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The Problem :
Setup up Alexa voice service and Alexa Skill :
Lego Machine Code
Thanks
Read morehave you ever seen this mess in your room ? Now is the time to change it :D
with Alexa and Lego Mindstorms Ev3 i build a T-shirt Folding machine that can be controlled with voice to fold your shirts , let's check it out
Demo :follow missions 1 and 3 to setup Alexa then use the code provided to follow along
- Create Alexa skill
- Choose custom skill and Alexa-Hosted (Node.js)
- Choose hello world template , click create skill then wait it finishes
- paste the interaction model here
{
"interactionModel": {
"languageModel": {
"invocationName": "tshirt folder",
"intents": [
{
"name": "AMAZON.CancelIntent",
"samples": []
},
{
"name": "AMAZON.HelpIntent",
"samples": []
},
{
"name": "AMAZON.StopIntent",
"samples": []
},
{
"name": "AMAZON.NavigateHomeIntent",
"samples": []
},
{
"name": "FoldIntent",
"slots": [],
"samples": [
"fold the t-shirt",
"fold my tshirt",
"fold my t-shirt",
"fold the tshirt",
"fold",
"start",
"start folding"
]
}
],
"types": []
}
}
}
- save and build the model
- enable custom interface controller and save
- upload the skill code and click deploy
- this is the function which called from Alexa intent and control the 3 motors to rotate and return back to their original position after folding the tshirt
- copy the 2 files main.py and main.ini with the id and secret created in alexa voice service in the first step to the ev3 block and run the code
the ev3 comes with 3 motors one of them is medium motor which have less power than the other 2 , in my first design i used the 2 strong motors on the sides and in the middle the medium one but it couldn't lift the t-shirt efficiently so i switched their places as this picture and it worked
{
"interactionModel": {
"languageModel": {
"invocationName": "tshirt folder",
"intents": [
{
"name": "AMAZON.CancelIntent",
"samples": []
},
{
"name": "AMAZON.HelpIntent",
"samples": []
},
{
"name": "AMAZON.StopIntent",
"samples": []
},
{
"name": "AMAZON.NavigateHomeIntent",
"samples": []
},
{
"name": "FoldIntent",
"slots": [],
"samples": [
"fold the t-shirt",
"fold my tshirt",
"fold my t-shirt",
"fold the tshirt",
"fold",
"start",
"start folding"
]
}
],
"types": []
}
}
}
/*
* Copyright 2019 Amazon.com, Inc. or its affiliates. All Rights Reserved.
*
* You may not use this file except in compliance with the terms and conditions
* set forth in the accompanying LICENSE.TXT file.
*
* THESE MATERIALS ARE PROVIDED ON AN "AS IS" BASIS. AMAZON SPECIFICALLY DISCLAIMS, WITH
* RESPECT TO THESE MATERIALS, ALL WARRANTIES, EXPRESS, IMPLIED, OR STATUTORY, INCLUDING
* THE IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND NON-INFRINGEMENT.
*/
// This skill sample demonstrates how to send directives and receive events from an Echo connected gadget.
// This skill uses the Alexa Skills Kit SDK (v2). Please visit https://alexa.design/cookbook for additional
// examples on implementing slots, dialog management, session persistence, api calls, and more.
const Alexa = require('ask-sdk-core');
const Util = require('./util');
const Common = require('./common');
// The namespace of the custom directive to be sent by this skill
const NAMESPACE = 'Custom.Mindstorms.Gadget';
// The name of the custom directive to be sent this skill
const NAME_CONTROL = 'control';
const LaunchRequestHandler = {
canHandle(handlerInput) {
return Alexa.getRequestType(handlerInput.requestEnvelope) === 'LaunchRequest';
},
handle: async function(handlerInput) {
const request = handlerInput.requestEnvelope;
const { apiEndpoint, apiAccessToken } = request.context.System;
const apiResponse = await Util.getConnectedEndpoints(apiEndpoint, apiAccessToken);
if ((apiResponse.endpoints || []).length === 0) {
return handlerInput.responseBuilder
.speak(`I couldn't find an EV3 Brick connected to this Echo device. Please check to make sure your EV3 Brick is connected, and try again.`)
.getResponse();
}
// Store the gadget endpointId to be used in this skill session
const endpointId = apiResponse.endpoints[0].endpointId || [];
Util.putSessionAttribute(handlerInput, 'endpointId', endpointId);
// Set skill duration to 5 minutes (ten 30-seconds interval)
Util.putSessionAttribute(handlerInput, 'duration', 10);
// Set the token to track the event handler
const token = handlerInput.requestEnvelope.request.requestId;
Util.putSessionAttribute(handlerInput, 'token', token);
let speechOutput = "Welcome to The T-Shirt Folding Machine";
return handlerInput.responseBuilder
.speak(speechOutput )
.addDirective(Util.buildStartEventHandler(token,60000, {}))
.getResponse();
}
};
const FoldIntentHandler = {
canHandle(handlerInput) {
return Alexa.getRequestType(handlerInput.requestEnvelope) === 'IntentRequest'
&& Alexa.getIntentName(handlerInput.requestEnvelope) === 'FoldIntent';
},
handle: function (handlerInput) {
const attributesManager = handlerInput.attributesManager;
const endpointId = attributesManager.getSessionAttributes().endpointId || [];
// Construct the directive with the payload containing the fold command
const directive = Util.build(endpointId, NAMESPACE, NAME_CONTROL,
{
type: 'fold'
});
return handlerInput.responseBuilder
.speak("Folding your T-shirt")
.addDirective(directive)
.getResponse();
}
};
const ExpiredRequestHandler = {
canHandle(handlerInput) {
return Alexa.getRequestType(handlerInput.requestEnvelope) === 'CustomInterfaceController.Expired'
},
handle(handlerInput) {
console.log("== Custom Event Expiration Input ==");
// Set the token to track the event handler
const token = handlerInput.requestEnvelope.request.requestId;
Util.putSessionAttribute(handlerInput, 'token', token);
const attributesManager = handlerInput.attributesManager;
let duration = attributesManager.getSessionAttributes().duration || 0;
if (duration > 0) {
Util.putSessionAttribute(handlerInput, 'duration', --duration);
// Extends skill session
}
else {
// End skill session
return handlerInput.responseBuilder
.speak("Skill duration expired. Goodbye.")
.withShouldEndSession(true)
.getResponse();
}
}
};
// The SkillBuilder acts as the entry point for your skill, routing all request and response
// payloads to the handlers above. Make sure any new handlers or interceptors you've
// defined are included below. The order matters - they're processed top to bottom.
exports.handler = Alexa.SkillBuilders.custom()
.addRequestHandlers(
LaunchRequestHandler,
FoldIntentHandler,
ExpiredRequestHandler,
Common.HelpIntentHandler,
Common.CancelAndStopIntentHandler,
Common.SessionEndedRequestHandler,
Common.IntentReflectorHandler, // make sure IntentReflectorHandler is last so it doesn't override your custom intent handlers
)
.addRequestInterceptors(Common.RequestInterceptor)
.addErrorHandlers(
Common.ErrorHandler,
)
.lambda();
/*
* Copyright 2019 Amazon.com, Inc. or its affiliates. All Rights Reserved.
*
* You may not use this file except in compliance with the terms and conditions
* set forth in the accompanying LICENSE.TXT file.
*
* THESE MATERIALS ARE PROVIDED ON AN "AS IS" BASIS. AMAZON SPECIFICALLY DISCLAIMS, WITH
* RESPECT TO THESE MATERIALS, ALL WARRANTIES, EXPRESS, IMPLIED, OR STATUTORY, INCLUDING
* THE IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND NON-INFRINGEMENT.
*/
'use strict'
const Alexa = require('ask-sdk-core');
const HelpIntentHandler = {
canHandle(handlerInput) {
return Alexa.getRequestType(handlerInput.requestEnvelope) === 'IntentRequest'
&& Alexa.getIntentName(handlerInput.requestEnvelope) === 'AMAZON.HelpIntent';
},
handle(handlerInput) {
const speakOutput = 'You can say hello to me! How can I help?';
return handlerInput.responseBuilder
.speak(speakOutput)
.reprompt(speakOutput)
.getResponse();
}
};
const CancelAndStopIntentHandler = {
canHandle(handlerInput) {
return Alexa.getRequestType(handlerInput.requestEnvelope) === 'IntentRequest'
&& (Alexa.getIntentName(handlerInput.requestEnvelope) === 'AMAZON.CancelIntent'
|| Alexa.getIntentName(handlerInput.requestEnvelope) === 'AMAZON.StopIntent');
},
handle(handlerInput) {
const speakOutput = 'Goodbye!';
return handlerInput.responseBuilder
.speak(speakOutput)
.getResponse();
}
};
const SessionEndedRequestHandler = {
canHandle(handlerInput) {
return Alexa.getRequestType(handlerInput.requestEnvelope) === 'SessionEndedRequest';
},
handle(handlerInput) {
// Any cleanup logic goes here.
return handlerInput.responseBuilder.getResponse();
}
};
// The intent reflector is used for interaction model testing and debugging.
// It will simply repeat the intent the user said. You can create custom handlers
// for your intents by defining them above, then also adding them to the request
// handler chain below.
const IntentReflectorHandler = {
canHandle(handlerInput) {
return Alexa.getRequestType(handlerInput.requestEnvelope) === 'IntentRequest';
},
handle(handlerInput) {
const intentName = Alexa.getIntentName(handlerInput.requestEnvelope);
const speakOutput = `You just triggered ${intentName}`;
return handlerInput.responseBuilder
.speak(speakOutput)
.reprompt("I don't understand this command, try again")
.getResponse();
}
};
// Generic error handling to capture any syntax or routing errors. If you receive an error
// stating the request handler chain is not found, you have not implemented a handler for
// the intent being invoked or included it in the skill builder below.
const ErrorHandler = {
canHandle() {
return true;
},
handle(handlerInput, error) {
console.log(`~~~~ Error handled: ${error.stack}`);
const speakOutput = `Sorry, I had trouble doing what you asked. Please try again.`;
return handlerInput.responseBuilder
.speak(speakOutput)
.reprompt(speakOutput)
.getResponse();
}
};
// The request interceptor is used for request handling testing and debugging.
// It will simply log the request in raw json format before any processing is performed.
const RequestInterceptor = {
process(handlerInput) {
let { attributesManager, requestEnvelope } = handlerInput;
let sessionAttributes = attributesManager.getSessionAttributes();
// Log the request for debug purposes.
console.log(`=====Request==${JSON.stringify(requestEnvelope)}`);
console.log(`=========SessionAttributes==${JSON.stringify(sessionAttributes, null, 2)}`);
}
};
module.exports = {
HelpIntentHandler,
CancelAndStopIntentHandler,
SessionEndedRequestHandler,
IntentReflectorHandler,
ErrorHandler,
RequestInterceptor
};
{
"name": "agt-mindstorms",
"version": "1.1.0",
"description": "A sample skill demonstrating how to use AGT with Lego Mindstorms",
"main": "index.js",
"scripts": {
"test": "echo \"Error: no test specified\" && exit 1"
},
"author": "Amazon Alexa",
"license": "ISC",
"dependencies": {
"ask-sdk-core": "^2.6.0",
"ask-sdk-model": "^1.18.0",
"aws-sdk": "^2.326.0",
"request": "^2.81.0"
}
}
/*
* Copyright 2019 Amazon.com, Inc. or its affiliates. All Rights Reserved.
*
* You may not use this file except in compliance with the terms and conditions
* set forth in the accompanying LICENSE.TXT file.
*
* THESE MATERIALS ARE PROVIDED ON AN "AS IS" BASIS. AMAZON SPECIFICALLY DISCLAIMS, WITH
* RESPECT TO THESE MATERIALS, ALL WARRANTIES, EXPRESS, IMPLIED, OR STATUTORY, INCLUDING
* THE IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND NON-INFRINGEMENT.
*/
'use strict';
const Https = require('https');
/**
* Build a custom directive payload to the gadget with the specified endpointId
* @param {string} endpointId - the gadget endpoint Id
* @param {string} namespace - the namespace of the skill
* @param {string} name - the name of the skill within the scope of this namespace
* @param {object} payload - the payload data
* @see {@link https://developer.amazon.com/docs/alexa-gadgets-toolkit/send-gadget-custom-directive-from-skill.html#respond}
*/
exports.build = function (endpointId, namespace, name, payload) {
// Construct the custom directive that needs to be sent
// Gadget should declare the capabilities in the discovery response to
// receive the directives under the following namespace.
return {
type: 'CustomInterfaceController.SendDirective',
header: {
name: name,
namespace: namespace
},
endpoint: {
endpointId: endpointId
},
payload
};
};
/**
* A convenience routine to add the a key-value pair to the session attribute.
* @param handlerInput - the context from Alexa Service
* @param key - the key to be added
* @param value - the value be added
*/
exports.putSessionAttribute = function(handlerInput, key, value) {
const attributesManager = handlerInput.attributesManager;
let sessionAttributes = attributesManager.getSessionAttributes();
sessionAttributes[key] = value;
attributesManager.setSessionAttributes(sessionAttributes);
};
/**
* To get a list of all the gadgets that meet these conditions,
* Call the Endpoint Enumeration API with the apiEndpoint and apiAccessToken to
* retrieve the list of all connected gadgets.
*
* @param {string} apiEndpoint - the Endpoint API url
* @param {string} apiAccessToken - the token from the session object in the Alexa request
* @see {@link https://developer.amazon.com/docs/alexa-gadgets-toolkit/send-gadget-custom-directive-from-skill.html#call-endpoint-enumeration-api}
*/
exports.getConnectedEndpoints = function(apiEndpoint, apiAccessToken) {
// The preceding https:// need to be stripped off before making the call
apiEndpoint = (apiEndpoint || '').replace('https://', '');
return new Promise(((resolve, reject) => {
const options = {
host: apiEndpoint,
path: '/v1/endpoints',
method: 'GET',
headers: {
'Content-Type': 'application/json',
'Authorization': 'Bearer ' + apiAccessToken
}
};
const request = Https.request(options, (response) => {
response.setEncoding('utf8');
let returnData = '';
response.on('data', (chunk) => {
returnData += chunk;
});
response.on('end', () => {
resolve(JSON.parse(returnData));
});
response.on('error', (error) => {
reject(error);
});
});
request.end();
}));
};
# Copyright 2019 Amazon.com, Inc. or its affiliates. All Rights Reserved.
#
# You may not use this file except in compliance with the terms and conditions
# set forth in the accompanying LICENSE.TXT file.
#
# THESE MATERIALS ARE PROVIDED ON AN "AS IS" BASIS. AMAZON SPECIFICALLY DISCLAIMS, WITH
# RESPECT TO THESE MATERIALS, ALL WARRANTIES, EXPRESS, IMPLIED, OR STATUTORY, INCLUDING
# THE IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND NON-INFRINGEMENT.
[GadgetSettings]
amazonId = YOURamazonIdHERE
alexaGadgetSecret = YOURalexaGadgetSecretHere
[GadgetCapabilities]
Custom.Mindstorms.Gadget = 1.0
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