A Python 3 package for Dancebots 🕺💃🤖.🎉✨
git clone https://github.com/r-oung/dancebots-python.git
pip install -e dancebots-python/To build from source:
python setup.py build
python setup.py installThe package uses librosa for reading MP3 files and beat detection, which means:
- If you don't plan to synchronize your compositions with music, then there shouldn't be any problem.
- If you are going to synchronize your composition with music, then you'll need to install ffmpeg or gstreamer. Refer to this link for installation hints.
import dancebots as db
from dancebots import Move
# Move the robot
move = Move()
move.forward(3) # move forward for 3 beats
move.backward(3) # move backward for 3 beats
move.left(2) # turn left for 2 beats
move.right(2) # turn right for 2 beats
# Print to sequence of moves
print(move)
# Build audio file
db.add(move) # add move
db.save("01_sample.wav") # save to disk
db.plot() # visualize the audio fileMore examples can be found in the examples folder.
A frame is the smallest unit in the Dancebot protocol. It contains all of the information necessary to drive the motors and LEDs. It consists of 3 bytes (or 24-bits):
[ -------------- FRAME -------------- ]
[ LEFT MOTOR | RIGHT MOTOR | LEDS ]
[ 8-bits | 8-bits | 8-bits ]
Each motor byte consists of 8-bits:
[ bit-0 | bit-1 | bit-2 | bit-3 | bit-4 | bit-5 | bit-6 | bit-7 ]
[ LSB ----------------- SPEED ----------------- MSB | DIRECTION ]
Bits 0-6 are for speed with LSB sent first; only decimal values of 0 to 100 are valid. The last bit is used for direction:
- Forward: 1
- Backward: 0
Frames are concatenated one after another, separated by a delimiter block, to form a bitstream.
[ FRAME ][ DELIMITER ][ FRAME ][ DELIMITER ] ... [ FRAME ][ DELIMITER ]
Bit representation is time-modulated (time between rising/falling edges) as follows:
| Type | Ticks | Interval (msec) |
|---|---|---|
| DELIMITER | > 5805 | > 0.725625 |
| 1 | 3367 - 5805 | 0.420875 - 0.725625 |
| 0 | < 3367 | < 0.420875 |
where 1 tick represents one period of the microcontroller's clock, which in this case is 1/(8 MHz). Note that there is a built-in watchdog timer that needs to be kicked every < 500 milliseconds, otherwise the motors will automatically turn off.
The following bit representation is used in this package:
| TYPE | Interval (msec) |
|---|---|
| DELIMITER | 2.0 |
| 1 | 0.6 |
| 0 | 0.2 |
The following (default configurations) are used:
Semantic versioning is used.
cd tests/
python -m unittest