 @@ while True:
     hwi.set_position("neck_pitch", neck_pitch_pos_rad)
 
 
+    antennas.set_position_left(right_trigger)
+    antennas.set_position_right(left_trigger)
+
+    if X_pressed:
+        sounds.play_random_sound()
+    if A_pressed:
+        projector.switch()
+
+
     pygame.event.pump()  # process event queue
     time.sleep(1/60)

scripts/v2_rl_walk_mujoco.py

@@ -15,6 +15,7 @@ from mini_bdx_runtime.feet_contacts import FeetContacts
 from mini_bdx_runtime.eyes import Eyes
 from mini_bdx_runtime.sounds import Sounds
 from mini_bdx_runtime.antennas import Antennas
+from mini_bdx_runtime.projector import Projector
 
 joints_order = [
     "left_hip_yaw",
@@ -84,6 +85,7 @@ class RLWalk:
         )
 
         self.eyes = Eyes()
+        self.projector = Projector()
 
         self.feet_contacts = FeetContacts()
 
@@ -229,6 +231,7 @@ class RLWalk:
 
                 if X_pressed:
                     self.sounds.play_random_sound()
+                    self.projector.switch()
 
                 self.antennas.set_position_left(right_trigger)
                 self.antennas.set_position_right(left_trigger)