def play(self):
delay = 0
step = [5, 10, 15, 20, 25, 30, 35, 40, 45, 55, 60, 65, 70]
button = Button()
button.on_up = self.volumeUp
button.on_down = self.volumeDown
button.on_left = self.multiplyUp
button.on_right = self.multiplyDown
button.on_enter = self.togglePause
button.on_backspace = self.backButton
ir = InfraredSensor()
ts = TouchSensor()
servo = MediumMotor()
while True:
self.volume = self.getVolume()
button.process()
if self.pause == True:
continue
distance = int(math.fabs(ir.value()))
position = int(math.fabs(servo.position))
for x in step:
if distance <= x:
hertz = int(x * 15)
# print("Hertz - " + str(hertz))
break
for x in step:
if position <= x:
duration = int(x * 5 * self.multiply)
# print("Duration - " + str(duration))
break
if ts.is_pressed:
if delay == 200:
delay = 0
else:
if delay == 0:
delay = 200
# play sound
self.sound.tone([(hertz, duration, delay)])
#code for all the missions mentioned are up
#--------------------------------------------------------------------------------------------------------------------------------------------
#This is where the movement happens. the function "ColorChecking" is a function to decide what to do based on color.
#--------------- failsafe -------------
def failsafe():
sys.exit()
#--------------------------------------
#this is when the code accually starts
Sound_.play_tone(
frequency=400, duration=0.5, volume=50
) #there is a 15-20 second lag when we start a program so this tells us that master has alreafy started by beeping
start = time.time(
) #this makes it so that when we call start it is equal to what ever far the robot is in the code (IE: 00:12 if it was 12 seconds in)
btn.on_backspace = failsafe
while True: #the code that is indented repetes forever untill we stop the program
if (btn.down): #if the down button is pressed:
break #leave the loop
pass
btn.wait_for_released(
'enter') #waits untill the enter(middle) button is pressed
ColorChecking() #calls the function color checking see above
# Beepity beep!
Sound_.play_tone(frequency=400, duration=0.5, volume=50)
def down(state):
print('Down button pressed' if state else 'Down button released')
def enter(state):
print('Enter button pressed' if state else 'Enter button released')
def backspace(state):
print('Backspace button pressed' if state else 'Backspace button released')
btn.on_left = left
btn.on_right = right
btn.on_up = up
btn.on_down = down
btn.on_enter = enter
btn.on_backspace = backspace
# This loop checks buttons state continuously (every 0.01s).
# If the new state differs from the old state then the appropriate
# button event handlers are called.
while True:
btn.process() # Check for currently pressed buttons.
sleep(0.01)
# If running this script from VS Code, press the stop button to quit
# if running from Brickman, long-press backspace button to quit
