Welcome to DOFBOT-JetsonNANO repository

Smart Voice Control

First, enter the Docker container; then, execute the instructions provided in the tutorial within the container to launch the program.

1. Function Description

Control the robotic arm to perform different actions through voice commands.

2. Startup and Operation

2.1. Startup

Open the terminal and enter the following command to start:

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python3 ~/Dofbot_2D/src/dofbot_voice/scripts/intelligent_voice_ctrl.py

2.2. Operation Steps

After the program runs, the voice module will broadcast "here". Then say "Hello, yahboom" to the voice module. The voice module will reply "here" to indicate successful wake-up. Then say "action a" to the voice module. The voice module will broadcast "ok", and then the robotic arm's gripper will tighten and then release, tighten and then release, simulating a clapping motion. The voice commands that this program can recognize are as follows:

3. Core Code Analysis

Users need to enter the docker container to view

Source code path: ~/Dofbot_2D/src/dofbot_voice/scripts/intelligent_voice_ctrl.py

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#Import robotic arm underlying control library
import Arm_Lib
#Import voice recognition broadcast library
from Speech_Lib import Speech
​
#Create voice recognition broadcast object mySpeech
mySpeech = Speech()
#Create robotic arm underlying control object Arm
Arm = Arm_Lib.Arm_Device()
​
#Call speech_read function to get voice recognition result
result = mySpeech.speech_read()
​
#Call Arm_serial_servo_write6 function to control six servos to rotate to set angles, 1000 means complete the six servo angle rotation task within 1000 milliseconds
Arm.Arm_serial_servo_write6(90, 90, 90, 90, 90, 90, 1000)