# Codey onboard blueprint controller generated by codeyx # A = next blueprint, B = previous blueprint, C = return to idle import codey import rocky import event import time import json EYES = '00003c7e7e3c000000003c7e7e3c0000' BLINK_WIDE = '0000183c3c1800000000183c3c180000' BLINK_MID = '0000181c1c1800000000181c1c180000' BLINK_THIN = '00001018181000000000101818100000' BLINK_TINY = '00000808080800000000080808080000' LOOK_L = '003c7e7e3c00000000003c7e7e3c000000' LOOK_R = '0000003c7e7e3c00000000003c7e7e3c' HAPPY = '000024247e7e3c00000024247e7e3c0000' SAD = '00003c7e7e24000000003c7e7e24000000' WARN = '0018181818180018000018181818180018' OK = '00000002060c18000000180c0602000000' THINK = '0000001818000000000018180000181800' SMALL = '0000181c1c1800000000181c1c180000' ANGRY = '00003c1e0e0400000000040e1e3c0000' SHY = '000c18181c0c000000000c1c18180c00' BLUEPRINTS = [ 'ack', 'hello', 'ready', 'think', 'curious', 'notify', 'success', 'celebrate', 'wow', 'laugh', 'warn', 'error', 'angry', 'sad', 'sleepy', 'bored', 'dizzy', 'screaming', 'fear', 'thank_you', 'bye' ] SOUNDS = [ 'hello.wav', 'hi.wav', 'bye.wav', 'yeah.wav', 'wow.wav', 'laugh.wav', 'hum.wav', 'sad.wav', 'sigh.wav', 'annoyed.wav', 'angry.wav', 'surprised.wav', 'yummy.wav', 'curious.wav', 'embarrassed.wav', 'ready.wav', 'sprint.wav', 'sleepy.wav', 'meow.wav', 'start.wav', 'switch.wav', 'beeps.wav', 'buzzing.wav', 'exhaust.wav', 'explosion.wav', 'gotcha.wav', 'hurt.wav', 'jump.wav', 'laser.wav', 'level up.wav', 'low energy.wav', 'metal clash.wav', 'prompt tone.wav', 'right.wav', 'wrong.wav', 'ring.wav', 'score.wav', 'shot.wav', 'step_1.wav', 'step_2.wav', 'wake.wav', 'warning.wav' ] CONFIG = json.loads('{"movement":true,"movementSpeed":0.55,"sounds":true,"blueprints":{},"sensors":{"enabled":true,"shake":{"enabled":true,"blueprint":"dizzy","threshold":25,"cooldownMs":5000},"sound":{"enabled":true,"blueprint":"screaming","threshold":15,"cooldownMs":5000},"lift":{"enabled":true,"fearBlueprint":"fear","putDownBlueprint":"thank_you","lowAccel":4,"highAccel":22,"deltaAccel":10,"useFloorIr":true,"floorIrThreshold":20,"floorIrStableThreshold":60,"offFloorStableSeconds":0.6,"onFloorStableSeconds":1.0,"stableMin":7,"stableMax":13,"cooldownMs":5000,"putDownCooldownMs":1000}}}') index = 0 idle_i = 0 requested = None requested_sound = None seen_messages = {} current_blueprint = None last_sensor_at = {} lifted = False stable_since = 0 off_floor_since = 0 last_accel_total = 9.8 IDLE_FRAMES = [ (EYES, 1.7), (BLINK_MID, 0.06), (BLINK_TINY, 0.14), (BLINK_WIDE, 0.06), (EYES, 1.4), (LOOK_L, 0.65), (EYES, 1.8), (BLINK_THIN, 0.10), (EYES, 1.1), (LOOK_R, 0.65), ] def pressed_a(): return codey.button_a.is_pressed() def pressed_b(): return codey.button_b.is_pressed() def pressed_c(): return codey.button_c.is_pressed() def wait_release(): while pressed_a() or pressed_b() or pressed_c(): time.sleep(0.05) def interruptible_sleep(seconds): ticks = max(1, int(seconds / 0.05)) for _ in range(ticks): if pressed_a() or pressed_b() or pressed_c(): return True if current_blueprint is None: check_sensors() if requested or requested_sound: return True time.sleep(0.05) return False def led(r, g, b): codey.led.show(r, g, b) def face(img): codey.display.show_image(img) def notes(seq, dur=0.12): # pi-codey intentionally keeps reactions silent by default. # Preserve this helper as a no-op so older blueprint calls stay compatible. pass def bp_config(name): try: return CONFIG.get('blueprints', {}).get(name, {}) or {} except Exception: return {} def movement_enabled(name=None): if name is None: name = current_blueprint try: return bool(bp_config(name).get('movement', CONFIG.get('movement', True))) except Exception: return True def sounds_enabled(name=None): if name is None: name = current_blueprint try: return bool(bp_config(name).get('sounds', CONFIG.get('sounds', True))) except Exception: return True def movement_speed(name=None): if name is None: name = current_blueprint try: speed = float(bp_config(name).get('movementSpeed', CONFIG.get('movementSpeed', 0.55))) if speed < 0: speed = 0 if speed > 1: speed = 1 return speed except Exception: return 0.55 def scaled_speed(speed): return max(1, int(speed * movement_speed())) def sound_name(name, default): value = bp_config(name).get('sound', default) if value is None or value is False or value == '': return None if value in SOUNDS or (value + '.wav') in SOUNDS: return value return default def sensor_config(name): try: sensors = CONFIG.get('sensors', {}) or {} if not sensors.get('enabled', True): return None item = sensors.get(name, {}) or {} if not item.get('enabled', True): return None return item except Exception: return None def sensor_ready(name, cooldown_ms): now = time.time() last = last_sensor_at.get(name, 0) if (now - last) * 1000 < cooldown_ms: return False last_sensor_at[name] = now return True def accel_total(): try: x = codey.motion_sensor.get_acceleration('x') y = codey.motion_sensor.get_acceleration('y') z = codey.motion_sensor.get_acceleration('z') return abs(x) + abs(y) + abs(z) except Exception: return 9.8 def floor_ir(): try: return rocky.color_ir_sensor.get_reflected_infrared() except Exception: return None def melody(name, fallback=None): # Use Codey's built-in wave files, but avoid synthetic beep/note fallbacks. if current_blueprint and not sounds_enabled(current_blueprint): return try: codey.speaker.play_melody(name) except Exception: pass def blueprint_melody(blueprint, default): name = sound_name(blueprint, default) if name: melody(name) def wiggle(speed=25, duration=0.18): if not movement_enabled(): return speed = scaled_speed(speed) try: rocky.forward(speed, duration); time.sleep(0.05) rocky.backward(speed, duration); time.sleep(0.05) rocky.stop() except Exception: pass def rotate(direction=1, speed=28, duration=0.22): if not movement_enabled(): return speed = scaled_speed(speed) try: rocky.drive(speed if direction >= 0 else -speed, -speed if direction >= 0 else speed) time.sleep(duration); rocky.stop() except Exception: try: if direction >= 0: rocky.turn_right(speed, duration) else: rocky.turn_left(speed, duration) rocky.stop() except Exception: pass def nod(speed=18): wiggle(speed, 0.10) def shake(speed=20): rotate(1, speed, 0.10); rotate(-1, speed, 0.10) def idle_once(): global idle_i led(0, 60, 180) img, delay = IDLE_FRAMES[idle_i] idle_i = (idle_i + 1) % len(IDLE_FRAMES) face(img) interruptible_sleep(delay) def idle_now(): led(0, 60, 180) face(EYES) def preview_name(name): led(0, 100, 255) face(EYES) time.sleep(0.18) def request_blueprint(name): global requested requested = name def prime_seen_messages(): global seen_messages try: for name in BLUEPRINTS + ['idle', 'sound']: val = codey.upload_mode_message.get_info(name) if val: seen_messages[name] = val except Exception: pass def check_sensors(): global requested, lifted, stable_since, off_floor_since, last_accel_total if requested or requested_sound or current_blueprint: return shake = sensor_config('shake') if shake: try: if codey.motion_sensor.is_shaked() and codey.motion_sensor.get_shake_strength() >= shake.get('threshold', 20): if sensor_ready('shake', shake.get('cooldownMs', 5000)): requested = shake.get('blueprint', 'dizzy') return except Exception: pass sound = sensor_config('sound') if sound: try: if codey.sound_sensor.get_loudness() >= sound.get('threshold', 75): if sensor_ready('sound', sound.get('cooldownMs', 5000)): requested = sound.get('blueprint', 'screaming') return except Exception: pass lift = sensor_config('lift') if lift: total = accel_total() delta = abs(total - last_accel_total) last_accel_total = total low = lift.get('lowAccel', 5) high = lift.get('highAccel', 18) delta_threshold = lift.get('deltaAccel', 6) use_floor = lift.get('useFloorIr', False) floor = floor_ir() if use_floor else None floor_threshold = lift.get('floorIrThreshold', 8) floor_stable_threshold = lift.get('floorIrStableThreshold', 12) stable_min = lift.get('stableMin', 7) stable_max = lift.get('stableMax', 13) try: upright = codey.motion_sensor.is_upright() except Exception: upright = True now = time.time() off_floor = floor is not None and floor <= floor_threshold on_floor = floor is not None and floor >= floor_stable_threshold if use_floor: off_stable = lift.get('offFloorStableSeconds', 0.6) on_stable = lift.get('onFloorStableSeconds', 1.0) if not lifted: if off_floor: if off_floor_since == 0: off_floor_since = now if now - off_floor_since >= off_stable: lifted = True stable_since = 0 off_floor_since = 0 if sensor_ready('lift', lift.get('cooldownMs', 5000)): requested = lift.get('fearBlueprint', 'fear') return else: off_floor_since = 0 else: if on_floor: if stable_since == 0: stable_since = now if now - stable_since >= on_stable: lifted = False stable_since = 0 off_floor_since = 0 if sensor_ready('putdown', lift.get('putDownCooldownMs', 1000)): requested = lift.get('putDownBlueprint', 'thank_you') return else: stable_since = 0 elif not lifted and (total < low or total > high or delta > delta_threshold or not upright): lifted = True stable_since = 0 if sensor_ready('lift', lift.get('cooldownMs', 5000)): requested = lift.get('fearBlueprint', 'fear') return elif lifted: if upright and stable_min <= total <= stable_max: if stable_since == 0: stable_since = now if now - stable_since > 0.8: lifted = False stable_since = 0 if sensor_ready('putdown', lift.get('putDownCooldownMs', 1000)): requested = lift.get('putDownBlueprint', 'thank_you') return else: stable_since = 0 def check_external_triggers(): global requested, requested_sound, seen_messages try: val = codey.upload_mode_message.get_info('sound') if val and seen_messages.get('sound') != val: seen_messages['sound'] = val sound = val.split('|', 1)[0] if sound in SOUNDS or (sound + '.wav') in SOUNDS: requested_sound = sound return for name in BLUEPRINTS + ['idle']: val = codey.upload_mode_message.get_info(name) if val and seen_messages.get(name) != val: seen_messages[name] = val requested = name return except Exception: pass def play_blueprint(name): global current_blueprint current_blueprint = name if name == 'ack': led(0, 180, 255); face(EYES); blueprint_melody(name, 'hi.wav'); nod(16) elif name == 'hello': led(0, 200, 255); face(HAPPY); blueprint_melody(name, 'hello.wav'); rotate(1, 18, 0.12); rotate(-1, 18, 0.12) elif name == 'ready': led(0, 255, 120); face(OK); blueprint_melody(name, 'ready.wav'); wiggle(18, 0.10) elif name == 'think': led(0, 60, 255); face(THINK); blueprint_melody(name, 'curious.wav'); rotate(1, 12, 0.10) elif name == 'curious': led(80, 0, 255); face(LOOK_L); blueprint_melody(name, 'curious.wav'); face(LOOK_R); rotate(-1, 14, 0.10) elif name == 'notify': led(255, 255, 255); face(EYES); blueprint_melody(name, 'prompt tone.wav'); shake(20); face(LOOK_R) elif name == 'success': led(0, 255, 70); face(OK); blueprint_melody(name, 'yummy.wav'); wiggle(25, 0.16); rotate(1, 22, 0.12); face(HAPPY) elif name == 'celebrate': led(255, 0, 120); face(HAPPY); blueprint_melody(name, 'yeah.wav'); rotate(1, 35, 0.20); rotate(-1, 35, 0.20); wiggle(35, 0.16); led(0, 255, 70); face(OK) elif name == 'wow': led(255, 80, 0); face(SMALL); blueprint_melody(name, 'wow.wav'); wiggle(22, 0.12); face(EYES) elif name == 'laugh': led(255, 180, 0); face(HAPPY); blueprint_melody(name, 'laugh.wav'); shake(24); face(HAPPY) elif name == 'warn': led(255, 120, 0); face(WARN); blueprint_melody(name, 'warning.wav'); wiggle(18, 0.12); face(EYES) elif name == 'error': led(255, 0, 0); face(WARN); blueprint_melody(name, 'wrong.wav'); rotate(-1, 18, 0.14); wiggle(20, 0.12); face(SAD) elif name == 'angry': led(255, 0, 0); face(ANGRY); blueprint_melody(name, 'angry.wav'); rotate(1, 28, 0.14); rotate(-1, 28, 0.14) elif name == 'sad': led(160, 0, 255); face(SAD); blueprint_melody(name, 'sad.wav'); wiggle(12, 0.10) elif name == 'sleepy': led(0, 20, 80); face(BLINK_THIN); blueprint_melody(name, 'sleepy.wav'); time.sleep(0.4); face(BLINK_TINY) elif name == 'bored': led(35, 35, 80); face(LOOK_L); blueprint_melody(name, 'sigh.wav'); time.sleep(0.35); face(LOOK_R); time.sleep(0.35); face(BLINK_THIN) elif name == 'dizzy': led(120, 0, 255); face(SMALL); blueprint_melody(name, 'annoyed.wav'); rotate(1, 18, 0.10); rotate(-1, 18, 0.10); face(THINK) elif name == 'screaming': led(255, 255, 255); face(WARN); blueprint_melody(name, 'warning.wav'); time.sleep(0.25); led(255, 80, 0); face(SMALL) elif name == 'fear': led(255, 0, 0); face(WARN); blueprint_melody(name, 'surprised.wav'); time.sleep(0.35); face(SAD) elif name == 'thank_you': led(0, 255, 120); face(HAPPY); blueprint_melody(name, 'yummy.wav'); time.sleep(0.35); face(OK) elif name == 'bye': led(0, 120, 255); face(SHY); blueprint_melody(name, 'bye.wav'); rotate(-1, 18, 0.12); face(EYES) interruptible_sleep(1.1) idle_now() current_blueprint = None idle_now(); wait_release(); prime_seen_messages() while True: check_external_triggers() check_sensors() if requested_sound: sound = requested_sound requested_sound = None melody(sound) elif requested: name = requested requested = None if name == 'idle': idle_now() else: play_blueprint(name) elif pressed_a(): index = (index + 1) % len(BLUEPRINTS) name = BLUEPRINTS[index] preview_name(name); play_blueprint(name); wait_release() elif pressed_b(): index = (index - 1) % len(BLUEPRINTS) name = BLUEPRINTS[index] preview_name(name); play_blueprint(name); wait_release() elif pressed_c(): idle_now(); wait_release() else: idle_once()