def arm_calibration(arm_motor, touch_sensor):
"""
Runs the arm up until the touch sensor is hit then back to the bottom again, beeping at both locations.
Once back at in the bottom position, gripper open, set the absolute encoder position to 0. You are calibrated!
The Snatch3r arm needs to move 14.2 revolutions to travel from the touch sensor to the open position.
Type hints:
:type arm_motor: ev3.MediumMotor
:type touch_sensor: ev3.TouchSensor
"""
# TODO: 3. Implement the arm calibration movement by fixing the code below (it has many bugs). It should to this:
# Command the arm_motor to run forever in the positive direction at max speed.
# Create an infinite while loop that will block code execution until the touch sensor's is_pressed value is True.
# Within that loop sleep for 0.01 to avoid running code too fast.
# Once past the loop the touch sensor must be pressed. So stop the arm motor quickly using the brake stop action.
# Make a beep sound
# Now move the arm_motor 14.2 revolutions in the negative direction relative to the current location
# Note the stop action and speed are already set correctly so we don't need to specify them again
# Block code execution by waiting for the arm to finish running
# Make a beep sound
# Set the arm encoder position to 0 (the last line below is correct to do that, it's new so no bug there)
# Code that attempts to do this task but has MANY bugs (nearly 1 on every line). Fix them!
arm_motor.run_forever(speed_sp=MAX_SPEED)
while not touch_sensor.is_pressed:
time.sleep(0.01)
arm_motor.stop(stop_action="brake")
ev3.Sound().beep().wait()
arm_revolutions_for_full_range = 14.2
degrees_for_full_range = arm_revolutions_for_full_range * 360
arm_motor.run_to_rel_pos(position_sp=(degrees_for_full_range * -1))
arm_motor.wait_while(ev3.Motor.STATE_RUNNING)
ev3.Sound().beep().wait()
arm_motor.position = 0 # Calibrate the down position as 0 (this line is correct as is).
def feel(done):
ir = ev3.InfraredSensor(); assert ir.connected
ts = ev3.TouchSensor(); assert ts.connected
screen = ev3.Screen()
sound = ev3.Sound()
screen.draw.text((60,40), 'Going for a walk')
screen.update()
while ir.proximity > 30:
if done.is_set():
break
time.sleep(0.1)
done.set() #this will set it running in a circle
ev3.Leds.set_color(ev3.Leds.LEFT, ev3.Leds.RED)
ev3.Leds.set_color(ev3.Leds.RIGHT, ev3.Leds.RED)
screen.clear()
screen.draw.text((60,20), 'There is something is front of me')
screen.update()
while not ts.is_pressed:
sound.speak("Where should I go next?").wait()
time.sleep(0.5)
done.set() #will stop the circle dance
def arm_down(self):
"""Move arm down"""
max_speed = 900
self.arm_motor.run_to_abs_pos(position_sp=0, speed_sp=max_speed)
self.arm_motor.wait_while(ev3.Motor.STATE_RUNNING)
self.arm_motor.stop(stop_action='brake')
ev3.Sound().beep().wait()
def tacto(done):
infra = ev3.InfraredSensor()
assert infra.connected
touch = ev3.TouchSensor()
assert touch.connected
screen = ev3.Screen()
sound = ev3.Sound()
screen.draw.text((60, 40), 'Caminando')
screen.update()
while infra.proximity > 30:
if done.is_set():
break
time.sleep(0.1)
done.set() #lo detiene de su locura haha
ev3.Leds.set_color(ev3.Leds.LEFT, ev3.Leds.RED)
ev3.Leds.set_color(ev3.Leds.RIGHT, ev3.Leds.RED)
screen.clear()
screen.draw.text((60, 20), 'There is something is front of me')
screen.update()
while not touch_s.is_pressed:
sound.speak("Where should i go next?").wait()
time.sleep(0.5)
done.set() #lo detiene de su locura haha
def __init__(self,
left_port,
right_port,
kinematics,
max_speed=700,
flip_dir=False):
self.left_motor = ev3.LargeMotor(left_port)
self.right_motor = ev3.LargeMotor(right_port)
self.sound = ev3.Sound()
self.kinematics = kinematics
try:
self.sound.beep()
self.gyro = ev3.GyroSensor()
self.gyro.mode = 'GYRO-CAL'
time.sleep(2)
self.gyro.mode = 'GYRO-ANG'
time.sleep(2)
self.sound.beep()
except:
self.gyro = None
print("Gyro not found")
try:
self.colorSensor = ev3.ColorSensor('in2')
self.colorSensor.mode = 'COL-REFLECT'
except:
self.colorSensor = None
print("Color sensor not found")
try:
self.left_push_sensor = ev3.TouchSensor('in3')
except:
self.left_push_sensor = None
print("Left push sensor not found.")
self.frontColorSensor = None
try:
self.right_push_sensor = ev3.TouchSensor('in1')
except:
self.right_push_sensor = None
print("Right push sensor not found.")
try:
self.ultrasonicSensor = ev3.UltrasonicSensor()
self.ultrasonicSensor.mode = 'US-DIST-CM'
except:
self.ultrasonicSensor = None
print("Ultrasonic sensor not found")
self.max_speed = max_speed
self.flip_dir = flip_dir
self.log = open("sensor.log", "w+")
def arm_down_to_drop_in_bucket(robot):
"""Move arm down almost all of the way"""
max_speed = 900
arm_revolutions_for_half_range = 7.1
degrees_for_half_range = arm_revolutions_for_half_range * 360
robot.arm_motor.run_to_rel_pos(position_sp=degrees_for_half_range * -1,
speed_sp=max_speed)
robot.arm_motor.wait_while(ev3.Motor.STATE_RUNNING)
robot.arm_motor.stop(stop_action='brake')
ev3.Sound().beep().wait()
def alarm(self):
print("[alarm] Alarming!")
while (self.alarm_active):
beep_args = "-r 30 -l 100 -f 1000"
# Starts a new thread as the EV3's beep blocks the sleep and
# disarming of the alarm
threading.Thread(
target=ev3.Sound().beep,
args=(beep_args,)
).start()
time.sleep(6)
print("[alarm] Disarmed - Stopped Alarming")
return
def try_connect(self):
connection_attempts = 0
while (not(self.connected)):
connection = self.client_connection.connect()
if connection:
self.connected = True
self.update_server()
ev3.Sound().speak("Ready to Deliver")
else:
self.connected = False
connection_attempts += 1
if connection_attempts > 20:
print("[try_connect] Tried 20 times - STOPPING!")
return
time.sleep(1)
def arm_down(arm_motor):
"""
Moves the Snatch3r arm to the down position.
Type hints:
:type arm_motor: ev3.MediumMotor
"""
# DONE: 5. Implement the arm up movement by fixing the code below
# Move the arm to the absolute position_sp of 0 at max speed.
# Wait until the move completes
# Make a beep sound
# Code that attempts to do this task but has bugs. Fix them.
arm_motor.run_to_abs_pos(position_sp=-14.2, speed_sp=MAX_SPEED)
arm_motor.wait_while(
ev3.Motor.STATE_RUNNING) # Blocks until the motor finishes running
ev3.Sound().beep().wait()
def arm_up(arm_motor, touch_sensor):
"""
Moves the Snatch3r arm to the up position.
Type hints:
:type arm_motor: ev3.MediumMotor
:type touch_sensor: ev3.TouchSensor
"""
# DONE: 4. Implement the arm up movement by fixing the code below
# Command the arm_motor to run forever in the positive direction at max speed.
# Create a while loop that will block code execution until the touch sensor is pressed.
# Within the loop sleep for 0.01 to avoid running code too fast.
# Once past the loop the touch sensor must be pressed. Stop the arm motor using the brake stop action.
# Make a beep sound
# Code that attempts to do this task but has many bugs. Fix them!
arm_motor.run_forever(position_sp=14.2, speed_sp=MAX_SPEED)
while not touch_sensor.is_pressed:
time.sleep(0.01)
arm_motor.stop(stop_action="brake")
ev3.Sound().beep().wait()
def __init__(self, mqtt_client, logger):
# Create Planet and planet_name variable
self.planet = Planet()
self.planet_name = None
# Setup Sensors, Motors and Odometry
self.rm = ev3.LargeMotor("outB")
self.lm = ev3.LargeMotor("outC")
self.sound = ev3.Sound()
self.odometry = Odometry(self.lm, self.rm)
self.motors = Motors(self.odometry)
self.cs = ColorSensor(self.motors)
self.us = Ultrasonic()
# Setup Communication
self.communication = Communication(mqtt_client, logger, self)
# Create variable to write to from communication
self.start_location = None
self.end_location = None
self.path_choice = None
self.running = True
def setup_hardware(self):
self.motorR = ev3.LargeMotor("outD")
self.motorL = ev3.LargeMotor("outB")
self.motorPointer = ev3.LargeMotor("outC")
self.colourSensorR = ev3.ColorSensor("in1")
self.colourSensorL = ev3.ColorSensor("in4")
self.sonarF = ev3.UltrasonicSensor("in2")
if self.fast_hub:
self.hub = SensorHubFast()
else:
self.hub = SensorHub()
self.sonarR = HubSonar(self.hub, "s1")
self.sonarL = HubSonar(self.hub, "s0")
self.line_sensor = LineSensor(self.hub)
self.button = ev3.Button()
self.LED = ev3.Leds()
# setup modes if appropriate
self.colourSensorR.mode = "COL-COLOR"
self.colourSensorL.mode = "COL-COLOR"
self.sonarF.mode = "US-DIST-CM"
self.motorR.stop_action = "hold"
self.motorL.stop_action = "hold"
self.sound = ev3.Sound()
self.position_from_branch = 0
__author__ = 'kanehiro'
import ev3dev.ev3 as ev3
from time import sleep
btn = ev3.Button()
sound = ev3.Sound()
while not btn.backspace:
if btn.enter:
sound.speak("Enter")
if btn.up:
sound.speak("Up")
if btn.down:
sound.speak("Down")
if btn.left:
sound.speak("Left")
if btn.right:
sound.speak("Right")
sleep(0.1)
import ev3dev.ev3 as ev3
ev3.Sound().speak('Hello World!')
def __init__(self):
self.ev3_sound = ev3.Sound()
except:
print("Failed to connect to server!")
traceback.print_exc()
if (self.run_robot):
ev3.Sound.tone([(750, 250, 0), (750, 250, 0)]).wait()
# TODO: add light to indicate status
if __name__ == "__main__":
run_robot = None
if (len(sys.argv) > 1):
mode_str = sys.argv[1]
#TODO: clean this up
if (mode_str == 'r'
or mode_str == 'robot' and ev3_package_present == True):
ev3.Sound().beep().wait()
run_robot = True
elif (mode_str == "t" or mode_str == "test"):
print("Running client in test mode...")
print(''.join(['-' for x in range(40)]) + '\n')
run_robot = False
else:
print(
'Unable to determine mode! r/robot -> robot | t/test -> test')
exit()
else:
if (ev3_package_check):
#assume robot mode
run_robot = True
else:
print(
#!/usr/bin/python3
# sound_and_speak_xx.py by Yasushi Honda 2019 1/3
#------------------------------------------------
import ev3dev.ev3 as ev3
import time
import random
import datetime
if __name__=='__main__':
p=ev3.LegoPort(ev3.INPUT_4)
p.set_device='lego-nxt-sound'
ss = ev3.SoundSensor(ev3.INPUT_4)
ts=ev3.TouchSensor(ev3.INPUT_3)
sp=ev3.Sound()
sp.speak('Hi. I can speak the current time.').wait()
talk=[]
talk.append('Yes. I can hear you, but speak more loudly.')
leds = ev3.Leds()
leds.set_color(ev3.Leds.LEFT, ev3.Leds.GREEN,pct=1.0)
leds.set_color(ev3.Leds.RIGHT, ev3.Leds.YELLOW,pct=1.0)
print('[[ Push touch sensor to stop.]]')
#print('[[ snd ]]')
while ts.value()==0:
snd=967-ss.value()
#print("\r %4d" % snd, end='')
