from distutils.core import setup

setup(name="Pygame Framework",
      version="0.1",
      description="Classes to facilitate the creation of pygame projects",
      author="Frank DeMarco",
      author_email="frank.s.demarco@gmail.com",
      url="http://usethematrixze.us",
      packages=["pgfw"],
      classifiers=["Development Status :: 2 - Pre-Alpha",
                  "Environment :: Plugins",
                  "Intended Audience :: Developers",
                  "License :: Public Domain",
                  "Programming Language :: Python :: 2.7"])
from time import sleep
from random import randint

from pgfw.Game import Game

# inheriting from Game allows you to customize your project
class SampleGame(Game):

    square_width = 30

    # update runs every frame, you can think of it as the mainloop
    def update(self):
        sleep(1)
        screen = self.get_screen()
        bounds = screen.get_size()
        screen.fill((0, 0, 0))
        screen.fill((255, 255, 255),
                    (randint(0, bounds[0]), randint(0, bounds[1]),
                     self.square_width, self.square_width))


if __name__ == '__main__':
    # the play method begins the project's animation
    SampleGame().play()
from time import time as get_secs

from pygame import joystick as joy
from pygame.key import get_pressed
from pygame.locals import *

from GameChild import *

class Input(GameChild):

    def __init__(self, game):
        GameChild.__init__(self, game)
        self.last_mouse_down_left = None
        self.joystick = Joystick()
        self.delegate = self.get_delegate()
        self.load_configuration()
        self.set_any_press_ignore_list()
        self.unsuppress()
        self.subscribe_to_events()
        self.build_key_map()
        self.build_joy_button_map()

    def load_configuration(self):
        self.release_suffix = self.get_configuration("input", "release-suffix")
        self.key_commands = self.get_configuration().items("keys")
        self.double_click_time_limit = self.get_configuration(
            "mouse", "double-click-time-limit")

    def set_any_press_ignore_list(self):
        self.any_press_ignored = set(["capture-screen", "toggle-fullscreen",
                                      "reset-game", "record-video", "quit",
                                      "mute", "toggle-interpolator"])
        self.any_press_ignored_keys = set()

    def unsuppress(self):
        self.suppressed = False

    def subscribe_to_events(self):
        self.subscribe(self.translate_key, KEYDOWN)
        self.subscribe(self.translate_key, KEYUP)
        self.subscribe(self.translate_joy_button, JOYBUTTONDOWN)
        self.subscribe(self.translate_joy_button, JOYBUTTONUP)
        self.subscribe(self.translate_axis_motion, JOYAXISMOTION)
        self.subscribe(self.translate_mouse_input, MOUSEBUTTONDOWN)
        self.subscribe(self.translate_mouse_input, MOUSEBUTTONUP)

    def build_key_map(self):
        key_map = {}
        for command, keys in self.key_commands:
            key_map[command] = []
            if type(keys) == str:
                keys = [keys]
            for key in keys:
                key_map[command].append(globals()[key])
        self.key_map = key_map

    def build_joy_button_map(self):
        self.joy_button_map = self.get_configuration("joy")

    def suppress(self):
        self.suppressed = True

    def translate_key(self, event):
        if not self.suppressed:
            cancel = event.type == KEYUP
            posted = None
            key = event.key
            for cmd, keys in self.key_map.iteritems():
                if key in keys:
                    self.post_command(cmd, cancel=cancel)
                    posted = cmd
            if (not posted or posted not in self.any_press_ignored) and \
                   key not in self.any_press_ignored_keys:
                self.post_any_command(key, cancel)

    def post_command(self, cmd, **attributes):
        self.delegate.post(cmd, **attributes)

    def post_any_command(self, id, cancel=False):
        self.post_command("any", id=id, cancel=cancel)

    def translate_joy_button(self, event):
        if not self.suppressed:
            cancel = event.type == JOYBUTTONUP
            posted = None
            for command, button in self.joy_button_map.iteritems():
                if int(button) == event.button:
                    self.post_command(command, cancel=cancel)
                    posted = command
            if not posted or posted not in self.any_press_ignored:
                self.post_any_command(event.button, cancel)

    def translate_axis_motion(self, event):
        if not self.suppressed:
            axis = event.axis
            value = event.value
            if -.01 < value < .01:
                for command in "up", "right", "down", "left":
                    self.post_command(command, cancel=True)
                    if command not in self.any_press_ignored:
                        self.post_any_command(command, True)
            else:
                if axis == 1:
                    if value < 0:
                        command = "up"
                    elif value > 0:
                        command = "down"
                else:
                    if value > 0:
                        command = "right"
                    elif value < 0:
                        command = "left"
                self.post_command(command)
                if command not in self.any_press_ignored:
                    self.post_any_command(command)

    def is_command_active(self, command):
        if not self.suppressed:
            if self.is_key_pressed(command):
                return True
            joystick = self.joystick
            joy_map = self.joy_button_map
            if command in joy_map and joystick.get_button(joy_map[command]):
                return True
            if command == "up":
                return joystick.is_direction_pressed(Joystick.up)
            elif command == "right":
                return joystick.is_direction_pressed(Joystick.right)
            elif command == "down":
                return joystick.is_direction_pressed(Joystick.down)
            elif command == "left":
                return joystick.is_direction_pressed(Joystick.left)

    def is_key_pressed(self, command):
        poll = get_pressed()
        for key in self.key_map[command]:
            if poll[key]:
                return True

    def translate_mouse_input(self, event):
        button = event.button
        pos = event.pos
        post = self.post_command
        if event.type == MOUSEBUTTONDOWN:
            if button == 1:
                last = self.last_mouse_down_left
                if last:
                    limit = self.double_click_time_limit
                    if get_secs() - last < limit:
                        post("mouse-double-click-left", pos=pos)
                last = get_secs()
                self.last_mouse_down_left = last

    def get_axes(self):
        axes = {}
        for direction in "up", "right", "down", "left":
            axes[direction] = self.is_command_active(direction)
        return axes

    def register_any_press_ignore(self, *args, **attributes):
        self.any_press_ignored.update(args)
        self.any_press_ignored_keys.update(self.extract_keys(attributes))

    def extract_keys(self, attributes):
        keys = []
        if "keys" in attributes:
            keys = attributes["keys"]
            if type(keys) == int:
                keys = [keys]
        return keys

    def unregister_any_press_ignore(self, *args, **attributes):
        self.any_press_ignored.difference_update(args)
        self.any_press_ignored_keys.difference_update(
            self.extract_keys(attributes))


class Joystick:

    (up, right, down, left) = range(4)

    def __init__(self):
        js = None
        if joy.get_count() > 0:
            js = joy.Joystick(0)
            js.init()
        self.js = js

    def is_direction_pressed(self, direction):
        js = self.js
        if not js or direction > 4:
            return False
        if direction == 0:
            return js.get_axis(1) < 0
        elif direction == 1:
            return js.get_axis(0) > 0
        elif direction == 2:
            return js.get_axis(1) > 0
        elif direction == 3:
            return js.get_axis(0) < 0

    def get_button(self, id):
	if self.js:
	    return self.js.get_button(id)
3.238.118.27
3.238.118.27
3.238.118.27
 
January 23, 2021

I wanted to document this chat-controlled robot I made for Babycastles' LOLCAM📸 that accepts a predefined set of commands like a character in an RPG party 〰 commands like walk, spin, bash, drill. It can also understand donut, worm, ring, wheels, and more. The signal for each command is transmitted as a 24-bit value over infrared using two Arduinos, one with an infrared LED, and the other with an infrared receiver. I built the transmitter circuit, and the receiver was built into the board that came with the mBot robot kit. The infrared library IRLib2 was used to transmit and receive the data as a 24-bit value.


fig. 1.1: the LEDs don't have much to do with this post!

I wanted to control the robot the way the infrared remote that came with the mBot controlled it, but the difference would be that since we would be getting input from the computer, it would be like having a remote with an unlimited amount of buttons. The way the remote works is each button press sends a 24-bit value to the robot over infrared. Inspired by Game Boy Advance registers and tracker commands, I started thinking that if we packed multiple parameters into the 24 bits, it would allow a custom move to be sent each time, so I wrote transmitter and receiver code to process commands that looked like this:

bit
name
description
00
time
multiply by 64 to get duration of command in ms
01
02
03
04
left
multiply by 16 to get left motor power
05
06
07
08
right
multiply by 16 to get right motor power
09
10
11
12
left sign
0 = left wheel backward, 1 = left wheel forward
13
right sign
0 = right wheel forward, 1 = right wheel backward
14
robot id
0 = send to player one, 1 = send to player two
15
flip
negate motor signs when repeating command
16
repeats
number of times to repeat command
17
18
19
delay
multiply by 128 to get time between repeats in ms
20
21
22
23
swap
swap the motor power values on repeat
fig 1.2: tightly stuffed bits

The first command I was able to send with this method that seemed interesting was one that made the mBot do a wheelie.

$ ./send_command.py 15 12 15 1 0 0 0 7 0 1
sending 0xff871fcf...


fig 1.3: sick wheels

A side effect of sending the signal this way is any button on any infrared remote will cause the robot to do something. The star command was actually reverse engineered from looking at the code a random remote button sent. For the robot's debut, it ended up with 15 preset commands (that number is in stonks 📈). I posted a highlights video on social media of how the chat controls turned out.

This idea was inspired by a remote frog tank LED project I made for Ribbit's Frog World which had a similar concept: press a button, and in a remote location where 🐸 and 🐠 live, an LED would turn on.


fig 2.1: saying hi to froggo remotely using an LED

😇 The transmitter and receiver Arduino programs are available to be copied and modified 😇