private static bool IsNao(string ip)
{
TextToSpeechProxy proxy = new TextToSpeechProxy(ip, 9559);
proxy.say("Connected");
return(true);
}
public void Startposition(RobotPostureProxy rpp, TextToSpeechProxy tts)
{
try
{
rpp.goToPosture("StandZero", 1);
tts.say("Herzlich Willkommen zum Spiel.");
}
catch (Exception e)
{
Console.WriteLine("Startposition Fehler" + e.Message);
}
}
static void Main(string[] args)
{
TextToSpeechProxy tts = new TextToSpeechProxy("192.168.100.4", 9559);
tts.say("Koko");
}
private void Button_Click_1(object sender, RoutedEventArgs e)
{
//Initialize the motion proxy using the text in the ipBox
MotionProxy mp = new MotionProxy(ipBox.Text, 9559);
//Initialize the text to speech proxy using the text in the ipBox
ttsp = new TextToSpeechProxy(ipBox.Text, 9559);
//Initialize the robots posture proxy using the text in the ipBox
RobotPostureProxy rpp = new RobotPostureProxy(ipBox.Text, 9559);
//Wakes the robot up, tells the robot to stand and say hello
mp.wakeUp();
rpp.goToPosture("StandInit", .5f);
ttsp.say("Hola");
//Sets up lighting of the camera with a white color and directs it in the appropriate direction
DirectionalLight DirLight1 = new DirectionalLight();
DirLight1.Color = Colors.White;
DirLight1.Direction = new Vector3D(1, 1, 1);
//Setting up the camera so that the picture we see is in a good position
PerspectiveCamera Camera1 = new PerspectiveCamera();
Camera1.FarPlaneDistance = 16000;
Camera1.NearPlaneDistance = 10;
//Zoomed in with a 45 degree field of view
Camera1.FieldOfView = 45;
//50 mm away from the point cloud and centered in the middle
Camera1.Position = new Point3D(320, 240, -50);
//Flips the camera so that we see everything right side up
Camera1.LookDirection = new Vector3D(0, 0, 1);
Camera1.UpDirection = new Vector3D(0, -1, 0);
//Creates a new model 3D group to hold the sets of 3D models
Model3DGroup modelGroup = new Model3DGroup();
//builds the 3D model
int i = 0;
for (int y = 0; y < 480; y += pointDen)
{
for (int x = 0; x < 640; x += pointDen)
{
points[i] = Triangle(x, y, pointDen);
points[i].Transform = new TranslateTransform3D(0, 0, 0);
modelGroup.Children.Add(points[i]);
i++;
}
}
//Adds the directional light to the model group
modelGroup.Children.Add(DirLight1);
ModelVisual3D modelsVisual = new ModelVisual3D();
modelsVisual.Content = modelGroup;
Viewport3D myViewport = new Viewport3D();
myViewport.IsHitTestVisible = false;
myViewport.Camera = Camera1;
myViewport.Children.Add(modelsVisual);
canvas1.Children.Add(myViewport);
myViewport.Height = canvas1.Height;
myViewport.Width = canvas1.Width;
Canvas.SetTop(myViewport, 0);
Canvas.SetLeft(myViewport, 0);
sensor = KinectSensor.KinectSensors[0];
sensor.DepthStream.Enable(DepthImageFormat.Resolution640x480Fps30);
sensor.DepthFrameReady += DepthFrameReady;
sensor.Start();
}
public void sendToNAO(string input)
{
tts.say(input);
}
static void Main(string[] args)
{
bool guessed = false;
// used to determine if the user has guessed the right number
int wordAsInt = -1;
// used to translate recongized word in to an integer value
List<string> words = new List<string>();
// create list of words to sent to Nao bot
// Create a connection to the text to speech engine on the Nao bot
TextToSpeechProxy tts = new TextToSpeechProxy("172.28.78.228", 9559);
// Create a connection to the speech recognition on the Nao bot
SpeechRecognitionProxy speechR = new SpeechRecognitionProxy("172.28.78.228",
9559);
// create connection to robot memory
MemoryProxy m = new MemoryProxy("172.28.78.228", 9559);
// random number generator
Random rnd = new Random();
// generates number between 1‐5
int rndNum = rnd.Next(6);
// check for rndNum being 0
if(rndNum == 0)
{
wordAsInt++;
}
// add words we want recognized to word list
words.Add("one");
words.Add("two");
words.Add("three");
words.Add("four");
words.Add("five");
speechR.setVocabulary(words, false); // send the word list to robot
Console.WriteLine("Guessing game running on NAO");
// loop until number is guessed
while (!guessed)
{
// user instructions
tts.say("I have picked a number between one and five, try to guess it");
System.Threading.Thread.Sleep(1500); // wait 1.5 seconds
speechR.subscribe("Main", 50, 50); // Start speech recognition engine
System.Threading.Thread.Sleep(5000); // wait 5 seconds
speechR.unsubscribe("Main"); // stop speech recognition engine
// get lastwordrecognized from memory
object wordObj = m.getData("LastWordRecognized");
string word = (string)((ArrayList)wordObj)[0];
// convert word to a integer
switch (word)
{
case "one":
wordAsInt = 1;
break;
case "two":
wordAsInt = 2;
break;
case "three":
wordAsInt = 3;
break;
case "four":
wordAsInt = 4;
break;
case "five":
wordAsInt = 5;
break;
default:
wordAsInt = -1;
break;
}
// if else block to determine if user guessed too high, too low, or correctly
if (wordAsInt > rndNum)
{
tts.say("You guessed too high");
}
else if (wordAsInt == rndNum)
{
tts.say("You guessed correctly!");
guessed = true;
}
else if (wordAsInt < rndNum)
{
tts.say("You guessed too low");
}
// debug output
Console.WriteLine("/nNumber guessed was ");
Console.Write(word);
Console.WriteLine("/n Actual number is ");
Console.Write(rndNum);
}
}
public void speak(String context)
{
tts = new TextToSpeechProxy(this.ip, 9559);
tts.say(context);
}
private static bool IsNao(string ip)
{
TextToSpeechProxy proxy = new TextToSpeechProxy(ip, 9559);
proxy.say("Connected");
return true;
}
static void Main(string[] args)
{
TextToSpeechProxy tts = new TextToSpeechProxy("<IP OF YOUR ROBOT>", 9559);
tts.say("Hello World");
}
private void Button_Click_1(object sender, RoutedEventArgs e)
{
//Initialize the motion proxy using the text in the ipBox
MotionProxy mp = new MotionProxy(ipBox.Text, 9559);
//Initialize the text to speech proxy using the text in the ipBox
ttsp = new TextToSpeechProxy(ipBox.Text, 9559);
//Initialize the robots posture proxy using the text in the ipBox
RobotPostureProxy rpp = new RobotPostureProxy(ipBox.Text, 9559);
//Wakes the robot up, tells the robot to stand and say hello
mp.wakeUp();
rpp.goToPosture("StandInit", .5f);
ttsp.say("Hola");
//Sets up lighting of the camera with a white color and directs it in the appropriate direction
DirectionalLight DirLight1 = new DirectionalLight();
DirLight1.Color = Colors.White;
DirLight1.Direction = new Vector3D(1, 1, 1);
//Setting up the camera so that the picture we see is in a good position
PerspectiveCamera Camera1 = new PerspectiveCamera();
Camera1.FarPlaneDistance = 16000;
Camera1.NearPlaneDistance = 10;
//Zoomed in with a 45 degree field of view
Camera1.FieldOfView = 45;
//50 mm away from the point cloud and centered in the middle
Camera1.Position = new Point3D(320, 240, -50);
//Flips the camera so that we see everything right side up
Camera1.LookDirection = new Vector3D(0, 0, 1);
Camera1.UpDirection = new Vector3D(0, -1, 0);
//Creates a new model 3D group to hold the sets of 3D models
Model3DGroup modelGroup = new Model3DGroup();
//builds the 3D model
int i = 0;
for (int y = 0; y < 480; y += pointDen)
{
for (int x = 0; x < 640; x += pointDen)
{
points[i] = Triangle(x, y, pointDen);
points[i].Transform = new TranslateTransform3D(0, 0, 0);
modelGroup.Children.Add(points[i]);
i++;
}
}
//Adds the directional light to the model group
modelGroup.Children.Add(DirLight1);
ModelVisual3D modelsVisual = new ModelVisual3D();
modelsVisual.Content = modelGroup;
Viewport3D myViewport = new Viewport3D();
myViewport.IsHitTestVisible = false;
myViewport.Camera = Camera1;
myViewport.Children.Add(modelsVisual);
canvas1.Children.Add(myViewport);
myViewport.Height = canvas1.Height;
myViewport.Width = canvas1.Width;
Canvas.SetTop(myViewport, 0);
Canvas.SetLeft(myViewport, 0);
sensor = KinectSensor.KinectSensors[0];
sensor.DepthStream.Enable(DepthImageFormat.Resolution640x480Fps30);
sensor.DepthFrameReady += DepthFrameReady;
sensor.Start();
}
static void Main(string[] args)
{
TextToSpeechProxy tts = new TextToSpeechProxy("<IP OF YOUR ROBOT>", 9559);
tts.say("Hello World");
}
public void speak(String context)
{
tts = new TextToSpeechProxy("128.208.4.225", 9559);
tts.say(context);
}
static void Main(string[] args)
{
string mIp = "127.0.0.1";
//string mIp = "192.168.1.134";
int mPort = 9559;
GamePadState state;
state = GamePad.GetState(PlayerIndex.One);
MotionProxy motion = new MotionProxy(mIp, mPort);
Console.WriteLine("MotionProxy connecté à {0}:{1}", mIp, mPort);
TextToSpeechProxy tts = new TextToSpeechProxy(mIp, mPort);
Console.WriteLine("TextToSpeechProxy connecté à {0}:{1}", mIp, mPort);
RobotPostureProxy posture = new RobotPostureProxy(mIp,mPort);
Console.WriteLine("RobotPostureProxy connecté à {0}:{1}", mIp, mPort);
tts.setLanguage("French");
motion.setStiffnesses("Body", 1f);
Console.WriteLine();
Console.WriteLine("En attente de connection de la manette");
while (!state.IsConnected)
{
state = GamePad.GetState(PlayerIndex.One);
}
Console.WriteLine("Manette connectée");
Object[] headJoints = { "HeadYaw", "HeadPitch" };
Object[] rshoulderJoints = { "RShoulderRoll", "RShoulderPitch" };
Object[] lelbowJoints = { "LElbowYaw", "LElbowRoll" };
Object[] handsJoints = { "LHand", "RHand" };
Object[] handAngles = new Object[2];
Object[] Angles = new Object[2];
float horizontal = 0f;
float parallel = 0f;
float theta = 0f;
float percentMaxSpeed = 0.5f;
while (state.IsConnected && state.Buttons.Back == ButtonState.Released )
{
state = GamePad.GetState(PlayerIndex.One);
if (state.Buttons.A == ButtonState.Pressed)
{
tts.setLanguage("French");
tts.say("Bonjour");
}
if(state.Buttons.B == ButtonState.Pressed)
{
tts.setLanguage("English");
tts.say("Hello");
}
if (state.Buttons.X == ButtonState.Pressed) posture.goToPosture("Crouch", 1f) ;
if (state.Buttons.Y == ButtonState.Pressed) posture.goToPosture("Stand", 1f);
if (state.Buttons.Start == ButtonState.Pressed) posture.goToPosture("StandZero", 1f);
if (state.DPad.Up == ButtonState.Pressed) posture.goToPosture("LyingBelly", 1f);
if (state.DPad.Down == ButtonState.Pressed) posture.goToPosture("LyingBack", 1f);
if (state.DPad.Left == ButtonState.Pressed) posture.goToPosture("SitRelax", 1f);
if (state.DPad.Right == ButtonState.Pressed) posture.goToPosture("Sit", 1f);
float modX = 1.75f;
float modY = 2f;
Angles = new Object[] { -state.ThumbSticks.Right.X * modX, -state.ThumbSticks.Right.Y * modY };
if (state.ThumbSticks.Left.Y <= -0.1f || state.ThumbSticks.Left.Y >= 0.1f)
horizontal = state.ThumbSticks.Left.Y;
else horizontal = 0f;
if (state.ThumbSticks.Left.X <= -0.1f || state.ThumbSticks.Left.X >= 0.1f)
theta = -state.ThumbSticks.Left.X;
else theta = 0f;
if (state.Triggers.Left >= 0.1f)
parallel = state.Triggers.Left;
else if (state.Buttons.LeftShoulder == ButtonState.Pressed)
parallel = -state.Triggers.Right;
else parallel = 0f;
handAngles = new Object[] {
state.Buttons.LeftShoulder == ButtonState.Pressed ? 0f : 1f,
state.Buttons.RightShoulder == ButtonState.Pressed ? 0f : 1f
};
motion.move(horizontal, parallel, theta);
//motion.setAngles(rshoulderJoints, Angles, percentMaxSpeed);
motion.setAngles(headJoints, Angles, percentMaxSpeed);
//motion.setAngles(lelbowJoints, Angles, percentMaxSpeed);
motion.setAngles(handsJoints, handAngles, 1f);
}
}
static void bicara()
{
TextToSpeechProxy tts = new TextToSpeechProxy("167.205.66.80", 9559);
tts.say("Hallo buddy");
}
