def __init__(self):
self.base = DriveBase(left=('outC', 'inversed'),
right=('outB', 'inversed'),
wheel_diameter=4.3,
wheel_span=12,
counter_clockwise_is_positive=False)
self.ballsensor = BallSensor('in4')
self.picker = Picker('outA')
threading.Thread.__init__(self)
class MotorThread(threading.Thread):
def __init__(self):
self.base = DriveBase(left=('outC', 'inversed'),
right=('outB', 'inversed'),
wheel_diameter=4.3,
wheel_span=12,
counter_clockwise_is_positive=False)
self.ballsensor = BallSensor('in4')
self.picker = Picker('outA')
threading.Thread.__init__(self)
def run(self):
global gripper
print("Engines running!")
while running:
# Autopicker
if self.ballsensor.ball_detected() and not self.picker.is_running:
# print(self.picker.is_running)
self.picker.go_to_target(self.picker.STORE)
# Close after storing
if self.picker.is_at_store:
# print("at store")
self.picker.go_to_target(self.picker.OPEN)
# if cross_btn:
# self.picker.go_to_target(picker.STORE)
# if square_btn:
# break
self.base.drive_and_turn(fwd_speed, turn_rate)
#
# # Autopicker
# if picker.target == picker.OPEN and picker.is_at_target:
# if self.ballsensor.check_ball():
# gripper.target = picker.CLOSED
# elif picker.target == picker.STORE and picker.is_at_target:
# picker.target = picker.OPEN
#
# picker.run()
# self.base.drive_and_turn(fwd_speed, -turn_rate)
# Give the Ev3 some time to handle other threads.
time.sleep(0.04)
self.base.stop()
picker.stop()
#!/usr/bin/env python3
from hardware.motors import DriveBase, Picker
from hardware.sensors import RemoteControl
from hardware.simple_device import PowerSupply
from collections import defaultdict
import time
# # Configure the devices
remote = RemoteControl('in4')
base = DriveBase(left=('outC', DriveBase.POLARITY_INVERSED),
right=('outB', DriveBase.POLARITY_INVERSED),
wheel_diameter=4.3,
wheel_span=12,
counter_clockwise_is_positive=False)
picker = Picker('outA')
battery = PowerSupply()
print(battery.voltage)
# Dictionary of action tuples associated with remote button
actions = {
'NONE': (0, 0, None),
'LEFT_UP': (0, 40, None),
'RIGHT_UP': (0, -40, None),
'BOTH_UP': (6, 0, None),
'BOTH_DOWN': (-6, 0, None),
'LEFT_DOWN': (None, None, Picker.STORE),
'RIGHT_DOWN': (None, None, Picker.OPEN),
'BEACON': (None, None, Picker.PURGE)
}
devices = [evdev.InputDevice(fn) for fn in evdev.list_devices()]
for device in devices:
if device.name == 'PLAYSTATION(R)3 Controller':
ps3dev = device.fn
try:
gamepad = evdev.InputDevice(ps3dev)
except:
gamepad = GamePadStub()
turn_rate = 0
turn_speed = 0
fwd_speed = 0
triangle_pressed_time = 0
running = True
picker = Picker('outA')
class MotorThread(threading.Thread):
def __init__(self):
self.base = DriveBase(left=('outC', 'inversed'),
right=('outB', 'inversed'),
wheel_diameter=4.3,
wheel_span=12,
counter_clockwise_is_positive=False)
self.ballsensor = BallSensor('in4')
self.picker = Picker('outA')
threading.Thread.__init__(self)
def run(self):
global gripper
#!/usr/bin/env python3
__author__ = 'anton'
from hardware.gamepad import PS3GamePad
from hardware.motors import DriveBase, Picker
from hardware.sensors import BallSensor
import time
turn_rate = 0
turn_speed = 0
fwd_speed = 0
triangle_pressed_time = 0
picker = Picker('outA')
gamepad_settings = {
'left_stick_x': {
'min_value': 3,
'scale': (40, -40)
},
'left_stick_y': {
'min_value': 4,
'scale': (-60, 60)
}
}
gamepad = PS3GamePad(gamepad_settings)
base = DriveBase(left=('outC', 'inversed'),
right=('outB', 'inversed'),
wheel_diameter=4.3,
wheel_span=12,
counter_clockwise_is_positive=False)
ballsensor = BallSensor('in4')
s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
port = 50000 + MY_ID
s.bind(('', 50000 + MY_ID))
s.setsockopt(socket.SOL_SOCKET, socket.SO_RCVBUF, 1500)
s.settimeout(0.1)
logging.debug("Listening on port {0}".format(port))
# Configure the devices
ballsensor = BallSensorReader()
ballsensor.start()
base = DriveBase(left=('outC', DriveBase.POLARITY_INVERSED),
right=('outB', DriveBase.POLARITY_INVERSED),
wheel_diameter=4.3,
wheel_span=12,
counter_clockwise_is_positive=False)
picker = Picker('outA')
battery = PowerSupply()
buttons = Buttons()
# States
FLOCKING = 'flocking' # For now, just behavior that makes robots avoid one another
SEEK_BALL = 'seek ball'
STORE = 'store'
TO_DEPOT = 'to depot'
PURGE = 'purge'
LOW_VOLTAGE = 'low'
EXIT = 'exit'
BOUNCE = 'bounce'
DRIVE = 'drive'
PAUSE = 'pause'
TO_CENTER = 'to_center'