Jake the Junkbot

import RPi.GPIO as GPIO
import time as time
import os
import Adafruit_PCA9685
import sys

import RPi.GPIO as GPIO
import time
import pygame

GPIO.setmode(GPIO.BCM)
GPIO.setup(26,GPIO.LOW)
GPIO.setup(19,GPIO.LOW)

pwm = Adafruit_PCA9685.PCA9685()

headMid = 350
headRight = 250
headleft = 500
headChannel = 3

rightArmMid = 400
rightArmDown = 150
rightArmUp = 600
rightArmChannel = 2

leftArmMid = 400
leftArmDown = 600
leftArmUp = 150
leftArmChannel = 1

# Set frequency to 60hz, good for servos.
pwm.set_pwm_freq(60)

# Helper function to make setting a servo pulse width simpler.
def set_servo_pulse(channel, pulse):

    pulse_length = 1000000    # 1,000,000 us per second
    pulse_length //= 60       # 60 Hz
    print('{0}us per period'.format(pulse_length))
    pulse_length //= 4096     # 12 bits of resolution
    print('{0}us per bit'.format(pulse_length))
    pulse *= 1000
    pulse //= pulse_length
    pwm.set_pwm(channel, 0, pulse)

def allOff():

    pwm.set_pwm(headChannel, 0, 0)
    pwm.set_pwm(leftArmChannel, 0, 0)
    pwm.set_pwm(rightArmChannel, 0, 0)
 
def testHead():

    pwm.set_pwm(headChannel, 0, headRight)
    time.sleep(0.5)
    pwm.set_pwm(headChannel, 0, 0)

    time.sleep(2)

    pwm.set_pwm(headChannel, 0, headMid)
    time.sleep(0.5)
    pwm.set_pwm(headChannel, 0, 0)

    time.sleep(2)

    pwm.set_pwm(headChannel, 0, headleft)
    time.sleep(0.5)
    pwm.set_pwm(headChannel, 0, 0)

    time.sleep(2)

    pwm.set_pwm(headChannel, 0, headMid)
    time.sleep(0.8)
    pwm.set_pwm(headChannel, 0, 0)

def testRightArm():

    pwm.set_pwm(rightArmChannel, 0, rightArmUp)
    time.sleep(0.8)
    pwm.set_pwm(rightArmChannel, 0, rightArmDown)
    time.sleep(0.4)
    pwm.set_pwm(rightArmChannel, 0, 0)

def testLeftArm():

    pwm.set_pwm(leftArmChannel, 0, leftArmUp)
    time.sleep(0.8)
    pwm.set_pwm(leftArmChannel, 0, leftArmDown)
    time.sleep(0.4)
    pwm.set_pwm(leftArmChannel, 0, 0)

def alive():

    pygame.mixer.music.load(open("/home/pi/Desktop/Robot/sounds/alive.mp3", "rb"))
    pygame.mixer.music.play()

    while pygame.mixer.music.get_busy():
        time.sleep(1)

    pwm.set_pwm(leftArmChannel, 0, leftArmUp)
    pwm.set_pwm(rightArmChannel, 0, rightArmUp)

    pwm.set_pwm(leftArmChannel, 0, leftArmDown)
    pwm.set_pwm(rightArmChannel, 0, rightArmDown)
    time.sleep(0.8)
    allOff()

def dance():

    pygame.mixer.music.load(open("/home/pi/Desktop/Robot/sounds/dance.mp3", "rb"))
    pygame.mixer.music.play()


    for x in range(0,7):

        pwm.set_pwm(leftArmChannel, 0, leftArmUp)
        pwm.set_pwm(rightArmChannel, 0, rightArmDown)

        pwm.set_pwm(headChannel, 0, headleft)
        time.sleep(0.8)
        pwm.set_pwm(headChannel, 0, 0)

        pwm.set_pwm(leftArmChannel, 0, leftArmDown)
        pwm.set_pwm(rightArmChannel, 0, rightArmUp)

        pwm.set_pwm(headChannel, 0, headRight)
        time.sleep(0.8)
        allOff()

    pwm.set_pwm(headChannel, 0, headMid)
    time.sleep(0.8)
    pwm.set_pwm(headChannel, 0, 0)

def hey():

    pygame.mixer.music.load(open("/home/pi/Desktop/Robot/sounds/hey.mp3", "rb"))
    pygame.mixer.music.play()

    time.sleep(0.2)
    pwm.set_pwm(rightArmChannel, 0, rightArmUp)
    time.sleep(0.8)
    pwm.set_pwm(rightArmChannel, 0, rightArmDown)
    time.sleep(0.4)
    pwm.set_pwm(rightArmChannel, 0, 0)
    allOff()

def moveForward():
    GPIO.output(26, GPIO.LOW)
    GPIO.output(19, GPIO.LOW)

def moveLeft():
    GPIO.output(26, GPIO.LOW)

def moveRight():
    GPIO.output(19, GPIO.LOW)

def stop():
    GPIO.output(26, GPIO.HIGH)
    GPIO.output(19, GPIO.HIGH)

stop()

pygame.init()

# sets the window title
pygame.display.set_caption(u'Keyboard events')

# sets the window size
pygame.display.set_mode((400, 400))

pygame.mixer.init()

alive()
pwm.set_pwm(headChannel, 0, headMid)
pwm.set_pwm(rightArmChannel, 0, rightArmDown)
pwm.set_pwm(leftArmChannel, 0, leftArmDown)

while True:
    for event in pygame.event.get():


        if event.type in (pygame.KEYDOWN, pygame.KEYUP):

            key_name = pygame.key.name(event.key)
            key_name = key_name.upper()

            if event.type == pygame.KEYDOWN:
            # prints on the console the key pressed
                print (u'"{}" key pressed'.format(key_name))

                if key_name =="UP":
                    moveForward()

                elif key_name == "RIGHT":
                    moveRight()

                elif key_name == "LEFT":
                    moveLeft()

                elif key_name == "[*]":
                    dance()
                elif key_name == "[/]":
                    hey()
                elif key_name == "ENTER":
                    pygame.quit()
                    GPIO.cleanup()
                    break

            elif event.type == pygame.KEYUP:

                if key_name =="UP":
                    stop()
                elif key_name == "RIGHT":
                    stop()
                elif key_name == "LEFT":
                    stop()


GPIO.cleanup()