def __init__(self,
left_motor_port: str = OUTPUT_B,
right_motor_port: str = OUTPUT_C,
medium_motor_port: str = OUTPUT_A,
touch_sensor_port: str = INPUT_1,
color_sensor_port: str = INPUT_3,
ir_sensor_port: str = INPUT_4,
ir_beacon_channel: int = 1):
super().__init__(left_motor_port=left_motor_port,
right_motor_port=right_motor_port,
ir_sensor_port=ir_sensor_port,
ir_beacon_channel=ir_beacon_channel)
self.medium_motor = MediumMotor(address=medium_motor_port)
self.touch_sensor = TouchSensor(address=touch_sensor_port)
self.color_sensor = ColorSensor(address=color_sensor_port)
self.ir_sensor = InfraredSensor(address=ir_sensor_port)
self.ir_beacon_channel = ir_beacon_channel
self.beacon = RemoteControl(sensor=self.ir_sensor,
channel=ir_beacon_channel)
self.dis = Screen()
self.noise = Sound()
def __init__(self,
left_foot_track_motor_port: str = OUTPUT_B,
right_foot_track_motor_port: str = OUTPUT_C,
bazooka_blast_motor_port: str = OUTPUT_A,
touch_sensor_port: str = INPUT_1,
color_sensor_port: str = INPUT_3,
ir_sensor_port: str = INPUT_4,
driving_ir_beacon_channel: int = 1,
shooting_ir_beacon_channel: int = 2):
self.left_foot_track_motor = LargeMotor(
address=left_foot_track_motor_port)
self.right_foot_track_motor = LargeMotor(
address=right_foot_track_motor_port)
self.bazooka_blast_motor = MediumMotor(
address=bazooka_blast_motor_port)
self.ir_sensor = InfraredSensor(address=ir_sensor_port)
self.driving_remote_control = RemoteControl(
sensor=self.ir_sensor, channel=driving_ir_beacon_channel)
self.shooting_remote_control = RemoteControl(
sensor=self.ir_sensor, channel=shooting_ir_beacon_channel)
self.touch_sensor = TouchSensor(address=INPUT_1)
self.color_sensor = ColorSensor(address=INPUT_3)
self.leds = Leds()
self.screen = Screen()
assert self.left_foot_track_motor.connected
assert self.right_foot_track_motor.connected
assert self.bazooka_blast_motor.connected
assert self.ir_sensor.connected
assert self.touch_sensor.connected
assert self.color_sensor.connected
# reset the motors
for motor in (self.left_foot_track_motor, self.right_foot_track_motor,
self.bazooka_blast_motor):
motor.reset()
motor.position = 0
motor.stop_action = Motor.STOP_ACTION_BRAKE
self.draw_face()
def __init__(self,
left_motor_port: str = OUTPUT_B,
right_motor_port: str = OUTPUT_C,
polarity: str = Motor.POLARITY_NORMAL,
ir_sensor_port: str = INPUT_4,
ir_beacon_channel: int = 1):
self.left_motor = LargeMotor(address=left_motor_port)
self.right_motor = LargeMotor(address=right_motor_port)
self.left_motor.polarity = self.right_motor.polarity = polarity
self.ir_sensor = InfraredSensor(address=ir_sensor_port)
self.tank_drive_remote_control = \
RemoteControl(
sensor=self.ir_sensor,
channel=ir_beacon_channel)
def __init__(
self,
back_foot_motor_port: str = OUTPUT_C, front_foot_motor_port: str = OUTPUT_B,
gear_motor_port: str = OUTPUT_A,
touch_sensor_port: str = INPUT_1, color_sensor_port: str = INPUT_3,
ir_sensor_port: str = INPUT_4, ir_beacon_channel: int = 1):
self.front_foot_motor = LargeMotor(address=front_foot_motor_port)
self.back_foot_motor = LargeMotor(address=back_foot_motor_port)
self.gear_motor = MediumMotor(address=gear_motor_port)
self.touch_sensor = TouchSensor(address=touch_sensor_port)
self.color_sensor = ColorSensor(address=color_sensor_port)
self.ir_sensor = InfraredSensor(address=ir_sensor_port)
self.remote_control = RemoteControl(sensor=self.ir_sensor,
channel=ir_beacon_channel)
def __init__(self,
left_motor_port: str = OUTPUT_B,
right_motor_port: str = OUTPUT_C,
grip_motor_port: str = OUTPUT_A,
touch_sensor_port: str = INPUT_1,
ir_sensor_port: str = INPUT_4,
ir_beacon_channel: int = 1):
self.left_motor = LargeMotor(address=left_motor_port)
self.right_motor = LargeMotor(address=right_motor_port)
self.grip_motor = MediumMotor(address=grip_motor_port)
self.touch_sensor = TouchSensor(address=touch_sensor_port)
self.ir_sensor = InfraredSensor(address=ir_sensor_port)
self.ir_beacon_channel = ir_beacon_channel
self.beacon = RemoteControl(sensor=self.ir_sensor,
channel=ir_beacon_channel)
self.speaker = Sound()
def __init__(self,
left_motor_port: str = OUTPUT_B,
right_motor_port: str = OUTPUT_C,
medium_motor_port: str = OUTPUT_A,
ir_sensor_port: str = INPUT_4,
ir_beacon_channel: int = 1):
super().__init__(left_motor_port=left_motor_port,
right_motor_port=right_motor_port,
ir_sensor_port=ir_sensor_port,
ir_beacon_channel=ir_beacon_channel)
self.medium_motor = MediumMotor(address=medium_motor_port)
self.ir_sensor = InfraredSensor(address=ir_sensor_port)
self.remote_control = RemoteControl(sensor=self.ir_sensor,
channel=ir_beacon_channel)
self.screen = Screen()
self.speaker = Sound()
def __init__(self,
turn_motor_port: str = OUTPUT_A,
move_motor_port: str = OUTPUT_B,
scare_motor_port: str = OUTPUT_D,
touch_sensor_port: str = INPUT_1,
color_sensor_port: str = INPUT_3,
ir_sensor_port: str = INPUT_4,
ir_beacon_channel: int = 1):
self.turn_motor = MediumMotor(address=turn_motor_port)
self.move_motor = LargeMotor(address=move_motor_port)
self.scare_motor = LargeMotor(address=scare_motor_port)
self.touch_sensor = TouchSensor(address=touch_sensor_port)
self.color_sensor = ColorSensor(address=color_sensor_port)
self.ir_sensor = InfraredSensor(address=ir_sensor_port)
self.beacon = RemoteControl(sensor=self.ir_sensor,
channel=ir_beacon_channel)
self.noise = Sound()
def __init__(
self,
left_foot_motor_port: str = OUTPUT_B, right_foot_motor_port: str = OUTPUT_C,
bazooka_blast_motor_port: str = OUTPUT_A,
touch_sensor_port: str = INPUT_1, color_sensor_port: str = INPUT_3,
ir_sensor_port: str = INPUT_4, ir_beacon_channel: int = 1):
self.left_foot_motor = LargeMotor(address=left_foot_motor_port)
self.right_foot_motor = LargeMotor(address=right_foot_motor_port)
self.bazooka_blast_motor = MediumMotor(address=bazooka_blast_motor_port)
self.touch_sensor = TouchSensor(address=touch_sensor_port)
self.color_sensor = ColorSensor(address=color_sensor_port)
self.ir_sensor = InfraredSensor(address=ir_sensor_port)
self.remote_control = RemoteControl(sensor=self.ir_sensor,
channel=ir_beacon_channel)
self.screen = Screen()
self.speaker = Sound()
def __init__(self,
left_motor_port: str = OUTPUT_B,
right_motor_port: str = OUTPUT_C,
grip_motor_port: str = OUTPUT_A,
touch_sensor_port: str = INPUT_1,
ir_sensor_port: str = INPUT_4,
ir_beacon_channel: int = 1):
super().__init__(left_motor=left_motor_port,
right_motor=right_motor_port,
polarity=Motor.POLARITY_NORMAL)
self.grip_motor = MediumMotor(address=grip_motor_port)
self.touch_sensor = TouchSensor(address=touch_sensor_port)
self.ir_sensor = InfraredSensor(address=ir_sensor_port)
self.ir_beacon_channel = ir_beacon_channel
self.beacon = RemoteControl(sensor=self.ir_sensor,
channel=ir_beacon_channel)
self.speaker = Sound()
def __init__(self,
left_motor_port: str = OUTPUT_B,
right_motor_port: str = OUTPUT_C,
jaw_motor_port: str = OUTPUT_A,
touch_sensor_port: str = INPUT_1,
ir_sensor_port: str = INPUT_4,
ir_beacon_channel: int = 1):
super().__init__(left_motor_port=left_motor_port,
right_motor_port=right_motor_port,
ir_sensor_port=ir_sensor_port,
ir_beacon_channel=ir_beacon_channel)
self.jaw_motor = MediumMotor(address=jaw_motor_port)
self.touch_sensor = TouchSensor(address=touch_sensor_port)
self.ir_sensor = InfraredSensor(address=ir_sensor_port)
self.beacon = RemoteControl(sensor=self.ir_sensor,
channel=ir_beacon_channel)
self.button = Button()
self.speaker = Sound()
def __init__(self,
sting_motor_port: str = OUTPUT_D,
go_motor_port: str = OUTPUT_B,
claw_motor_port: str = OUTPUT_A,
touch_sensor_port: str = INPUT_1,
color_sensor_port: str = INPUT_3,
ir_sensor_port: str = INPUT_4,
ir_beacon_channel: int = 1):
self.sting_motor = LargeMotor(address=sting_motor_port)
self.go_motor = LargeMotor(address=go_motor_port)
self.claw_motor = MediumMotor(address=claw_motor_port)
self.ir_sensor = InfraredSensor(address=ir_sensor_port)
self.ir_beacon_channel = ir_beacon_channel
self.beacon = RemoteControl(sensor=self.ir_sensor,
channel=self.ir_beacon_channel)
self.touch_sensor = TouchSensor(address=touch_sensor_port)
self.color_sensor = ColorSensor(address=color_sensor_port)
self.dis = Screen()
self.speaker = Sound()
class Ev3rstorm:
def __init__(self,
left_foot_track_motor_port: str = OUTPUT_B,
right_foot_track_motor_port: str = OUTPUT_C,
bazooka_blast_motor_port: str = OUTPUT_A,
touch_sensor_port: str = INPUT_1,
color_sensor_port: str = INPUT_3,
ir_sensor_port: str = INPUT_4,
driving_ir_beacon_channel: int = 1,
shooting_ir_beacon_channel: int = 2):
self.left_foot_track_motor = LargeMotor(
address=left_foot_track_motor_port)
self.right_foot_track_motor = LargeMotor(
address=right_foot_track_motor_port)
self.bazooka_blast_motor = MediumMotor(
address=bazooka_blast_motor_port)
self.ir_sensor = InfraredSensor(address=ir_sensor_port)
self.driving_remote_control = RemoteControl(
sensor=self.ir_sensor, channel=driving_ir_beacon_channel)
self.shooting_remote_control = RemoteControl(
sensor=self.ir_sensor, channel=shooting_ir_beacon_channel)
self.touch_sensor = TouchSensor(address=INPUT_1)
self.color_sensor = ColorSensor(address=INPUT_3)
self.leds = Leds()
self.screen = Screen()
assert self.left_foot_track_motor.connected
assert self.right_foot_track_motor.connected
assert self.bazooka_blast_motor.connected
assert self.ir_sensor.connected
assert self.touch_sensor.connected
assert self.color_sensor.connected
# reset the motors
for motor in (self.left_foot_track_motor, self.right_foot_track_motor,
self.bazooka_blast_motor):
motor.reset()
motor.position = 0
motor.stop_action = Motor.STOP_ACTION_BRAKE
self.draw_face()
def draw_face(self):
w, h = self.screen.shape
y = h // 2
eye_xrad = 20
eye_yrad = 30
pup_xrad = 10
pup_yrad = 10
def draw_eye(x):
self.screen.draw.ellipse(
(x - eye_xrad, y - eye_yrad, x + eye_xrad, y + eye_yrad))
self.screen.draw.ellipse(
(x - pup_xrad, y - pup_yrad, x + pup_xrad, y + pup_yrad),
fill='black')
draw_eye(w // 3)
draw_eye(2 * w // 3)
self.screen.update()
def shoot(self, direction='up'):
"""
Shot a ball in the specified direction (valid choices are 'up' and 'down')
"""
self.bazooka_blast_motor.run_to_rel_pos(
speed_sp=900, # degrees per second
position_sp=-3 * 360 if direction == 'up' else 3 * 360, # degrees
stop_action=Motor.STOP_ACTION_BRAKE)
self.bazooka_blast_motor.wait_while(Motor.STATE_RUNNING)
def rc_loop(
self,
driving_speed: float = 1000 # degrees per second
):
"""
Enter the remote control loop.
RC buttons on channel 1 control the robot movement, channel 2 is for shooting things.
The loop ends when the touch sensor is pressed.
"""
def roll(motor: Motor, led_group: str, speed: float):
"""
Generate remote control event handler.
It rolls given motor into given direction (1 for forward, -1 for backward).
When motor rolls forward, the given led group flashes green, when backward -- red.
When motor stops, the leds are turned off.
The on_press function has signature required by RemoteControl class.
It takes boolean state parameter; True when button is pressed, False otherwise.
"""
def on_press(state: int):
if state:
# roll when button is pressed
motor.run_forever(speed_sp=speed)
self.leds.set_color(
group=led_group,
color=Leds.GREEN if speed > 0 else Leds.RED,
pct=1)
else:
# stop otherwise
motor.stop(stop_action=Motor.STOP_ACTION_COAST)
self.leds.set_color(group=led_group,
color=Leds.BLACK,
pct=1)
return on_press
self.driving_remote_control.on_red_up = \
roll(motor=self.right_foot_track_motor,
led_group=Leds.RIGHT,
speed=driving_speed)
self.driving_remote_control.on_red_down = \
roll(motor=self.right_foot_track_motor,
led_group=Leds.RIGHT,
speed=-driving_speed)
self.driving_remote_control.on_blue_up = \
roll(motor=self.left_foot_track_motor,
led_group=Leds.LEFT,
speed=driving_speed)
self.driving_remote_control.on_blue_down = \
roll(motor=self.left_foot_track_motor,
led_group=Leds.LEFT,
speed=-driving_speed)
def shoot(direction: str):
def on_press(state: int):
if state: self.shoot(direction)
return on_press
self.shooting_remote_control.on_red_up = shoot('up')
self.shooting_remote_control.on_blue_up = shoot('up')
self.shooting_remote_control.on_red_down = shoot('down')
self.shooting_remote_control.on_blue_down = shoot('down')
# now that the event handlers are assigned,
# let's enter the processing loop:
while not self.touch_sensor.is_pressed:
self.driving_remote_control.process()
self.shooting_remote_control.process()
from ev3dev.ev3 import (
Motor, LargeMotor, MediumMotor, OUTPUT_A, OUTPUT_B, OUTPUT_C,
TouchSensor, InfraredSensor, RemoteControl, INPUT_1, INPUT_4,
Sound
)
MEDIUM_MOTOR = MediumMotor(address=OUTPUT_A)
LEFT_MOTOR = LargeMotor(address=OUTPUT_B)
RIGHT_MOTOR = LargeMotor(address=OUTPUT_C)
TOUCH_SENSOR = TouchSensor(address=INPUT_1)
IR_SENSOR = InfraredSensor(address=INPUT_4)
BEACON_CONTROL = RemoteControl(sensor=IR_SENSOR,
channel=1)
SPEAKER = Sound()
def drive_once_by_ir_beacon(speed: float = 1000):
if BEACON_CONTROL.red_up and BEACON_CONTROL.blue_up:
# go forward
LEFT_MOTOR.run_forever(speed_sp=speed)
RIGHT_MOTOR.run_forever(speed_sp=speed)
elif BEACON_CONTROL.red_down and BEACON_CONTROL.blue_down:
# go backward
LEFT_MOTOR.run_forever(speed_sp=-speed)
RIGHT_MOTOR.run_forever(speed_sp=-speed)
#!/usr/bin/env python3
# BUG: https://github.com/ev3dev/ev3dev/issues/1422
from ev3dev.ev3 import TouchSensor, INPUT_1, InfraredSensor, INPUT_4, RemoteControl, MediumMotor, OUTPUT_A
from multiprocessing import Process
TOUCH_SENSOR = TouchSensor(address=INPUT_1)
REMOTE_CONTROL = RemoteControl(sensor=InfraredSensor(address=INPUT_4),
channel=1)
MOTOR = MediumMotor(address=OUTPUT_A)
def touch_to_turn_motor_clockwise():
while True:
if TOUCH_SENSOR.is_pressed:
MOTOR.run_timed(
speed_sp=1000, # deg/s
time_sp=1000, # ms
stop_action=MediumMotor.STOP_ACTION_HOLD)
def press_any_ir_remote_button_to_turn_motor_counterclockwise():
while True:
if REMOTE_CONTROL.buttons_pressed:
MOTOR.run_timed(
speed_sp=-1000, # deg/s
from ev3dev.ev3 import (
Motor, LargeMotor, MediumMotor, OUTPUT_A, OUTPUT_B, OUTPUT_D,
InfraredSensor, RemoteControl, INPUT_4,
Leds, Sound
)
from time import sleep
MEDIUM_MOTOR = MediumMotor(address=OUTPUT_A)
TAIL_MOTOR = LargeMotor(address=OUTPUT_B)
CHEST_MOTOR = LargeMotor(address=OUTPUT_D)
IR_SENSOR = InfraredSensor(address=INPUT_4)
beacon = RemoteControl(sensor=IR_SENSOR,
channel=1)
LIGHTS = Leds()
SPEAKER = Sound()
def drive_once_by_ir_beacon(channel: int = 1, speed: float = 1000):
if beacon.red_up and beacon.blue_up:
TAIL_MOTOR.run_forever(speed_sp=speed)
elif beacon.red_down and beacon.blue_down:
TAIL_MOTOR.run_forever(speed_sp=-speed)
elif beacon.red_up:
MEDIUM_MOTOR.run_forever(speed_sp=-500)
