def __init__(self):
super().__init__()
self.running = False
self.reload()
self.motors = []
try:
self.motors.append(motor.LargeMotor(motor.OUTPUT_A))
except:
pass
try:
self.motors.append(motor.LargeMotor(motor.OUTPUT_B))
except:
pass
try:
self.motors.append(motor.LargeMotor(motor.OUTPUT_C))
except:
pass
try:
self.motors.append(motor.LargeMotor(motor.OUTPUT_D))
except:
pass
self.servos = []
try:
self.servos.append(motor.MediumMotor(motor.OUTPUT_A))
self._servo_counter += 1
except:
pass
try:
self.servos.append(motor.MediumMotor(motor.OUTPUT_B))
self._servo_counter += 1
except:
pass
try:
self.servos.append(motor.MediumMotor(motor.OUTPUT_C))
self._servo_counter += 1
except:
pass
try:
self.servos.append(motor.MediumMotor(motor.OUTPUT_D))
self._servo_counter += 1
except:
pass
self.sound = None
try:
self.sound = sound.Sound()
except:
pass
self.infrared_sensor = None
try:
self.infrared_sensor = lego.InfraredSensor(sensor.INPUT_1)
except:
pass
self.running = True
#!/usr/bin/micropython
#testing motor
import ev3dev2.motor as em
import ev3dev2 as e
import utime as t
from ev3dev2.led import Leds
from ev3dev2.sound import Sound
spkr = Sound()
leds = Leds()
leds.set_color("LEFT", "GREEN")
leds.set_color("RIGHT", "GREEN")
m1= em.LargeMotor(em.OUTPUT_A)
m1.on(em.SpeedPercent(25))
t.sleep(1)
m1.off()
leds.set_color("LEFT", "GREEN")
leds.set_color("RIGHT", "RED")
t.sleep(0.1)
leds.set_color("LEFT", "RED")
leds.set_color("RIGHT", "GREEN")
t.sleep(0.1)
leds.set_color("LEFT", "GREEN")
leds.set_color("RIGHT", "GREEN")
spkr.play_song((
('D4', 'e3'),
('D4', 'e3'),
('D4', 'e3'),
('G4', 'h'),
('D5', 'h')
),tempo=220)
#!/usr/bin/env python3
import ev3dev2.sensor.lego as sensors
import ev3dev2.motor as motors
import os
#from rl.agents.cem import CEMAgent
os.system('setfont Lat15-TerminusBold14')
mL = motors.LargeMotor('outB'); ml.stop_action = 'hold'
mR = motors.LargeMotor('outC'); mR.stop_action = 'hold'
print('Hello, my name is EV3!')
Sound.speak('Hello, my name is EV3!').wait()
mL.on_to_position(10, 10)
mR.on_to_position(10, 10)
mL.wait_while('running')
mR.wait_while('running')
#!/usr/bin/python3 #testing motor import ev3dev2.motor as em import time as t m1= em.LargeMotor(em.OUTPUT_A) m2= em.LargeMotor(em.OUTPUT_B) m3= em.LargeMotor(em.OUTPUT_C) m4= em.LargeMotor(em.OUTPUT_D) m1.on(em.SpeedPercent(25)) m2.on(em.SpeedPercent(25)) m3.on(em.SpeedPercent(25)) m4.on(em.SpeedPercen(25)) t.sleep(1) m1.off() m2.off() m3.off() m4.off()
def main():
'''The main function of our program'''
debug_print('----------- Main Start ------------')
# set the console just how we want it
reset_console() #重置屏幕
set_cursor(OFF) #
set_font('Lat15-Terminus24x12')
#菊连主机资源
if DaisyChainEnabled:
Gyro_slave = ev3_slave_sensor.GyroSensor(ev3_slave_sensor_port.INPUT_1)
Motor_slave = ev3_slave_motor.MediumMotor(ev3_slave_motor.OUTPUT_B)
#本地主机资源
MA = ev3_master_motor.LargeMotor(ev3_master_motor.OUTPUT_A)
MB = ev3_master_motor.LargeMotor(ev3_master_motor.OUTPUT_B)
MC = ev3_master_motor.LargeMotor(ev3_master_motor.OUTPUT_C)
MD = ev3_master_motor.LargeMotor(ev3_master_motor.OUTPUT_D)
MA.off()
MB.off()
MC.off()
MD.off()
if DaisyChainEnabled:
Motor_slave.off()
col1 = ev3_master_sensor.ColorSensor(ev3_master_sensor_port.INPUT_1)
col2 = ev3_master_sensor.ColorSensor(ev3_master_sensor_port.INPUT_2)
col3 = ev3_master_sensor.ColorSensor(ev3_master_sensor_port.INPUT_3)
col4 = ev3_master_sensor.ColorSensor(ev3_master_sensor_port.INPUT_4)
btn = ev3_master_button.Button()
#巡线主程序
error = 0
kp = 0.6
speed = 40
angle = 0
n1_threshold = 25
n2_threshold = 25
n3_threshold = 25
n4_threshold = 25
debug_print('----------- Loop Start ------------')
while not btn.any():
if DaisyChainEnabled:
angle = Gyro_slave.angle
n1 = col1.reflected_light_intensity
n2 = col2.reflected_light_intensity
n3 = col3.reflected_light_intensity
n4 = col4.reflected_light_intensity
if n1 > 60:
n1 = 60
if n2 > 60:
n2 = 60
Turn = n1 - n2 - error
l = r = speed
if n3 < n3_threshold or n4 < n4_threshold:
if n3 < n3_threshold:
# if n1 > n1_threshold :
l = -20
r = 40
else:
# if n2 > n2_threshold :
l = 40
r = -20
elif n1 < n1_threshold or n2 < n2_threshold:
l = 30 + Turn * kp
r = 30 - Turn * kp
else:
pass
MA.on(speed=l)
MB.on(speed=l)
MC.on(speed=r)
MD.on(speed=r)
if DaisyChainEnabled:
Motor_slave.on(speed=l)
debug_print(
'>> Color {:>3d} {:>3d} {:>3d} {:>3d} Angle {:>6d} >> Left {:>3.1f} Right {:>3.1f}'
.format(n1, n2, n3, n4, angle, l, r))
# print(n1,n2,n3,n4,angle)
# print('L {} R {}'.format(l,r))
MA.off()
MB.off()
MC.off()
MD.off()
if DaisyChainEnabled:
Motor_slave.off()
debug_print('----------- Main End ------------')