#!/usr/bin/env python3

# Copyright (c) 2019 Anki, Inc.

#

# Licensed under the Apache License, Version 2.0 (the "License");

# you may not use this file except in compliance with the License.

# You may obtain a copy of the License in the file LICENSE.txt or at

#

# https://www.apache.org/licenses/LICENSE-2.0

#

# Unless required by applicable law or agreed to in writing, software

# distributed under the License is distributed on an "AS IS" BASIS,

# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.

# See the License for the specific language governing permissions and

# limitations under the License.

"""Make Vector turn toward a face.

This script shows off the turn_towards_face behavior. It will wait for a face

and then constantly turn towards it to keep it in frame.

"""

import anki_vector

from anki_vector.events import Events

from anki_vector.util import degrees

import time

def main():

args = anki_vector.util.parse_command_args()

with anki_vector.AsyncRobot(args.serial, enable_face_detection=True, show_viewer=True) as robot:

robot.behavior.drive_off_charger()

# If necessary, move Vector's Head and Lift to make it easy to see his face

robot.behavior.set_head_angle(degrees(45.0))

robot.behavior.set_lift_height(0.0)

face_to_follow = None

print("------ show vector your face, press ctrl+c to exit early ------")

try:

while True:

turn_future = None

if face_to_follow:

# start turning towards the face

turn_future = robot.behavior.turn_towards_face(face_to_follow)

if not (face_to_follow and face_to_follow.is_visible):

# find a visible face, timeout if nothing found after a short while

for face in robot.world.visible_faces:

face_to_follow = face

break

if turn_future != None:

# Complete the turn action if one was in progress

turn_future.result()

time.sleep(.1)

except KeyboardInterrupt:

pass

if __name__ == "__main__":

main()