def stop() -> None:
ops_read = b''.join([
ev3.opInput_Device,
ev3.READY_SI,
ev3.LCX(0), # LAYER
ev3.LCX(1), # NO
ev3.LCX(16), # TYPE - EV3-Touch
ev3.LCX(0), # MODE - Touch
ev3.LCX(1), # VALUES
ev3.GVX(0), # VALUE1
ev3.opInput_Device,
ev3.READY_SI,
ev3.LCX(0), # LAYER
ev3.LCX(1), # NO
ev3.LCX(16), # TYPE - EV3-Touch
ev3.LCX(1), # MODE - Bump
ev3.LCX(1), # VALUES
ev3.GVX(4) # VALUE1
])
ops_sound = play_sound(10, 200, 100)
reply = my_ev3.send_direct_cmd(ops_sound + ops_read, global_mem=8)
(touched, bumps) = struct.unpack('<ff', reply[5:])
if touched == 1:
bumps += 0.5
print(bumps, "bumps")
def go() -> None:
ops_clear = b''.join([
ev3.opInput_Device,
ev3.CLR_CHANGES,
ev3.LCX(0), # LAYER
ev3.LCX(1) # NO
])
ops_color = change_color(ev3.LED_GREEN_FLASH)
ops_sound = play_sound(10, 200, 100)
my_ev3.send_direct_cmd(ops_clear + ops_color + ops_sound)
time.sleep(5)
def test_brickname():
'''set and read brickname'''
my_ev3.verbosity = 0
my_ev3.sync_mode = ev3.STD
ops_get = b''.join((
ev3.opCom_Get,
ev3.GET_BRICKNAME, # CMD
ev3.LCX(32), # LENGTH
ev3.GVX(0) # NAME (out)
))
reply = my_ev3.send_direct_cmd(ops_get, global_mem=32)
name_orig = struct.unpack('32s',
reply[5:])[0].split(b'\x00')[0].decode("ascii")
ops_set = b''.join((ev3.opCom_Set, ev3.SET_BRICKNAME, ev3.LCS('Bernie')))
my_ev3.send_direct_cmd(ops_set)
reply = my_ev3.send_direct_cmd(ops_get, global_mem=32)
name_tmp = struct.unpack('32s',
reply[5:])[0].split(b'\x00')[0].decode("ascii")
assert name_tmp == 'Bernie'
ops_set = b''.join((ev3.opCom_Set, ev3.SET_BRICKNAME, ev3.LCS(name_orig)))
my_ev3.send_direct_cmd(ops_set)
my_ev3.sync_mode = ev3.ASYNC
msg_cnt = my_ev3.send_direct_cmd(ops_get, global_mem=32)
reply = my_ev3.wait_for_reply(msg_cnt)
name = struct.unpack('32s', reply[5:])[0].split(b'\x00')[0].decode("ascii")
assert name == name_orig
def ConstructCommand(self,
daisyChainLayer,
port,
sensorType,
sensorMode,
values=1,
values1=0):
return b''.join((
ev3.opInput_Device, # operation
ev3.READY_SI, # CMD
ev3.LCX(daisyChainLayer), # LAYER
ev3.LCX(port), # NO
ev3.LCX(sensorType), # TYPE
ev3.LCX(sensorMode), # MODE
ev3.LCX(values), # VALUES
ev3.GVX(values1), # VALUE1
))
def play_sound(vol: int, freq: int, dur: int) -> bytes:
return b''.join(
[ev3.opSound, ev3.TONE,
ev3.LCX(vol),
ev3.LCX(freq),
ev3.LCX(dur)])