本科毕业设计NAO机器人程序.zip

# -*- encoding: UTF-8 -*- """ Say 'hello, you' each time a human face is detected """ import sys import time import thread import math from naoqi import ALProxy from naoqi import ALBroker from naoqi import ALModule from optparse import OptionParser NAO_IP = "192.168.1.102" # Global variable to store the HumanGreeter module instance HumanGreeter = None memory = None class HumanGreeterModule(ALModule): """ A simple module able to react to facedetection events """ def __init__(self, name): ALModule.__init__(self, name) self.tts = ALProxy("ALTextToSpeech") global memory memory = ALProxy("ALMemory") global motion motion= ALProxy("ALMotion") global postureProxy postureProxy = ALProxy("ALRobotPosture") global proxyLed proxyLed = ALProxy("ALLeds") global FaceTracker FaceTracker = ALProxy("ALFaceTracker") global aup aup = ALProxy("ALAudioPlayer") global sonarProxy sonarProxy = ALProxy("ALSonar") memory.subscribeToEvent("FaceDetected", "HumanGreeter", "onFaceDetected") def face( self,threadName, delay): if threadName=="Thread-1": #proxyLed.fadeRGB("FaceLeds",0x00CD6600,2) motion.wakeUp() names = "RArm" angleLists = [0.216, 0.005, 2.086, 1.545, -0.955, 1] times = 0.6 isAbsolute = True motion.angleInterpolation(names, angleLists, times, isAbsolute) #time.sleep(delay) angleLists = [0.304, -0.002, 1.051, 1.525, -0.977,1] motion.angleInterpolation(names, angleLists, times, isAbsolute) angleLists = [0.216, 0.005, 2.086, 1.545, -0.955, 1] motion.angleInterpolation(names, angleLists, times, isAbsolute) time.sleep(delay) names = "LArm" motion.setStiffnesses("LArm", 1.0) motion.setStiffnesses("RArm", 1.0) angleLists =[ 0.969, -0.208, -0.75, -1.496, -0.813,0.8] times = 1.0 isAbsolute = True motion.angleInterpolation(names, angleLists, times, isAbsolute) #time.sleep(delay) angleLists= [0.977, -0.314, -1.639, -1.07, -0.815,1] motion.angleInterpolation(names, angleLists, times, isAbsolute) time.sleep(0.5) names ="RArm" angleLists =[1.031, -0.108, 0.688, 1.545, 0.269,0.93] times = 1 isAbsolute = True motion.angleInterpolation(names, angleLists, times, isAbsolute) angleLists = [1.091, 0.147, 1.798, 1.122, 0.387,1] motion.angleInterpolation(names, angleLists, times, isAbsolute) time.sleep(0.5) angleLists = [1.531, -0.082, 2.084, 0.164, 0.016,1] motion.angleInterpolation(names, angleLists, times, isAbsolute) names = "LArm" angleLists = [1.051, -0.134, -1.627, -1.115, 0.133,1] motion.angleInterpolation(names, angleLists, times, isAbsolute) self.tts.say("握个手吧") memory.subscribeToEvent("HandLeftRightTouched", "HumanGreeter", "onHandLeftRightTouched") else: self.tts.say("你好,很高興見到你") time.sleep(delay) self.tts.say("我的名字,叫闹") time.sleep(0.2) self.tts.say("我是一个机器人") proxyLed.fadeRGB("FaceLeds",0x005CACEE,2) memory.subscribeToEvent("FrontTactilTouched", "HumanGreeter", "onFrontTactilTouched") def hand( self,threadName, delay): if threadName=="Thread-3": names = "LArm" angleLists = [1.496, 0.103, -1.705, -0.264, -0.508,0.8] times = 1 isAbsolute = True motion.angleInterpolation(names, angleLists, times, isAbsolute) time.sleep(0.5) times = 0.7 for i in range(2): angleLists =[-0.852, 0.201, -0.754, -1.33, -0.672,0.9] motion.angleInterpolation(names, angleLists, times, isAbsolute) angleLists =[-0.785, 0.557, -0.855, -1.422, -0.614,0.9] motion.angleInterpolation(names, angleLists, times, isAbsolute) names = "LArm" motion.setStiffnesses("LArm", 1.0) motion.setStiffnesses("RArm", 1.0) angleLists =[ 0.969, -0.208, -0.75, -1.496, -0.813,0.8] times = 1.0 isAbsolute = True motion.angleInterpolation(names, angleLists, times, isAbsolute) #time.sleep(delay) angleLists= [0.977, -0.314, -1.639, -1.07, -0.815,1] motion.angleInterpolation(names, angleLists, times, isAbsolute) time.sleep(0.5) angleLists = [1.496, 0.103, -1.705, -0.264, -0.508,0.8] motion.angleInterpolation(names, angleLists, times, isAbsolute) else: time.sleep(3) self.tts.say("你摸摸我头") time.sleep(0.5) self.tts.say("我会跟你走") def hand2( self,threadName, delay): if threadName=="Thread-5": names = "LArm" motion.setStiffnesses("LArm", 1.0) isAbsolute = True time.sleep(0.5) times = 0.7 for i in range(2): angleLists =[-0.852, 0.201, -0.754, -1.33, -0.672,0.9] motion.angleInterpolation(names, angleLists, times, isAbsolute) angleLists =[-0.785, 0.557, -0.855, -1.422, -0.614,0.9] motion.angleInterpolation(names, angleLists, times, isAbsolute) angleLists =[ 0.969, -0.208, -0.75, -1.496, -0.813,0.8] times = 1.0 isAbsolute = True motion.angleInterpolation(names, angleLists, times, isAbsolute) angleLists= [0.977, -0.314, -1.639, -1.07, -0.815,1] motion.angleInterpolation(names, angleLists, times, isAbsolute) time.sleep(0.5) else: time.sleep(1) self.tts.say("你再摸摸我头") time.sleep(1) self.tts.say("我会跳舞") memory.subscribeToEvent("MiddleTactilTouched", "HumanGreeter", "onMiddleTactilTouched") def dance(self,threadName, delay): if threadName=="Thread-7": #fileId = aup.loadFile("/var/persistent/home/nao/1.mp3") #aup.play(fileId) pass else: motion.wakeUp() postureProxy.goToPosture("StandInit", 0.7) '''#titui footStepsList = [] footStepsList.append([["LLeg"], [[0.06, 0.1, 0.0]]]) footStepsList.append([["LLeg"], [[0.00, 0.16, 0.0]]]) footStepsList.append([["RLeg"], [[0.00, -0.1, 0.0]]]) footStepsList.append([["LLeg"], [[0.00, 0.16, 0.0]]]) footStepsList.append([["RLeg"], [[-0.04, -0.1, 0.0]]]) footStepsList.append([["RLeg"], [[0.00, -0.16, 0.0]]]) footStepsList.append([["LLeg"], [[0.00, 0.1, 0.0]]]) footStepsList.append([["RLeg"], [[0.00, -0.16, 0.0]]]) stepFrequency = 0.4 clearExisting = False nbStepDance = 3# defined the number of cycle to make for j in range( nbStepDance ): for i in range( len(footStepsList) ): motion.setFootStepsWithSpeed( footStepsList[i][0], footStepsList[i][1], [stepFrequency], clearExisting) isEnabled = True motion.wbEnable(isEnabled) #xiugaitou names = "Head" times = 0.5 isAbsolute = Tr