Update InMoov2.full3.byGael.Langevin.1.py

home/hairygael/InMoov2.FingerStarter.with.voice.control.py

@@ -1,53 +1,70 @@
 #file : InMoov2.FingerStarter with voice control.py
 
-# this will run with versions of MRL 1.0.107
+# this will run with versions of MRL NIXIE
 # a very minimal script for InMoov
 # although this script is very short you can still
-# do voice control of a finger box
-# for any command which you say - you will be required to say a confirmation
-# e.g. you say -> open finger, InMoov will ask -> "Did you say open finger?", you will need to 
-# respond with a confirmation ("yes","correct","yeah","ya")
-#The "finger" is the index of the hand
+# do voice control of a finger servo
+#The "finger" is the index finger of the hand
 #index Arduino connection pin 3
 
-rightPort = "COM7"
+i01_right = runtime.start('i01.right', 'Arduino')
+i01_right.connect("COM9")
 
-i01 = Runtime.createAndStart("i01", "InMoov")
+i01 = Runtime.start("i01", "InMoov2")
 i01.startEar()
 #################
+i01_mouth = runtime.create('i01.mouth', 'MarySpeech')
+i01_mouth.setVoice('Mark')
 i01.startMouth()
-i01.mouth.setGoogleURI("http://thehackettfamily.org/Voice_api/api2.php?voice=Ryan&txt=")
 ##############
-i01.startRightHand(rightPort)
+i01_rightHand = Runtime.start("i01.rightHand", "InMoov2Hand")
 # tweaking defaults settings of right hand index
-i01.rightHand.index.setMinMax(0,180)
-i01.rightHand.index.map(0,180,35,140)
-
-# verbal commands
-ear = i01.ear
-
-ear.addCommand("attach right hand", "i01.rightHand", "attach")
-ear.addCommand("disconnect right hand", "i01.rightHand", "detach")
-ear.addCommand("attach finger", "i01.rightHand.index", "attach")
-ear.addCommand("disconnect finger", "i01.rightHand.index", "detach")
-ear.addCommand("open finger", "python", "fingeropen")
-ear.addCommand("close finger", "python", "fingerclose")
-ear.addCommand("finger to the middle", "python", "fingermiddle")
-ear.addCommand("rest", i01.getName(), "rest")
-ear.addCommand("capture gesture", ear.getName(), "captureGesture")
-ear.addCommand("manual", ear.getName(), "lockOutAllGrammarExcept", "voice control")
-ear.addCommand("voice control", ear.getName(), "clearLock")
-
-ear.addComfirmations("yes","correct","yeah","ya") 
-ear.addNegations("no","wrong","nope","nah")
-
-ear.startListening()
+i01_rightHand_index.map(0,180,35,140)
+i01_right.attach("i01.rightHand")
+##############
+i01.startChatBot()
+##############
+# verbal commands set in the chatbot
+##############
+# OPEN YOUR FINGER.
+# CLOSE YOUR FINGER.
+# FINGER TO THE MIDDLE.
+# ACTION YOUR FINGER.
+# OPEN HAND.
+# CLOSE HAND.
+# OPEN HANDS.
+# CLOSE HANDS.
+# OPEN YOUR RIGHT HAND.
+# OPEN YOUR LEFT HAND.
+# CLOSE YOUR RIGHT HAND.
+# CLOSE YOUR LEFT HAND.
+# SLOWLY CLOSE YOUR RIGHT HAND.
+
 
 def fingeropen():
-  i01.moveHand("right",0,0,0,0,0,0)
+  #i01.moveHand("right",0,0,0,0,0,0)
+  i01_rightHand_index.moveTo(0)
 
 def fingerclose():
-  i01.moveHand("right",0,180,0,0,0,0)
+  #i01.moveHand("right",0,180,0,0,0,0)
+  i01_rightHand_index.moveTo(180)
 
 def fingermiddle():
-  i01.moveHand("right",0,90,0,0,0,0)
+  #i01.moveHand("right",0,90,0,0,0,0)
+  i01_rightHand_index.moveTo(90)
+
+def fingeraction():
+   i01_rightHand_index.setSpeed(500)## High speed
+   i01_rightHand_index.moveTo(0)
+   sleep(1)
+   i01_rightHand_index.moveTo(180)
+   sleep(1)
+   i01_rightHand_index.moveTo(0)
+   sleep(1)
+   i01_rightHand_index.moveTo(180)
+   sleep(1)
+   i01_rightHand_index.moveTo(0)
+   sleep(1)
+   i01_rightHand_index.moveTo(180)
+   sleep(1)
+   i01_rightHand_index.moveTo(0)