Robot Dance - 1

05_09_carri_dance.ipynb
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Robot arm dance example with exciting music - 1

from pygame import mixer
import time
from Arm_Lib import Arm_Device

# register the robot arm as an object
Arm = Arm_Device()
time.sleep(.1)

Load Arm_Lib module and register the robot arm as an object

# Register ogg file
mixer.init(48000, 16, 2, 2048)
my_sound = mixer.Sound('music.ogg')
my_sound.set_volume(0.01)

Initialize the sound file

# Initialization
Arm.Arm_serial_servo_write6(90, 90, 90, 90, 90, 90, 1000)

Initialize the robot arm location

while(1):
    my_sound.play()
    # 1st move
    Arm.Arm_serial_servo_write(3, 0, 1500)
    time.sleep(.001)
    Arm.Arm_serial_servo_write(4, 180, 1500)
    time.sleep(.001)
    Arm.Arm_serial_servo_write(1, 0, 1500)
    time.sleep(5.5)
    # 2nd move
    Arm.Arm_serial_servo_write(1, 90, 500)
    time.sleep(1.5)
    # 3rd move
    Arm.Arm_serial_servo_write(1, 180, 500)
    time.sleep(1.5)
    # 4th move
    Arm.Arm_serial_servo_write(3, 90, 500)
    time.sleep(.001)
    Arm.Arm_serial_servo_write(4, 90, 500)
    time.sleep(1.5)
    # 5th move
    Arm.Arm_serial_servo_write(3, 0, 500)
    time.sleep(.001)
    Arm.Arm_serial_servo_write(4, 180, 500)
    time.sleep(1.5)
    # 6th move
    Arm.Arm_serial_servo_write(1, 90, 1000)
    time.sleep(1.5)
    # 7th move
    Arm.Arm_serial_servo_write(1, 0, 1000)
    time.sleep(1.5)
    my_sound.stop()
    break

Play the music and the dance at the same time

my_sound.stop()

Terminate sound

Arm.Arm_serial_servo_write(3, 0, 500)
time.sleep(.001)
Arm.Arm_serial_servo_write(4, 180, 500)

Arm.Arm_serial_servo_write(1, 0, 1000)

Arm.Arm_serial_servo_write6_array(joints_4, 1500)

Arm.Arm_serial_servo_write(3, 90, 500)
time.sleep(.001)
Arm.Arm_serial_servo_write(4, 90, 500)

Arm.Arm_serial_servo_write(3, 0, 500)
time.sleep(.001)
Arm.Arm_serial_servo_write(4, 180, 500)

Movement complete