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()
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)
}
# Main Loop: Drive around and control picker based on remote
while True:
try:
speed_now, steering_now, target_now = actions[remote.button]
except:
speed_now, steering_now, target_now = actions['NONE']
if target_now is not None:
picker.go_to_target(target_now, blocking=True)
if speed_now is not None and steering_now is not None:
base.drive_and_turn(speed_now, steering_now)
time.sleep(0.1)
'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')
print("Engines running!")
while True:
# Autopicker
if ballsensor.ball_detected() and not picker.is_running:
picker.go_to_target(picker.STORE)
# Close after storing
if picker.is_at_store:
picker.go_to_target(picker.OPEN)
# Gamepad
fwd_speed = gamepad.left_stick_y
turn_rate = gamepad.left_stick_x
if gamepad.cross_btn:
picker.go_to_target(picker.STORE)
if gamepad.square_btn:
break
base.drive_and_turn(fwd_speed, turn_rate)
# Give the Ev3 some time to handle other threads.