class Gelo:
def __init__(self):
self.hub = InventorHub(top_side=Axis.Z, front_side=-Axis.X)
# Configure the leg motors
self.front_left_leg_motor = Motor(Port.D)
self.front_right_leg_motor = \
Motor(Port.C, Direction.COUNTERCLOCKWISE)
self.rear_left_leg_motor = Motor(Port.B)
self.rear_right_leg_motor = \
Motor(Port.A, Direction.COUNTERCLOCKWISE)
self.leg_motors = [
self.front_left_leg_motor, self.front_right_leg_motor,
self.rear_left_leg_motor, self.rear_right_leg_motor
]
# Configure the sensors
self.color_sensor = ColorSensor(Port.F)
self.distance_sensor = UltrasonicSensor(Port.E)
def activate_display(self):
self.hub.display.orientation(up=Side.TOP)
for _ in range(10):
self.hub.display.image([[00, 11, 33, 11, 00],
[11, 33, 33, 33, 11],
[33, 66, 99, 66, 33],
[11, 33, 66, 33, 11],
[00, 11, 33, 11, 00]])
wait(50)
self.hub.display.off()
wait(50)
def straighten_legs(self):
for leg_motor in self.leg_motors:
leg_motor.run_target(speed=1000,
target_angle=0,
wait=False)
def walk(self, speed: int, seconds: int):
for _ in range(seconds):
self.front_left_leg_motor.run_time(speed=speed,
time=500,
wait=False)
self.rear_right_leg_motor.run_time(speed=speed,
time=500)
self.front_right_leg_motor.run_time(speed=speed,
time=500,
wait=False)
self.rear_left_leg_motor.run_time(speed=speed,
time=500)
print("Demo of run")
example_motor.run(500)
wait(1500)
example_motor.stop()
wait(1500)
# Run at 70% duty cycle ("power") and then stop by coasting.
print("Demo of dc")
example_motor.dc(50)
wait(1500)
example_motor.stop()
wait(1500)
# Run at 500 deg/s for two seconds.
print("Demo of run_time")
example_motor.run_time(500, 2000)
wait(1500)
# Run at 500 deg/s for 90 degrees.
print("Demo of run_angle")
example_motor.run_angle(500, 180)
wait(1500)
# Run at 500 deg/s back to the 0 angle
print("Demo of run_target to 0")
example_motor.run_target(500, 0)
wait(1500)
# Run at 500 deg/s back to the -90 angle
print("Demo of run_target to -90")
example_motor.run_target(500, -90)
# Component positions
FEET = 0
BELLY = 365
HEAD = 128
ARMS = 244
NECK = 521
BASE = 697
# Place all the elements
for element in (FEET, BELLY, ARMS, NECK, HEAD):
# Go to the element
belt.run_target(speed=200, target_angle=element)
# Grab the element
arm.run_time(speed=300, time=2000)
# Lift the element by going back to nearly zero
arm.run_target(speed=300, target_angle=55)
# Go to the base
belt.run_target(speed=200, target_angle=BASE)
wait(500)
# Put the element down
arm.run_time(speed=300, time=2000)
# Lift the arm back up
arm.run_target(speed=300, target_angle=0)
# When we are done, eject the result
