def main(robot):
# Définition des moteurs / capteurs
m_left = Motor(robot, PORT_B)
m_right = Motor(robot, PORT_A)
touch_right = Touch(robot, PORT_2)
touch_left = Touch(robot, PORT_1)
ultrason = Ultrasonic(robot, PORT_3)
DEFAULT_POWER = 80
DISTANCE_LIMIT = 20
TURN_TIME = 1.5
# Début
while True:
m_left.run(power=DEFAULT_POWER)
m_right.run(power=DEFAULT_POWER)
while not touch_right.is_pressed() and not touch_left.is_pressed() and ultrason.get_distance() > DISTANCE_LIMIT:
sleep(0.01)
print("Aieee")
if touch_right.is_pressed():
m_left.run(power=DEFAULT_POWER)
m_left.run(power=-DEFAULT_POWER)
else:
m_left.run(power=-DEFAULT_POWER)
m_left.run(power=DEFAULT_POWER)
sleep(TURN_TIME)
def feel(self, touchPort='PORT_1', initial=False):
"""
Use the touch sensors (pressed = True)
touchPort (str): The port number of the touch sensor(default='PORT_1')
"""
touch = Touch(self.nxt.brick, eval(touchPort))
if initial:
return False #don't return true until actually checked sensor value
else:
data = touch.get_sample() #already in boolean format
if data: print 'Touch Sensor ' + str(touchPort) + ' pressed'
return data
def feel(self, touchPort='PORT_1', initial=False):
"""
Use the touch sensors (pressed = True)
touchPort (str): The port number of the touch sensor(default='PORT_1')
"""
touch = Touch(self.nxt.brick, eval(touchPort))
if initial:
return False #don't return true until actually checked sensor value
else:
data = touch.get_sample() #already in boolean format
if data: print 'Touch Sensor '+str(touchPort)+' pressed'
return data
class Robot:
def __init__(self):
print 'Searching for NXT bricks...'
self.robot = nxt.locator.find_one_brick()
print 'NXT brick found'
self.right_motor = Motor(self.robot, PORT_B)
self.left_motor = Motor(self.robot, PORT_C)
self.locator = Ultrasonic(self.robot, PORT_1)
self.haptic = Touch(self.robot, PORT_4)
def forward(self):
if(random.random() > .5):
self.right_motor.run(-STRAIGHT_POWER)
self.left_motor.run(-STRAIGHT_POWER)
else:
self.left_motor.run(-STRAIGHT_POWER)
self.right_motor.run(-STRAIGHT_POWER)
sleep(SECONDS)
if(random.random() > .5):
self.right_motor.idle()
self.left_motor.idle()
else:
self.left_motor.idle()
self.right_motor.idle()
def back(self):
self.right_motor.run(STRAIGHT_POWER)
self.left_motor.run(STRAIGHT_POWER)
sleep(SECONDS)
self.right_motor.idle()
self.left_motor.idle()
def right(self):
self.left_motor.turn(-TURN_POWER, ANGLE)
def left(self):
self.right_motor.turn(-TURN_POWER, ANGLE)
def distance(self):
return self.locator.get_sample()
def is_touching(self):
return self.haptic.get_sample()
def beep_ok(self):
self.robot.play_tone_and_wait(FREQ_C, DURATION)
self.robot.play_tone_and_wait(FREQ_D, DURATION)
self.robot.play_tone_and_wait(FREQ_E, DURATION)
def beep_not_ok(self):
self.robot.play_tone_and_wait(FREQ_E, DURATION)
self.robot.play_tone_and_wait(FREQ_D, DURATION)
self.robot.play_tone_and_wait(FREQ_C, DURATION)
def getButton(self, port):
if self._bricks:
try:
port = int(port)
except:
pass
if (port in NXT_SENSOR_PORTS):
try:
port_aux = NXT_SENSOR_PORTS[port]
sensor = Touch(self._bricks[self.active_nxt], port_aux)
return sensor.get_sample()
except:
return ERROR
else:
raise logoerror(ERROR_PORT_S % port)
else:
raise logoerror(ERROR_BRICK)
def __init__(self):
print 'Searching for NXT bricks...'
self.robot = nxt.locator.find_one_brick()
print 'NXT brick found'
self.right_motor = Motor(self.robot, PORT_B)
self.left_motor = Motor(self.robot, PORT_C)
self.locator = Ultrasonic(self.robot, PORT_1)
self.haptic = Touch(self.robot, PORT_4)
def main(robot):
# Définition des moteurs / capteurs
m_left = Motor(robot, PORT_B)
m_right = Motor(robot, PORT_A)
touch_right = Touch(robot, PORT_2)
touch_left = Touch(robot, PORT_1)
ultrason = Ultrasonic(robot, PORT_3)
DEFAULT_POWER = 80
DISTANCE_LIMIT = 20
TURN_TIME = 1.5
# Début
while True:
m_left.run(power=DEFAULT_POWER)
m_right.run(power=DEFAULT_POWER)
while not touch_right.is_pressed() and not touch_left.is_pressed(
) and ultrason.get_distance() > DISTANCE_LIMIT:
sleep(0.01)
print("Aieee")
if touch_right.is_pressed():
m_left.run(power=DEFAULT_POWER)
m_left.run(power=-DEFAULT_POWER)
else:
m_left.run(power=-DEFAULT_POWER)
m_left.run(power=DEFAULT_POWER)
sleep(TURN_TIME)
def __init__(self, brick='NXT'):
r'''Creates a new Alpha Rex controller.
brick
Either an nxt.brick.Brick object, or an NXT brick's name as a
string. If omitted, a Brick named 'NXT' is looked up.
'''
if isinstance(brick, str):
brick = find_one_brick(name=brick)
self.brick = brick
self.arms = Motor(brick, PORT_A)
self.legs = [Motor(brick, PORT_B), Motor(brick, PORT_C)]
self.touch = Touch(brick, PORT_1)
self.sound = Sound(brick, PORT_2)
self.light = Light(brick, PORT_3)
self.ultrasonic = Ultrasonic(brick, PORT_4)
def getButton(self, port):
if self._bricks:
try:
port = int(port)
except:
pass
if (port in NXT_SENSOR_PORTS):
res = ERROR
try:
port_aux = NXT_SENSOR_PORTS[port]
sensor = Touch(self._bricks[self.active_nxt], port_aux)
res = sensor.get_sample()
except:
pass
return res
else:
raise logoerror(ERROR_PORT_S % port)
else:
raise logoerror(ERROR_BRICK)
def getButton(self, port):
if self._bricks:
try:
port = int(port)
except:
pass
if (port in NXT_SENSOR_PORTS):
res = ERROR
try:
port_aux = NXT_SENSOR_PORTS[port]
sensor = Touch(self._bricks[self.active_nxt], port_aux)
res = sensor.get_sample()
except:
pass
return res
else:
pass
else:
pass
def __init__(self, brick="NXT"):
r"""Creates a new Robot controller.
brick
Either an nxt.brick.Brick object, or an NXT brick's name as a
string. If omitted, a Brick named 'NXT' is looked up.
"""
if isinstance(brick, basestring):
brick = find_one_brick(name=brick)
self.brick = brick
self.tool = Motor(brick, PORT_B)
self.tracks = [Motor(brick, PORT_A), Motor(brick, PORT_C)]
self.ultrasonic = Ultrasonic(brick, PORT_1)
self.sound = Sound(brick, PORT_2)
self.light = Light(brick, PORT_3)
self.touch = Touch(brick, PORT_4)
def __init__(self, brick='NXT'):
r'''Creates a new Alpha Rex controller.
brick
Either an nxt.brick.Brick object, or an NXT brick's name as a
string. If omitted, a Brick named 'NXT' is looked up.
'''
if isinstance(brick, str):
brick = find_one_brick(name=brick)
self.brick = brick
self.arms = Motor(brick, PORT_A)
self.legs = [Motor(brick, PORT_B), Motor(brick, PORT_C)]
self.touch = Touch(brick, PORT_1)
self.sound = Sound(brick, PORT_2)
self.light = Light(brick, PORT_3)
self.ultrasonic = Ultrasonic(brick, PORT_4)
class Robot(object):
def __init__(self, brick="NXT"):
r"""Creates a new Robot controller.
brick
Either an nxt.brick.Brick object, or an NXT brick's name as a
string. If omitted, a Brick named 'NXT' is looked up.
"""
if isinstance(brick, basestring):
brick = find_one_brick(name=brick)
self.brick = brick
self.tool = Motor(brick, PORT_B)
self.tracks = [Motor(brick, PORT_A), Motor(brick, PORT_C)]
self.ultrasonic = Ultrasonic(brick, PORT_1)
self.sound = Sound(brick, PORT_2)
self.light = Light(brick, PORT_3)
self.touch = Touch(brick, PORT_4)
def turn(self, power, angle):
for motor in self.tracks:
motor.turn(power, angle)
def move(self, power=FORTH):
r"""Simultaneously activates the tracks motors, causing Robot to move.
power
The strength effected by the motors. Positive values will cause
Robot to move forward, while negative values will cause it
to move backwards. If you are unsure about how much force to
apply, the special values FORTH and BACK provide reasonable
defaults. If omitted, FORTH is used.
"""
for motor in self.tracks:
motor.run(power=power)
def wait(self, seconds):
""" secsonds
How long the motors will rotate.
Will this take values < 0? Most motor commands work in ms.
Try passing sleep 1/seconds (miliseconds)
"""
sleep(seconds)
def stop(self):
for motor in self.tracks:
motor.idle()
def tacho(self):
"""
returns an array of two elements which are the motor tacho readings
"""
tachos = []
for motor in self.tracks:
# tachos.append(motor.get_tacho())
tachos.append(motor.tacho_count) # , rotation_count
return tachos
def act(self, power=FORTH):
r"""Make Robot move its tool.
power
The strength effected by the motor. If omitted, (100) is used.
"""
self.tool.run(power=power)
def echolocate(self):
r"""Reads the Ultrasonic sensor's output.
"""
return self.ultrasonic.get_sample()
def feel(self):
r"""Reads the Touch sensor's output.
"""
return self.touch.get_sample()
def hear(self):
r"""Reads the Sound sensor's output.
"""
return self.sound.get_sample()
def say(self, line, times=1):
r"""Plays a sound file named (line + '.rso'), which is expected to be
stored in the brick. The file is played (times) times.
line
The name of a sound file stored in the brick.
times
How many times the sound file will be played before this method
returns.
"""
for i in range(0, times):
self.brick.play_sound_file(False, line + ".rso")
sleep(1)
def see(self):
r"""Reads the Light sensor's output.
"""
return self.light.get_sample()
brick = nxtConnect.btConnect(brickName)
print(brick.get_device_info()) # check what brick you connected to
from time import sleep
from nxt.sensor import Light, Touch, Ultrasonic
from nxt.sensor import PORT_1, PORT_2, PORT_3, PORT_4
from nxt.motor import Motor, PORT_A, PORT_B, PORT_C
"""##########################################################################################
################################ IMPORT MOTORS AND SENSORS HERE ################################
###########################################################################################"""
motorLeft = Motor(brick, PORT_B)
motorRight = Motor(brick, PORT_C)
armMotor = Motor(brick, PORT_A)
light = Light(brick, PORT_3)
touch = Touch(brick, PORT_4)
sonar = Ultrasonic(brick, PORT_2)
led = Light(brick, PORT_1) # experimental
"""########################################################################################"""
def binIdent():
n = 50
#wait .25 seconds after the kill-switch is released
sleep(.25)
while n > 0:
print("Bin Identification Running, power = %d" % n)
# print(sonar.get_distance())
brick = nxtConnect.btConnect(brickName)
print(brick.get_device_info()) # check what brick you connected to
#######################################################################
## Then, you can specify what you want the NXT to do
#######################################################################
from time import sleep
from nxt.motor import Motor, PORT_A, PORT_B, PORT_C
from nxt.sensor import Touch, PORT_4, PORT_3
turningMotor = Motor(brick, PORT_B)
walkingMotor = Motor(brick, PORT_C)
turnerSwitch = Touch(brick, PORT_4)
legPosition = Touch(brick, PORT_3)
while True:
if turnerSwitch.is_pressed() == False:
turningMotor.run(power=0)
a = 0
walkingMotor.run(power=120)
else:
if legPosition.is_pressed() == False:
walkingMotor.run(power=100)
else:
a = 1
if a == 1:
walkingMotor.run(power=0)
bluetooth=True))
else:
# the bluetooth function of the nxt library works too, but "wastes"
# time searching for devices.
brick = nxtConnect.btConnect(brickName)
print(brick.get_device_info()) # check what brick you connected to
from time import sleep
from nxt.motor import Motor, PORT_A, PORT_B, PORT_C
from nxt.sensor import Touch, PORT_4, PORT_3, PORT_2, Light, PORT_1
light = Light(brick, PORT_1)
turningMotor = Motor(brick, PORT_B)
walkingMotor = Motor(brick, PORT_C)
legPosition = Touch(brick, PORT_3)
#ultrasonic = Sonar(brick, PORT_2)
def calibrate():
# turn on light sensor
light.set_illuminated(True)
sleep(0.25)
# calibrates black value
black = light.get_lightness()
print("Black = %d" % black)
# turns right ~30 degrees
turningMotor.turn(70, 80, brake=True, timeout=3, emulate=True)
def touch(port):
t = Touch(b, SENSORS[port])
return '1' if t.is_pressed() else '0'
class AlphaRex(object):
r'''A high-level controller for the Alpha Rex model.
This class implements methods for the most obvious actions performable
by Alpha Rex, such as walk, wave its arms, and retrieve sensor samples.
Additionally, it also allows direct access to the robot's components
through public attributes.
'''
def __init__(self, brick='NXT'):
r'''Creates a new Alpha Rex controller.
brick
Either an nxt.brick.Brick object, or an NXT brick's name as a
string. If omitted, a Brick named 'NXT' is looked up.
'''
if isinstance(brick, str):
brick = find_one_brick(name=brick)
self.brick = brick
self.arms = Motor(brick, PORT_A)
self.legs = [Motor(brick, PORT_B), Motor(brick, PORT_C)]
self.touch = Touch(brick, PORT_1)
self.sound = Sound(brick, PORT_2)
self.light = Light(brick, PORT_3)
self.ultrasonic = Ultrasonic(brick, PORT_4)
def echolocate(self):
r'''Reads the Ultrasonic sensor's output.
'''
return self.ultrasonic.get_sample()
def feel(self):
r'''Reads the Touch sensor's output.
'''
return self.touch.get_sample()
def hear(self):
r'''Reads the Sound sensor's output.
'''
return self.sound.get_sample()
def say(self, line, times=1):
r'''Plays a sound file named (line + '.rso'), which is expected to be
stored in the brick. The file is played (times) times.
line
The name of a sound file stored in the brick.
times
How many times the sound file will be played before this method
returns.
'''
for i in range(0, times):
self.brick.play_sound_file(False, line + '.rso')
sleep(1)
def see(self):
r'''Reads the Light sensor's output.
'''
return self.light.get_sample()
def walk(self, secs, power=FORTH):
r'''Simultaneously activates the leg motors, causing Alpha Rex to walk.
secs
How long the motors will rotate.
power
The strength effected by the motors. Positive values will cause
Alpha Rex to walk forward, while negative values will cause it
to walk backwards. If you are unsure about how much force to
apply, the special values FORTH and BACK provide reasonable
defaults. If omitted, FORTH is used.
'''
for motor in self.legs:
motor.run(power=power)
sleep(secs)
for motor in self.legs:
motor.idle()
def wave(self, secs, power=100):
r'''Make Alpha Rex move its arms.
secs
How long the arms' motor will rotate.
power
The strength effected by the motor. If omitted, (100) is used.
'''
self.arms.run(power=power)
sleep(secs)
self.arms.idle()
#######################################################################
## Then, you can specify what you want the NXT to do
#######################################################################
from time import sleep
# see files in library ( /usr/local/lib/python2.7/dist-packages/nxt )
# for a more comprehensive list of ports / commands available
from nxt.motor import Motor, PORT_A, PORT_B, PORT_C
from nxt.sensor import Light, Sound, Touch, Ultrasonic
from nxt.sensor import PORT_1, PORT_2, PORT_3, PORT_4
# use try with finally to stop motors at end, even if program
# encountered an (programming) error.
try:
touchSensor = Touch(brick, PORT_1) # plug touch sensor into Port 1
motor = Motor(brick, PORT_A) # plug motor into Port A
# Note: |Power| <50 might not be strong enough to turn motor /
# overcome the internal friction
motor.run(power = 70) # go forward
sleep(2.5) # let NXT do its thing for 2.5 seconds
motor.run(power = -70) # go backward
sleep(2)
# will read when this line of code is reached, so KEEP sensor
# pressed till then
print("Current touch sensor state: {}".format(
touchSensor.get_sample()))
finally:
else:
# the bluetooth function of the nxt library works too, but "wastes"
# time searching for devices.
brick = nxtConnect.btConnect(brickName)
print(brick.get_device_info()) # check what brick you connected to
from time import sleep
from nxt.motor import Motor, PORT_A, PORT_B, PORT_C
from nxt.sensor import Touch, PORT_4, PORT_3, PORT_2, Light, PORT_1, Ultrasonic
light = Light(brick, PORT_4)
turningMotor = Motor(brick, PORT_B)
walkingMotor = Motor(brick, PORT_C)
armMotor = Motor(brick, PORT_A)
touch = Touch(brick, PORT_1)
ultrasonic = Ultrasonic(brick, PORT_2)
compass = Ultrasonic(brick, PORT_3)
# LINE FOLLOW VARIABLES
turningPower = 65 # 70, normalized, motor power used when turning in line follow
negInertiaPower = 70 # 65, normalized, motor power for negative inertia
findLineTimeOut = 0.5 # 0.5, time between switching motor to the opposite direction
negInertiaLengthOnWhite = 0.07 # 0.2, time before braking on negative inertia when originally on white
negInertiaLengthOnBlack = 0.07 # 0.05, time before braking on ngative inertia when originally on black (should be smaller than white to prevent overshooting the line)
# CALIBRATION VARIABLES
calTurningPower = 70 # 70, normalized, motor power used to turn when calibrate
calFirstTurnTime = 0.2 # 0.2, time to turn on first turn
calSecondTurnTme = 0.1 # 0.15, time to turn on second turn
calDelta = 10 # no default since it's new, range of light values for which line follow continues going straight (range is 2 * delta)
class AlphaRex(object):
r'''A high-level controller for the Alpha Rex model.
This class implements methods for the most obvious actions performable
by Alpha Rex, such as walk, wave its arms, and retrieve sensor samples.
Additionally, it also allows direct access to the robot's components
through public attributes.
'''
def __init__(self, brick='NXT'):
r'''Creates a new Alpha Rex controller.
brick
Either an nxt.brick.Brick object, or an NXT brick's name as a
string. If omitted, a Brick named 'NXT' is looked up.
'''
if isinstance(brick, str):
brick = find_one_brick(name=brick)
self.brick = brick
self.arms = Motor(brick, PORT_A)
self.legs = [Motor(brick, PORT_B), Motor(brick, PORT_C)]
self.touch = Touch(brick, PORT_1)
self.sound = Sound(brick, PORT_2)
self.light = Light(brick, PORT_3)
self.ultrasonic = Ultrasonic(brick, PORT_4)
def echolocate(self):
r'''Reads the Ultrasonic sensor's output.
'''
return self.ultrasonic.get_sample()
def feel(self):
r'''Reads the Touch sensor's output.
'''
return self.touch.get_sample()
def hear(self):
r'''Reads the Sound sensor's output.
'''
return self.sound.get_sample()
def say(self, line, times=1):
r'''Plays a sound file named (line + '.rso'), which is expected to be
stored in the brick. The file is played (times) times.
line
The name of a sound file stored in the brick.
times
How many times the sound file will be played before this method
returns.
'''
for i in range(0, times):
self.brick.play_sound_file(False, line + '.rso')
sleep(1)
def see(self):
r'''Reads the Light sensor's output.
'''
return self.light.get_sample()
def walk(self, secs, power=FORTH):
r'''Simultaneously activates the leg motors, causing Alpha Rex to walk.
secs
How long the motors will rotate.
power
The strength effected by the motors. Positive values will cause
Alpha Rex to walk forward, while negative values will cause it
to walk backwards. If you are unsure about how much force to
apply, the special values FORTH and BACK provide reasonable
defaults. If omitted, FORTH is used.
'''
for motor in self.legs:
motor.run(power=power)
sleep(secs)
for motor in self.legs:
motor.idle()
def wave(self, secs, power=100):
r'''Make Alpha Rex move its arms.
secs
How long the arms' motor will rotate.
power
The strength effected by the motor. If omitted, (100) is used.
'''
self.arms.run(power=power)
sleep(secs)
self.arms.idle()
import nxt
import nxtConnect # has to be in search path
import time
brickName = "Team60"
useUSB = False
if useUSB:
brick = nxt.find_one_brick(name=brickName,
strict=True,
method=nxt.locator.Method(usb=True,
bluetooth=True))
else:
# the bluetooth function of the nxt library works too, but "wastes"
# time searching for devices.
brick = nxtConnect.btConnect(brickName)
print(brick.get_device_info()) # check what brick you connected to
from time import sleep
from nxt.motor import Motor, PORT_A, PORT_B, PORT_C
from nxt.sensor import Touch, PORT_4, PORT_3, PORT_2, Light, PORT_1, Ultrasonic
turningMotor = Motor(brick, PORT_B)
walkingMotor = Motor(brick, PORT_C)
armMotor = Motor(brick, PORT_A)
legPosition = Touch(brick, PORT_3)
touch = Touch(brick, PORT_1)
while True:
print(touch.get_input_values().calibrated_value)
class Robot(object):
def __init__(self, brick='NXT'):
r'''Creates a new Robot controller.
brick
Either an nxt.brick.Brick object, or an NXT brick's name as a
string. If omitted, a Brick named 'NXT' is looked up.
'''
if isinstance(brick, basestring):
brick = find_one_brick(name=brick)
self.brick = brick
self.tool = Motor(brick, PORT_B)
self.tracks = [Motor(brick, PORT_A), Motor(brick, PORT_C)]
self.ultrasonic = Ultrasonic(brick, PORT_1)
self.sound = Sound(brick, PORT_2)
self.light = Light(brick, PORT_3)
self.touch = Touch(brick, PORT_4)
def turn(self, power, angle):
for motor in self.tracks:
motor.turn(power, angle)
def move(self, power=FORTH):
r'''Simultaneously activates the tracks motors, causing Robot to move.
power
The strength effected by the motors. Positive values will cause
Robot to move forward, while negative values will cause it
to move backwards. If you are unsure about how much force to
apply, the special values FORTH and BACK provide reasonable
defaults. If omitted, FORTH is used.
'''
for motor in self.tracks:
motor.run(power=power)
def wait(self, seconds):
''' secsonds
How long the motors will rotate.
Will this take values < 0? Most motor commands work in ms.
Try passing sleep 1/seconds (miliseconds)
'''
sleep(seconds)
def stop(self):
for motor in self.tracks:
motor.idle()
def tacho(self):
'''
returns an array of two elements which are the motor tacho readings
'''
tachos = []
for motor in self.tracks:
#tachos.append(motor.get_tacho())
tachos.append(motor.tacho_count) #, rotation_count
return tachos
def act(self, power=FORTH):
r'''Make Robot move its tool.
power
The strength effected by the motor. If omitted, (100) is used.
'''
self.tool.run(power=power)
def echolocate(self):
r'''Reads the Ultrasonic sensor's output.
'''
return self.ultrasonic.get_sample()
def feel(self):
r'''Reads the Touch sensor's output.
'''
return self.touch.get_sample()
def hear(self):
r'''Reads the Sound sensor's output.
'''
return self.sound.get_sample()
def say(self, line, times=1):
r'''Plays a sound file named (line + '.rso'), which is expected to be
stored in the brick. The file is played (times) times.
line
The name of a sound file stored in the brick.
times
How many times the sound file will be played before this method
returns.
'''
for i in range(0, times):
self.brick.play_sound_file(False, line + '.rso')
sleep(1)
def see(self):
r'''Reads the Light sensor's output.
'''
return self.light.get_sample()