Drive the Thymio with a keyboard

Pymio.aesl

<!DOCTYPE aesl-source>
<network>


<!--list of global events-->
<event size="8" name="utimateLed"/>


<!--list of constants-->


<!--show keywords state-->
<keywords flag="true"/>


<!--node thymio-II-->
<node nodeId="1" name="thymio-II">onevent utimateLed
	call leds.circle(event.args[0], event.args[1], event.args[2], event.args[3], event.args[4], event.args[5], event.args[6], event.args[7])

onevent rc5
	if rc5.command==32 then
		motor.left.target = 200
		motor.right.target = 200
	end
	if rc5.command==33 then
		motor.left.target = -200
		motor.right.target = -200
	end
	if rc5.command==37 then
		motor.left.target = 0
		motor.right.target = 0
	end</node>


</network>

thymio.py

import dbus
import dbus.mainloop.glib
import gobject
import sys
import pygame
import pygame.locals
import os

# Use the following to start the serial service:
# asebamedulla "ser:device=/dev/ttyACM0"

proxSensorsVal=[0,0,0,0,0]

ledLoop = 0
direction = 1

prevSpeedLeft = 0
prevSpeedRight = 0
 
def Braitenberg():
    global ledLoop
    global direction
    global prevSpeedLeft
    global prevSpeedRight

    leftSpeed = 0
    rightSpeed = 0

    # get key current state
    pygame.event.get()
    keys = pygame.key.get_pressed()
    if keys[pygame.locals.K_UP]:
        leftSpeed += 100
        rightSpeed += 100
        direction = 1
    if keys[pygame.locals.K_DOWN]:
        leftSpeed -= 150
        rightSpeed -= 150
        direction = -1
    if keys[pygame.locals.K_LEFT]:
        rightSpeed += 200 * direction
    if keys[pygame.locals.K_RIGHT]:
        leftSpeed += 200 * direction

    #send motor value to the robot
    if leftSpeed != prevSpeedLeft:
        network.SetVariable("thymio-II", "motor.left.target", [leftSpeed])
        prevSpeedLeft = leftSpeed
    if rightSpeed != prevSpeedRight:
        network.SetVariable("thymio-II", "motor.right.target", [rightSpeed])
        prevSpeedRight = rightSpeed

    ledState = [0,0,0,0,0,0,0,0]

    for i in range(0, 8):
        if ledLoop == i:
            ledState[i] = 32
        elif (ledLoop - 1) % 8 == i or (ledLoop + 1) % 8 == i:
            ledState[i] = 16
        elif (ledLoop - 2) % 8 == i or (ledLoop + 2) % 8 == i:
            ledState[i] = 5

    network.SendEventName('utimateLed', ledState)

    ledLoop = (ledLoop + direction) % 8
 
    return True

if __name__ == '__main__':
    dbus.mainloop.glib.DBusGMainLoop(set_as_default=True)
    bus = dbus.SessionBus()
 
    #Create Aseba network 
    network = dbus.Interface(bus.get_object('ch.epfl.mobots.Aseba', '/'), dbus_interface='ch.epfl.mobots.AsebaNetwork')
 
    #print in the terminal the name of each Aseba NOde
    print network.GetNodesList()

    network.LoadScripts(os.getcwd() + '/Pymio.aesl')

    pygame.init()
    screen = pygame.display.set_mode((200, 200))
 
    #GObject loop
    print 'starting loop'
    loop = gobject.MainLoop()
    #call the callback of Braitenberg algorithm
    handle = gobject.timeout_add (100, Braitenberg) #every 0.1 sec
    loop.run()