Guillermo Perez GuillenThis step will go show you how to setup a MATRIX Lite project with Snips.
First, MQTT must be installed and used to listen in on events from Snips.
npm install mqtt --save
assistant.js will be used to listen and respond to events from your Snips assistant. This file combines all the code from everloop.js & relay.js to control the everloop and relay switch through voice.
///////////////////////////////////
//AUTHOR: GUILLERMO PEREZ GUILLEN//
///////////////////////////////////
/////////////
//VARIABLES//
/////////////
var mqtt = require('mqtt');
var client = mqtt.connect('mqtt://localhost', { port: 1883 });
var relay = require('./relay.js');
var everloop = require('./everloop.js');
var snipsUserName = 'guillengap';
var wakeword = 'hermes/hotword/default/detected';
var sessionEnd = 'hermes/dialogueManager/sessionEnded';
var lightState = 'hermes/intent/'+snipsUserName+':roboticArmState';
//////////////
//ON CONNECT//
//////////////
client.on('connect', function() {
console.log('Connected to Snips MQTT server\n');
client.subscribe('hermes/hotword/default/detected');
client.subscribe('hermes/dialogueManager/sessionEnded');
client.subscribe(lightState);
});
//////////////
//ON MESSAGE//
//////////////
client.on('message', function(topic,message) {
var message = JSON.parse(message);
switch(topic) {
// * On Wakeword
case wakeword:
everloop.startWaiting();
console.log('Wakeword Detected');
break;
// * Robotic Arm Change
case lightState:
// Turn robotic arm Here/There
try{
if (message.slots[0].rawValue === 'here'){
relay.roboticarmHere();
everloop.stopWaiting();
console.log('Robotic Arm Here');
}
else if(message.slots[0].rawValue === 'there'){
relay.roboticarmThere();
everloop.stopWaiting();
console.log('Robotic Arm There');
}
}
// Expect error if `here` or `there` is not heard
catch(e){
console.log('Did not receive an Here/There state')
}
break;
// * On Conversation End
case sessionEnd:
everloop.stopWaiting();
console.log('Session Ended\n');
break;
}
});
everloop.js incorporates the code required to control the LEDs on the MATRIX Creator.
///////////////////////////////////
//AUTHOR: GUILLERMO PEREZ GUILLEN//
///////////////////////////////////
/////////////
//VARIABLES//
/////////////
const matrix = require('@matrix-io/matrix-lite');
var matrix_device_leds = 0;// Holds amount of LEDs on MATRIX device
var methods = {};// Declaration of method controls at the end
var waitingToggle = false;
var counter = 0;
setInterval(function(){
// Turns off all LEDs
if (waitingToggle == false) {
// Set individual LED value
matrix.led.set({});
}
// Creates pulsing LED effect
else if (waitingToggle == true) {
// Set individual LED value
matrix.led.set({
b: (Math.round((Math.sin(counter) + 1) * 100) + 10),// Math used to make pulsing effect
});
};
counter = counter + 0.2;
// Store the Everloop image in MATRIX configuration
},50);
///////////////////
//WAITING METHODS//
///////////////////
methods.startWaiting = function() {
waitingToggle = true;
};
methods.stopWaiting = function() {
waitingToggle = false;
};
module.exports = methods;// Export methods in order to make them avaialble to other files
relay.js includes the code required to turn the robotic arm here and there. This relay will control power to the robotic arm.
///////////////////////////////////
//AUTHOR: GUILLERMO PEREZ GUILLEN//
///////////////////////////////////
/////////////
//VARIABLES//
/////////////
const matrix = require('@matrix-io/matrix-lite');
var methods = {};// Declaration of method controls at the end
matrix.gpio.setFunction(0, 'PWM');
matrix.gpio.setFunction(1, 'PWM');
matrix.gpio.setFunction(2, 'PWM');
matrix.gpio.setFunction(3, 'PWM');
matrix.gpio.setFunction(4, 'PWM');
matrix.gpio.setFunction(5, 'PWM');
matrix.gpio.setMode(0,'output');
matrix.gpio.setMode(1,'output');
matrix.gpio.setMode(2,'output');
matrix.gpio.setMode(3,'output');
matrix.gpio.setMode(4,'output');
matrix.gpio.setMode(5,'output');
////////////////////////////////////THERE METHOD
methods.roboticarmThere = function() {
{
for(i_0 = 75; i_0 <= 155; i_0++) { // Rotating base servo
matrix.gpio.setServoAngle({
pin: 0,
angle: i_0,
min_pulse_ms: 0.2
});
for(i_delay0 = 0; i_delay0 < 2000000; i_delay0++) {
///////////////// delay servo
}
};
}
{
for(i_2 = 100; i_2 <= 135; i_2++) { // Third axis servo
matrix.gpio.setServoAngle({
pin: 2,
angle: i_2,
min_pulse_ms: 0.2
});
for(i_delay2 = 0; i_delay2 < 2000000; i_delay2++) {
///////////////// delay
}
};
}
{
for(i_5 = 105; i_5 <= 135; i_5++) { // Mechanical claw servo
matrix.gpio.setServoAngle({
pin: 5,
angle: i_5,
min_pulse_ms: 0.2
});
for(i_delay5 = 0; i_delay5 < 2000000; i_delay5++) {
///////////////// delay servo pinza
}
};
}
{
for(i_2 = 135; i_2 >= 100; i_2--) { // Third axis servo
matrix.gpio.setServoAngle({
pin: 2,
angle: i_2,
min_pulse_ms: 0.2
});
for(i_delay2 = 0; i_delay2 < 2000000; i_delay2++) {
///////////////// delay
}
};
}
{
for(i_0 = 155; i_0 >= 45; i_0--) { // Rotating base servo
matrix.gpio.setServoAngle({
pin: 0,
angle: i_0,
min_pulse_ms: 0.2
});
for(i_delay0 = 0; i_delay0 < 2000000; i_delay0++) {
///////////////// delay servo base
}
};
}
{
for(i_2 = 100; i_2 <= 135; i_2++) { // Third axis servo
matrix.gpio.setServoAngle({
pin: 2,
angle: i_2,
min_pulse_ms: 0.2
});
for(i_delay2 = 0; i_delay2 < 2000000; i_delay2++) {
///////////////// delay
}
};
}
{
for(i_5 = 135; i_5 >= 105; i_5--) { // Mechanical claw servo
matrix.gpio.setServoAngle({
pin: 5,
angle: i_5,
min_pulse_ms: 0.2
});
for(i_delay5 = 0; i_delay5 < 2000000; i_delay5++) {
///////////////// delay servo pinza
}
};
}
{
for(i_2 = 135; i_2 >= 100; i_2--) { // Third axis servo
matrix.gpio.setServoAngle({
pin: 2,
angle: i_2,
min_pulse_ms: 0.2
});
for(i_delay2 = 0; i_delay2 < 2000000; i_delay2++) {
///////////////// delay
}
};
}
{
for(i_0 = 45; i_0 <= 75; i_0++) { // Rotating base servo
matrix.gpio.setServoAngle({
pin: 0,
angle: i_0,
min_pulse_ms: 0.2
});
for(i_delay0 = 0; i_delay0 < 2000000; i_delay0++) {
///////////////// delay
}
};
}
console.log("Robotic Arm Have Been Turned There");
};
////////////////////////////////////HERE METHOD
methods.roboticarmHere = function() {
{
for(i_0 = 125; i_0 >= 75; i_0--) { // Rotating base servo
matrix.gpio.setServoAngle({
pin: 0,
angle: i_0,
// minimum pulse width for a PWM wave (in milliseconds)
min_pulse_ms: 0.2
});
for(i_delay0 = 0; i_delay0 < 2000000; i_delay0++) {
///////////////// delay servo base
}
};
}
{
for(i_1 = 90; i_1 >= 85; i_1--) { // Second axis servo
matrix.gpio.setServoAngle({
pin: 1,
angle: i_1,
min_pulse_ms: 0.2
});
for(i_delay1 = 0; i_delay1 < 2000000; i_delay1++) {
///////////////// delay
}
};
}
{
for(i_2 = 120; i_2 >= 100; i_2--) { // Third axis servo
matrix.gpio.setServoAngle({
pin: 2,
angle: i_2,
min_pulse_ms: 0.2
});
for(i_delay2 = 0; i_delay2 < 2000000; i_delay2++) {
///////////////// delay
}
};
}
{
for(i_3 = 135; i_3 >= 120; i_3--) { // Fourth axis servo
matrix.gpio.setServoAngle({
pin: 3,
angle: i_3,
min_pulse_ms: 0.2
});
for(i_delay3 = 0; i_delay3 < 2000000; i_delay3++) {
///////////////// delay
}
};
}
{
for(i_0 = 75; i_0 >= 45; i_0--) { // Rotating base servo
matrix.gpio.setServoAngle({
pin: 0,
angle: i_0,
min_pulse_ms: 0.2
});
for(i_delay0 = 0; i_delay0 < 2000000; i_delay0++) {
///////////////// delay
}
};
}
{
for(i_2 = 100; i_2 <= 135; i_2++) { // Third axis servo
matrix.gpio.setServoAngle({
pin: 2,
angle: i_2,
min_pulse_ms: 0.2
});
for(i_delay2 = 0; i_delay2 < 2000000; i_delay2++) {
///////////////// delay
}
};
}
{
for(i_5 = 105; i_5 <= 135; i_5++) { // Mechanical claw servo
matrix.gpio.setServoAngle({
pin: 5,
angle: i_5,
min_pulse_ms: 0.2
});
for(i_delay5 = 0; i_delay5 < 2000000; i_delay5++) {
///////////////// delay servo pinza
}
};
}
{
for(i_2 = 135; i_2 >= 100; i_2--) { // Third axis servo
matrix.gpio.setServoAngle({
pin: 2,
angle: i_2,
min_pulse_ms: 0.2
});
for(i_delay2 = 0; i_delay2 < 2000000; i_delay2++) {
///////////////// delay
}
};
}
{
for(i_0 = 30; i_0 <= 155; i_0++) { // Rotating base servo
matrix.gpio.setServoAngle({
pin: 0,
angle: i_0,
min_pulse_ms: 0.2
});
for(i_delay0 = 0; i_delay0 < 2000000; i_delay0++) {
///////////////// delay servo base
}
};
}
{
for(i_2 = 100; i_2 <= 135; i_2++) { // Third axis servo
matrix.gpio.setServoAngle({
pin: 2,
angle: i_2,
min_pulse_ms: 0.2
});
for(i_delay2 = 0; i_delay2 < 2000000; i_delay2++) {
///////////////// delay
}
};
}
{
for(i_5 = 135; i_5 >= 105; i_5--) { // Mechanical claw servo
matrix.gpio.setServoAngle({
pin: 5,
angle: i_5,
min_pulse_ms: 0.2
});
for(i_delay5 = 0; i_delay5 < 2000000; i_delay5++) {
///////////////// delay servo pinza
}
};
}
{
for(i_2 = 135; i_2 >= 100; i_2--) { // Third axis servo
matrix.gpio.setServoAngle({
pin: 2,
angle: i_2,
min_pulse_ms: 0.2
});
for(i_delay2 = 0; i_delay2 < 2000000; i_delay2++) {
///////////////// delay
}
};
}
{
for(i_0 = 155; i_0 >= 75; i_0--) { // Rotating base servo
matrix.gpio.setServoAngle({
pin: 0,
angle: i_0,
min_pulse_ms: 0.2
});
for(i_delay0 = 0; i_delay0 < 2000000; i_delay0++) {
///////////////// delay servo base
}
};
}
console.log("Robotic Arm Have Been Turned Here");
};
module.exports = methods;// Export methods in order to make them avaialble to other files
Copy and paste this files into the /home/pi/lite_js folder of your Raspberry Pi board. You can download this files on the "Code" section.
Notes:
- To make this code I used the information on the following page: https://matrix-io.github.io/matrix-documentation/matrix-lite/js-reference/gpio/
- Be careful with quotes, since you can make the mistake of typing the single quotation marks incorrectly.
- In the example of "Set servo" it indicates a value of min_pulse_ms: 0.8 which did not help me and I changed it to the value of: min_pulse_ms: 0.2 to trial and error.
- You can download the code files on my GitHub repository here: https://github.com/guillengap/guillengap-robot-arm
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