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Updated to work with the GoPiGo3 #16

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50 changes: 27 additions & 23 deletions GoPiGoConnectome.py
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Original file line number Diff line number Diff line change
@@ -1,10 +1,14 @@
# GoPiGo Connectome
# Written by Timothy Busbice, Gabriel Garrett, Geoffrey Churchill (c) 2014, in Python 2.7
# Modified by John Cole in 2019 to work with Python 3.x and the GoPiGo3
# The GoPiGo Connectome uses a Postsynaptic dictionary based on the C Elegans Connectome Model
# This application can be ran on the Raspberry Pi GoPiGo robot with a Sonar that represents Nose Touch when activated
# To run standalone without a GoPiGo robot, simply comment out the sections with Start and End comments
## Start Comment
from gopigo import *
from easygopigo3 import EasyGoPiGo3 # importing the EasyGoPiGo3 class
gpg = EasyGoPiGo3() # instantiating a EasyGoPiGo3 object
gpg.reset_all() # Unconfigure the sensors, disable the motors, and restore the LED to the control of the GoPiGo3 firmware.
my_distance_sensor = gpg.init_distance_sensor()
## End Comment
import time

Expand Down Expand Up @@ -4801,42 +4805,42 @@ def motorcontrol():
new_speed = 150
elif new_speed < 75:
new_speed = 75
print "Left: ", accumleft, "Right:", accumright, "Speed: ", new_speed
print("Left: ", accumleft, "Right:", accumright, "Speed: ", new_speed)
## Start Commented section
set_speed(new_speed)
gpg.set_speed(new_speed)
if accumleft == 0 and accumright == 0:
stop()
gpg.stop()
elif accumright <= 0 and accumleft < 0:
set_speed(150)
gpg.set_speed(150)
turnratio = float(accumright) / float(accumleft)
# print "Turn Ratio: ", turnratio
if turnratio <= 0.6:
left_rot()
gpg.left()
time.sleep(0.8)
elif turnratio >= 2:
right_rot()
gpg.right()
time.sleep(0.8)
bwd()
gpg.backward()
time.sleep(0.5)
elif accumright <= 0 and accumleft >= 0:
right_rot()
gpg.right()
time.sleep(.8)
elif accumright >= 0 and accumleft <= 0:
left_rot()
gpg.left()
time.sleep(.8)
elif accumright >= 0 and accumleft > 0:
turnratio = float(accumright) / float(accumleft)
# print "Turn Ratio: ", turnratio
if turnratio <= 0.6:
left_rot()
gpg.left()
time.sleep(0.8)
elif turnratio >= 2:
right_rot()
gpg.right()
time.sleep(0.8)
fwd()
gpg.forward()
time.sleep(0.5)
else:
stop()
gpg.stop()
## End Commented section
accumleft = 0
accumright = 0
Expand Down Expand Up @@ -4872,8 +4876,8 @@ def runconnectome():
# Create the dictionary
createpostsynaptic()
dist=0
set_speed(120)
print "Voltage: ", volt()
gpg.set_speed(120)
print("Voltage: ", gpg.volt())
tfood = 0
try:
### Here is where you would put in a method to stimulate the neurons ###
Expand All @@ -4883,13 +4887,13 @@ def runconnectome():
while True:
## Start comment - use a fixed value if you want to stimulte nose touch
## use something like "dist = 27" if you want to stop nose stimulation
dist = us_dist(15)
dist = my_distance_sensor.read_mm()
## End Comment

#Do we need to switch states at the end of each loop? No, this is done inside the runconnectome()
#function, called inside each loop.
if dist>0 and dist<30:
print "OBSTACLE (Nose Touch)", dist
if dist>0 and dist<100:
print("OBSTACLE (Nose Touch)", dist)
dendriteAccumulate("FLPR")
dendriteAccumulate("FLPL")
dendriteAccumulate("ASHL")
Expand All @@ -4903,8 +4907,8 @@ def runconnectome():
runconnectome()
else:
if tfood < 2:
print "FOOD"
print (thisState)
print("FOOD")
print(thisState)
dendriteAccumulate("ADFL")
dendriteAccumulate("ADFR")
dendriteAccumulate("ASGR")
Expand All @@ -4925,6 +4929,6 @@ def runconnectome():
## Start Comment
stop()
## End Comment
print "Ctrl+C detected. Program Stopped!"
print("Ctrl+C detected. Program Stopped!")
for pscheck in postsynaptic:
print (pscheck,' ',postsynaptic[pscheck][0],' ',postsynaptic[pscheck][1])
print(pscheck,' ',postsynaptic[pscheck][0],' ',postsynaptic[pscheck][1])
75 changes: 44 additions & 31 deletions connectome.py
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,5 +1,6 @@
# GoPiGo Connectome
# Written by Timothy Busbice, Gabriel Garrett, Geoffrey Churchill (c) 2014, in Python 2.7
# Modified by John Cole in 2019 to work with Python 3.x and the GoPiGo3
# The GoPiGo Connectome uses a postSynaptic dictionary based on the C Elegans Connectome Model
# This application can be ran on the Raspberry Pi GoPiGo robot with a Sonar that represents Nose Touch when activated
# To run standalone without a GoPiGo robot, simply comment out the sections with Start and End comments
Expand All @@ -21,10 +22,13 @@
disembodied = parser.parse_args().disembodied
verbosity = parser.parse_args().verbose

print "Running on Robot: " + str(not disembodied)
print("Running on Robot: " + str(not disembodied))

if not disembodied:
from gopigo import fwd, bwd, left_rot, right_rot, stop, set_speed, us_dist, volt
# from gopigo import , bwd, left_rot, right_rot, stop, set_speed, us_dist, volt
from easygopigo3 import EasyGoPiGo3 # importing the EasyGoPiGo3 class
gpg = EasyGoPiGo3() # instantiating a EasyGoPiGo3 object
my_distance_sensor = gpg.init_distance_sensor()

import time
import copy
Expand All @@ -40,6 +44,9 @@
thisState = 0
nextState = 1

dist=0
tfood = 0

# The Threshold is the maximum sccumulated value that must be exceeded before
# the Neurite will fire
threshold = 30
Expand Down Expand Up @@ -4827,48 +4834,48 @@ def motorcontrol():

# We turn the wheels according to the motor weight accumulation
new_speed = abs(accumleft) + abs(accumright)
if new_speed > 150:
new_speed = 150
if new_speed > 300:
new_speed = 300
elif new_speed < 75:
new_speed = 75
if verbosity > 1:
print "Left: ", accumleft, "Right:", accumright, "Speed: ", new_speed
print("Left: ", accumleft, "Right:", accumright, "Speed: ", new_speed)

if not disembodied:
set_speed(new_speed)
gpg.set_speed(new_speed)
if accumleft == 0 and accumright == 0:
stop()
gpg.stop()
elif accumright <= 0 and accumleft < 0:
set_speed(150)
gpg.set_speed(300)
turnratio = float(accumright) / float(accumleft)
# print "Turn Ratio: ", turnratio
if turnratio <= 0.6:
left_rot()
gpg.left() # left_rot()
time.sleep(0.8)
elif turnratio >= 2:
right_rot()
gpg.right() # right_rot()
time.sleep(0.8)
bwd()
gpg.backward()
time.sleep(0.5)
elif accumright <= 0 and accumleft >= 0:
right_rot()
gpg.right() # right_rot()
time.sleep(.8)
elif accumright >= 0 and accumleft <= 0:
left_rot()
gpg.left() # left_rot()
time.sleep(.8)
elif accumright >= 0 and accumleft > 0:
turnratio = float(accumright) / float(accumleft)
# print "Turn Ratio: ", turnratio
if turnratio <= 0.6:
left_rot()
gpg.left() # left_rot()
time.sleep(0.8)
elif turnratio >= 2:
right_rot()
gpg.right() # right_rot()
time.sleep(0.8)
fwd()
gpg.forward() # fwd()
time.sleep(0.5)
else:
stop()
gpg.stop() # stop()

accumleft = 0
accumright = 0
Expand Down Expand Up @@ -4918,33 +4925,40 @@ def runconnectome():
# Create the dictionary
createpostSynaptic()

dist=0

if not disembodied:
set_speed(120)
print "Voltage: ", volt()
gpg.set_speed(250)
print("Voltage: ", gpg.volt())


tfood = 0

def main():
"""Here is where you would put in a method to stimulate the neurons
We stimulate chemosensory neurons constantly unless nose touch
(sonar) is stimulated and then we fire nose touch neurites.
"""


tfood = 0

while True:
# print("GOING!")

if not disembodied:
dist = us_dist(15)
# dist = us_dist(15)
print("Distance Sensor Reading: {} mm ".format(my_distance_sensor.read_mm()))
dist = my_distance_sensor.read_mm()


else:
# use a fixed value if you want to stimulte nose touch
# use something like "dist = 27" if you want to stop nose stimulation
dist = 27

# Do we need to switch states at the end of each loop? No, this is done inside the runconnectome()
# function, called inside each loop.
if dist>0 and dist<30:
if dist>0 and dist < 100:
# if dist < 50:
if verbosity > 0:
print "OBSTACLE (Nose Touch)", dist
print("OBSTACLE (Nose Touch)", dist)
dendriteAccumulate("FLPR")
dendriteAccumulate("FLPL")
dendriteAccumulate("ASHL")
Expand All @@ -4959,7 +4973,7 @@ def main():
else:
if tfood < 2:
if verbosity > 0:
print "FOOD"
print("FOOD")
dendriteAccumulate("ADFL")
dendriteAccumulate("ADFR")
dendriteAccumulate("ASGR")
Expand All @@ -4978,15 +4992,14 @@ def keyboard_interrupt_handler(a, b):
"""Use CNTRL-C to stop the program."""

if not disembodied:
stop()
gpg.stop()

print "Ctrl+C detected. Program Stopped!"
print("Ctrl+C detected. Program Stopped!")
for pscheck in postSynaptic:
print (pscheck,' ',postSynaptic[pscheck][0],' ',postSynaptic[pscheck][1])

sys.exit(0)

if __name__ == '__main__':
signal.signal(signal.SIGINT, keyboard_interrupt_handler)
main()

main()
15 changes: 8 additions & 7 deletions disembodiedConnectome.py
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,5 +1,6 @@
# GoPiGo Connectome
# Written by Timothy Busbice, Gabriel Garrett, Geoffrey Churchill (c) 2014, in Python 2.7
# Modified by John Cole in 2019 to work with Python 3.x and the GoPiGo3
# The GoPiGo Connectome uses a postSynaptic dictionary based on the C Elegans Connectome Model
# This application can be ran on the Raspberry Pi GoPiGo robot with a Sonar that represents Nose Touch when activated
# To run standalone without a GoPiGo robot, simply comment out the sections with Start and End comments
Expand Down Expand Up @@ -4805,9 +4806,9 @@ def motorcontrol():
accumleft += postSynaptic[muscle][nextState]
#accumleft = accumleft + postSynaptic[muscle][thisState] #what??? For some reason, thisState weight is always 0.
#postSynaptic[muscle][thisState] = 0
print muscle, "Before", postSynaptic[muscle][thisState], accumleft #Both states have to be set to 0 once the muscle is fired, or
print(muscle, "Before", postSynaptic[muscle][thisState], accumleft) #Both states have to be set to 0 once the muscle is fired, or
postSynaptic[muscle][nextState] = 0
print muscle, "After", postSynaptic[muscle][thisState], accumleft # it will keep returning beyond the threshold within one iteration.
print(muscle, "After", postSynaptic[muscle][thisState], accumleft) # it will keep returning beyond the threshold within one iteration.
elif muscle in mRight:
accumright += postSynaptic[muscle][nextState]
#accumleft = accumright + postSynaptic[muscle][thisState] #what???
Expand All @@ -4820,7 +4821,7 @@ def motorcontrol():
new_speed = 150
elif new_speed < 75:
new_speed = 75
print "Left: ", accumleft, "Right:", accumright, "Speed: ", new_speed
print("Left: ", accumleft, "Right:", accumright, "Speed: ", new_speed)
accumleft = 0
accumright = 0
## Start Commented section
Expand Down Expand Up @@ -4907,7 +4908,7 @@ def runconnectome():
createpostSynaptic()
dist=0
#set_speed(120)
print "Voltage: "#, volt()
print("Voltage: ")#, volt())
tfood = 0
try:
### Here is where you would put in a method to stimulate the neurons ###
Expand All @@ -4922,7 +4923,7 @@ def runconnectome():
#Do we need to switch states at the end of each loop? No, this is done inside the runconnectome()
#function, called inside each loop.
if dist>0 and dist<30:
print "OBSTACLE (Nose Touch)", dist
print("OBSTACLE (Nose Touch)", dist )
dendriteAccumulate("FLPR")
dendriteAccumulate("FLPL")
dendriteAccumulate("ASHL")
Expand All @@ -4936,7 +4937,7 @@ def runconnectome():
runconnectome()
else:
if tfood < 2:
print "FOOD"
print("FOOD")
dendriteAccumulate("ADFL")
dendriteAccumulate("ADFR")
dendriteAccumulate("ASGR")
Expand All @@ -4956,7 +4957,7 @@ def runconnectome():
## Start Comment
#stop()
## End Comment
print "Ctrl+C detected. Program Stopped!"
print("Ctrl+C detected. Program Stopped!")
for pscheck in postSynaptic:
print (pscheck,' ',postSynaptic[pscheck][0],' ',postSynaptic[pscheck][1])

Expand Down
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