public static void main(String[] args) {
long animLen;
// config and settings - set robotID and IP
// Not needed for avatar(uncomment for robot)
// String robotID = "myRobot";
// String robotIP = "192.168.0.54";
// set respective addresses
// Not needed for avatar (uncomment for robot)
// SetSettings settings = new SetSettings(robotID, robotIP);
// try to make connections
myRobot = Robokind.connectRobot();
myPlayer = Robokind.connectAnimationPlayer();
mySpeaker = Robokind.connectSpeechService();
String command = "";
while (!command.equals("STOP")) {
// give Zeno a command, from
command = JOptionPane.showInputDialog("Give me a command: SPEAK, DANCE, ANIM, STOP");
command = command.toUpperCase();
String speech = "";
if (command.equals("SPEAK")) {
while (!speech.equals("0")) {
myGoalPositions = myRobot.getDefaultPositions();
// push joints back to defaults
myRobot.move(myGoalPositions, 1000);
speech = JOptionPane.showInputDialog("What shall I say? (0 to stop)");
if (!speech.equals("0")) {
Expression expression = new Expression();
expression.setExpressionJoints(myRobot);
expression.lookUp(400, myRobot);
Robokind.sleep(200);
expression.smile(200, myRobot);
Robokind.sleep(200);
expression.blink(400, myRobot);
Robokind.sleep(200);
mySpeaker.speak(speech);
}
}
}
String dance = "";
if (command.equals("DANCE")) {
while (!dance.equals("stop")) {
dance = JOptionPane.showInputDialog("Which dance? (Pick 1-5 or 'stop')");
if (dance.equals("1")) {
Animation danceAnim1 = Robokind.loadAnimation("all/AZR50_Dancing_01.anim.xml");
myPlayer.playAnimation(danceAnim1);
animLen = danceAnim1.getLength();
Robokind.sleep(2000 + animLen);
}
if (dance.equals("2")) {
Animation danceAnim1 = Robokind.loadAnimation("all/AZR50_Dancing_02.anim.xml");
myPlayer.playAnimation(danceAnim1);
animLen = danceAnim1.getLength();
Robokind.sleep(2000 + animLen);
}
if (dance.equals("3")) {
Animation danceAnim1 = Robokind.loadAnimation("all/AZR50_Dancing_03.anim.xml");
myPlayer.playAnimation(danceAnim1);
animLen = danceAnim1.getLength();
Robokind.sleep(2000 + animLen);
}
if (dance.equals("4")) {
Animation danceAnim1 = Robokind.loadAnimation("all/AZR50_Dancing_04.anim.xml");
myPlayer.playAnimation(danceAnim1);
animLen = danceAnim1.getLength();
Robokind.sleep(2000 + animLen);
}
if (dance.equals("5")) {
Animation danceAnim1 = Robokind.loadAnimation("all/AZR50_Dancing_05.anim.xml");
myPlayer.playAnimation(danceAnim1);
animLen = danceAnim1.getLength();
Robokind.sleep(2000 + animLen);
}
if (dance.equals("stop") || dance.equals("STOP")) {
// do nothing
}
}
}
if (command.equals("ANIM")) {
String anim = "";
while (!anim.equals("stop")) {
anim = JOptionPane.showInputDialog("What shall I do? (Pick 1-15 or 'stop')");
if (anim.equals("1")) {
Animation anim1 = Robokind.loadAnimation("all/AZR50_Aggressive_01.anim.xml");
System.out.println("Playing 'aggresive'.");
myPlayer.playAnimation(anim1);
animLen = anim1.getLength();
Robokind.sleep(2000 + animLen);
}
if (anim.equals("2")) {
Animation anim1 = Robokind.loadAnimation("all/AZR50_Appreciation_02.anim.xml");
System.out.println("Playing 'appreciation'.");
myPlayer.playAnimation(anim1);
animLen = anim1.getLength();
Robokind.sleep(2000 + animLen);
}
if (anim.equals("3")) {
Animation anim1 = Robokind.loadAnimation("all/AZR50_Astonished_02.anim.xml");
System.out.println("Playing 'astonished'.");
myPlayer.playAnimation(anim1);
animLen = anim1.getLength();
Robokind.sleep(2000 + animLen);
}
if (anim.equals("4")) {
Animation anim1 = Robokind.loadAnimation("all/AZR50_Cheer_FistPump_01.anim.xml");
System.out.println("Playing 'cheer'.");
myPlayer.playAnimation(anim1);
animLen = anim1.getLength();
Robokind.sleep(2000 + animLen);
}
if (anim.equals("5")) {
Animation anim1 = Robokind.loadAnimation("all/AZR50_Conceited_01.anim.xml");
System.out.println("Playing 'conceited'.");
myPlayer.playAnimation(anim1);
animLen = anim1.getLength();
Robokind.sleep(2000 + animLen);
}
if (anim.equals("6")) {
Animation anim1 = Robokind.loadAnimation("all/AZR50_Handshake_02.anim.xml");
System.out.println("Playing 'handshake' (lol I'll hit myself in the face).");
myPlayer.playAnimation(anim1);
animLen = anim1.getLength();
Robokind.sleep(2000 + animLen);
}
if (anim.equals("7")) {
Animation anim1 = Robokind.loadAnimation("all/AZR50_InLove_02.anim.xml");
System.out.println("Playing 'in love'.");
myPlayer.playAnimation(anim1);
animLen = anim1.getLength();
Robokind.sleep(2000 + animLen);
}
if (anim.equals("8")) {
Animation anim1 = Robokind.loadAnimation("all/AZR50_Listening_05.anim.xml");
System.out.println("Playing 'listening'.");
myPlayer.playAnimation(anim1);
animLen = anim1.getLength();
Robokind.sleep(2000 + animLen);
}
if (anim.equals("9")) {
Animation anim1 = Robokind.loadAnimation("all/AZR50_Offended_02.anim.xml");
System.out.println("Playing 'offended'.");
myPlayer.playAnimation(anim1);
animLen = anim1.getLength();
Robokind.sleep(2000 + animLen);
}
if (anim.equals("10")) {
Animation anim1 = Robokind.loadAnimation("all/AZR50_Quizzical_02.anim.xml");
System.out.println("Playing 'quizzical'.");
myPlayer.playAnimation(anim1);
animLen = anim1.getLength();
Robokind.sleep(2000 + animLen);
}
if (anim.equals("11")) {
Animation anim1 = Robokind.loadAnimation("all/AZR50_Tired_01.anim.xml");
System.out.println("Playing 'tired'.");
myPlayer.playAnimation(anim1);
animLen = anim1.getLength();
Robokind.sleep(2000 + animLen);
}
if (anim.equals("12")) {
Animation anim1 = Robokind.loadAnimation("all/AZR50_Relieved_02.anim.xml");
System.out.println("Playing 'relieved'.");
myPlayer.playAnimation(anim1);
animLen = anim1.getLength();
Robokind.sleep(2000 + animLen);
}
if (anim.equals("13")) {
Animation anim1 = Robokind.loadAnimation("all/AZR50_Shy_02.anim.xml");
System.out.println("Playing 'shy'.");
myPlayer.playAnimation(anim1);
animLen = anim1.getLength();
Robokind.sleep(2000 + animLen);
}
if (anim.equals("14")) {
Animation anim1 = Robokind.loadAnimation("all/AZR50_Tired_02.anim.xml");
System.out.println("Playing 'tired (2)'.");
myPlayer.playAnimation(anim1);
animLen = anim1.getLength();
Robokind.sleep(2000 + animLen);
}
if (anim.equals("15")) {
Animation anim1 = Robokind.loadAnimation("all/AZR50_VictoryPose_01.anim.xml");
System.out.println("Playing 'victory pose'.");
myPlayer.playAnimation(anim1);
animLen = anim1.getLength();
Robokind.sleep(2000 + animLen);
}
if (anim.equals("stop") || anim.equals("STOP")) {
// do nothing
}
// back to defaults
myGoalPositions = myRobot.getDefaultPositions();
// push joints back to defaults
myRobot.move(myGoalPositions, 1000);
}
}
}
Robokind.disconnect();
System.exit(0);
}
