class El3ctricGuitar:
NOTES = [1318, 1174, 987, 880, 783, 659, 587, 493, 440, 392, 329, 293]
N_NOTES = len(NOTES)
def __init__(
self, lever_motor_port: str = OUTPUT_D,
touch_sensor_port: str = INPUT_1, ir_sensor_port: str = INPUT_4):
self.lever_motor = MediumMotor(address=lever_motor_port)
self.touch_sensor = TouchSensor(address=touch_sensor_port)
self.ir_sensor = InfraredSensor(address=ir_sensor_port)
self.leds = Leds()
self.speaker = Sound()
def start_up(self):
self.leds.animate_flash(
color='ORANGE',
groups=('LEFT', 'RIGHT'),
sleeptime=0.5,
duration=3,
block=True)
self.lever_motor.on_for_seconds(
speed=5,
seconds=1,
brake=False,
block=True)
self.lever_motor.on_for_degrees(
speed=-5,
degrees=30,
brake=True,
block=True)
sleep(0.1)
self.lever_motor.reset()
def play_music(self):
if self.touch_sensor.is_released:
raw = sum(self.ir_sensor.proximity for _ in range(4)) / 4
self.speaker.tone(
self.NOTES[min(round(raw / 5), self.N_NOTES - 1)]
- 11 * self.lever_motor.position,
100,
play_type=Sound.PLAY_WAIT_FOR_COMPLETE)
def main(self):
self.start_up()
while True:
self.play_music()
sensor_thread = SensorThread(name="sensor_thread")
sensor_thread.daemon = True
sensor_thread.start()
# Main program loop
while running:
console.reset_console()
leds.all_off()
state = "reset"
reset_sensors_and_variables()
calibrate_gyro_offset()
sound.play_file("/home/robot/sounds/Speed up.wav")
console.reset_console()
leds.animate_flash('GREEN', duration=None, block=False)
state = "ready"
log.debug("Starting control loop")
while ok == True:
time = get_time()
calculate_control_loop_period()
calculate_robot_body_angle_and_speed()
calculate_wheel_angle_and_speed()
calculate_output_power()
drive_motors()
check_if_robot_fell_down()
state = "fell_over"
seconds=1,
brake=True,
block=True)
sleep(2)
MEDIUM_MOTOR.on_for_seconds(
speed=-100,
seconds=1,
brake=True,
block=True)
sleep(1)
else:
LIGHTS.animate_flash(
color=Leds.ORANGE,
groups=(Leds.LEFT, Leds.RIGHT),
block=False)
TAIL_MOTOR.on(
speed=100,
brake=False,
block=False)
MEDIUM_MOTOR.on_for_seconds(
speed=randint(-30, 30),
seconds=0.2,
brake=False,
block=True)
class MindstormsGadget(AlexaGadget):
def __init__(self):
super().__init__(gadget_config_path='./auth.ini')
# order queue
self.queue = Queue()
self.button = Button()
self.leds = Leds()
self.sound = Sound()
self.console = Console()
self.console.set_font("Lat15-TerminusBold16.psf.gz", True)
self.dispense_motor = LargeMotor(OUTPUT_A)
self.pump_motor = LargeMotor(OUTPUT_B)
self.touch_sensor = TouchSensor(INPUT_1)
# Start threads
threading.Thread(target=self._handle_queue, daemon=True).start()
threading.Thread(target=self._test, daemon=True).start()
def on_connected(self, device_addr):
self.leds.animate_rainbow(duration=3, block=False)
self.sound.play_song((('C4', 'e3'), ('C5', 'e3')))
def on_disconnected(self, device_addr):
self.leds.animate_police_lights('RED',
'ORANGE',
duration=3,
block=False)
self.leds.set_color("LEFT", "BLACK")
self.leds.set_color("RIGHT", "BLACK")
self.sound.play_song((('C5', 'e3'), ('C4', 'e3')))
def _test(self):
while 1:
self.button.wait_for_pressed('up')
order = {
'name': 'Test',
'tea': 'Jasmine',
'sugar': 100,
'ice': 100
}
self.queue.put(order)
sleep(1)
def _handle_queue(self):
while 1:
if self.queue.empty(): continue
order = self.queue.get()
self._make(name=order['name'],
tea=order['tea'],
sugar=order['sugar'],
ice=order['ice'])
def _send_event(self, name, payload):
self.send_custom_event('Custom.Mindstorms.Gadget', name, payload)
def _affirm_receive(self):
self.leds.animate_flash('GREEN',
sleeptime=0.25,
duration=0.5,
block=False)
self.sound.play_song((('C3', 'e3'), ('C3', 'e3')))
def on_custom_mindstorms_gadget_control(self, directive):
try:
payload = json.loads(directive.payload.decode("utf-8"))
print("Control payload: {}".format(payload), file=sys.stderr)
control_type = payload["type"]
# regular voice commands
if control_type == "automatic":
self._affirm_receive()
order = {
"name": payload["name"] or "Anonymous",
"tea": payload["tea"] or "Jasmine Milk Tea",
"sugar": payload["sugar"] or 100,
"ice": payload["ice"] or 100,
}
self.queue.put(order)
# series of voice commands
elif control_type == "manual": # Expected params: [command]
control_command = payload["command"]
if control_command == "dispense":
self._affirm_receive()
if payload['num']:
self._dispense(payload['num'])
else:
self._dispense()
elif control_command == "pour":
self._affirm_receive()
if payload['num']:
self._pour(payload['num'])
else:
self._pour()
except KeyError:
print("Missing expected parameters: {}".format(directive),
file=sys.stderr)
def _make(self, name=None, tea="Jasmine Milk Tea", sugar=100, ice=100):
if not self.touch_sensor.is_pressed:
# cup is not in place
self._send_event('CUP', None)
self.touch_sensor.wait_for_pressed()
sleep(3) # cup enter delay
# mid_col = console.columns // 2
# mid_row = console.rows // 2
# mid_col = 1
# mid_row = 1
# alignment = "L"
process = self.sound.play_file('mega.wav', 100,
Sound.PLAY_NO_WAIT_FOR_COMPLETE)
# dispense boba
self._dispense()
# dispense liquid
self._pour(tea=tea)
# self.console.text_at(
# s, column=mid_col, row=mid_row, alignment=alignment, reset_console=True
# )
# notify alexa that drink is finished
payload = {
"name": name,
"tea": tea,
"sugar": sugar,
"ice": ice,
}
self._send_event("DONE", payload)
process.kill() # kill song
self.sound.play_song((('C4', 'q'), ('C4', 'q'), ('C4', 'q')),
delay=0.1)
self.touch_sensor.wait_for_released()
# dispense liquid
def _pour(self, time_in_s=10, tea="Jasmine Milk Tea"):
# send event to alexa
payload = {"time_in_s": time_in_s, "tea": tea}
self._send_event("POUR", payload)
self.pump_motor.run_forever(speed_sp=1000)
sleep(time_in_s)
self.pump_motor.stop()
# dispense boba
def _dispense(self, cycles=10):
# send event to alexa
payload = {"cycles": cycles}
self._send_event("DISPENSE", payload)
# ensure the dispenser resets to the correct position everytime
if cycles % 2:
cycles += 1
# agitate the boba to make it fall
for i in range(cycles):
deg = 45 if i % 2 else -45
self.dispense_motor.on_for_degrees(SpeedPercent(75), deg)
sleep(0.5)
from ev3dev2.display import Display
from ev3dev2.led import Leds
from time import sleep
SCREEN = Display()
LEDS = Leds()
SCREEN.image_filename(
filename='/home/robot/image/Hurt.bmp',
clear_screen=True)
SCREEN.update()
sleep(0.5)
SCREEN.image_filename(
filename='/home/robot/image/Neutral.bmp',
clear_screen=True)
SCREEN.update()
LEDS.animate_flash(
color=Leds.RED,
groups=(Leds.LEFT, Leds.RIGHT),
sleeptime=0.5,
duration=5,
block=True)
#!/usr/bin/env micropython
from ev3dev2.sensor.lego import InfraredSensor
from ev3dev2.sensor import INPUT_4
from ev3dev2.led import Leds
IR_SENSOR = InfraredSensor(address=INPUT_4)
LEDS = Leds()
while IR_SENSOR.proximity >= 30:
pass
LEDS.animate_flash(
color=Leds.RED,
sleeptime=0.5,
duration=2.0,
block=True)
#!/usr/bin/env python3
from ev3dev2.button import Button
from ev3dev2.led import Leds
from ev3dev2.sound import Sound
sound = Sound()
sound.beep()
button = Button()
leds = Leds()
while True:
if(button.right):
leds.animate_cycle(('RED', 'GREEN', 'AMBER', 'ORANGE', 'YELLOW'))
elif(button.left):
leds.animate_flash('RED', sleeptime=0.5, duration=5)
elif(button.down):
leds.animate_police_lights('RED', 'GREEN', sleeptime=0.5, duration=5)
elif(button.up):
leds.animate_rainbow(increment_by=0.1, sleeptime=0.1, duration=10)
else:
leds.all_off()
# Write your program here
