class Slick:
# Drive Base configs
LEFT_MOTOR_PORT = Ports.PORT1
LEFT_MOTOR_REVERSE_POLARITY = False
RIGHT_MOTOR_PORT = Ports.PORT6
RIGHT_MOTOR_REVERSE_POLARITY = True
WHEEL_TRAVEL = 200
TRACK_WIDTH = 176
DISTANCE_UNIT = DistanceUnits.MM
GEAR_RATIO = 1
# Controller configs
CONTROLLER_DEADBAND = 3
def __init__(self):
self.brain = Brain()
self.left_motor = \
Motor(
self.LEFT_MOTOR_PORT, # index
self.LEFT_MOTOR_REVERSE_POLARITY # reverse polarity?
)
self.right_motor = \
Motor(
self.RIGHT_MOTOR_PORT, # index
self.RIGHT_MOTOR_REVERSE_POLARITY # reverse polarity?
)
self.drivetrain = \
Drivetrain(
self.left_motor, # left_motor
self.right_motor, # right_motor
self.WHEEL_TRAVEL, # wheel_travel
self.TRACK_WIDTH, # track_width
self.DISTANCE_UNIT, # distanceUnit
self.GEAR_RATIO # gear_ratio
)
self.controller = Controller()
self.controller.set_deadband(self.CONTROLLER_DEADBAND)
def drive_by_controller(self):
self.left_motor.spin(
DirectionType.FWD, # dir
self.controller.axisA.position(), # velocity
VelocityUnits.PCT # velocityUnit
)
self.right_motor.spin(
DirectionType.FWD, # dir
self.controller.axisD.position(), # velocity
VelocityUnits.PCT # velocityUnit
)
def keep_driving_by_controller(self):
while True:
self.drive_by_controller()
def main(self):
self.keep_driving_by_controller()
class Armbot:
# Base Pivot motor configs
BASE_PIVOT_MOTOR_PORT = Ports.PORT10
BASE_PIVOT_REVERSE_POLARITY = False
BASE_PIVOT_VELOCITY_PERCENT = 100
# Shoulder motor configs
SHOULDER_MOTOR_PORT = Ports.PORT6
SHOULDER_REVERSE_POLARITY = True # reverse polarity
# Elbow motor configs
ELBOW_MOTOR_PORT = Ports.PORT1
ELBOW_REVERSE_POLARITY = False
# Claw motor configs
CLAW_MOTOR_PORT = Ports.PORT4
CLAW_MOTOR_REVERSE_POLARITY = False
CLAW_MOTOR_VELOCITY_PERCENT = 100
CLAW_MOTOR_TIMEOUT_SECS = 3
# sensor configs
BASE_BUMPER_SWITCH_PORT = Ports.PORT2
ELBOW_BUMPER_SWITCH_PORT = Ports.PORT9
DISTANCE_SENSOR_PORT = Ports.PORT8
COLOR_SENSOR_PORT = Ports.PORT12
LEFT_TOUCH_LED_PORT = Ports.PORT5
RIGHT_TOUCH_LED_PORT = Ports.PORT11
# controller configs
CONTROLLER_DEADBAND = 3 # seconds
def __init__(self):
self.brain = Brain()
self.base_pivot_motor = \
Motor(
self.BASE_PIVOT_MOTOR_PORT, # index
self.BASE_PIVOT_REVERSE_POLARITY # reverse polarity?
)
self.shoulder_motor = \
Motor(
self.SHOULDER_MOTOR_PORT, # index
self.SHOULDER_REVERSE_POLARITY # reverse polarity?
)
self.elbow_motor = \
Motor(
self.ELBOW_MOTOR_PORT, # index
self.ELBOW_REVERSE_POLARITY # reverse polarity?
)
self.claw_motor = \
Motor(
self.CLAW_MOTOR_PORT, # index
self.CLAW_MOTOR_REVERSE_POLARITY # reverse polarity?
)
self.claw_motor.set_timeout(
self.CLAW_MOTOR_TIMEOUT_SECS, # time
TimeUnits.SEC # timeUnit
)
self.base_bumper_switch = Bumper(self.BASE_BUMPER_SWITCH_PORT)
self.elbow_bumper_switch = Bumper(self.ELBOW_BUMPER_SWITCH_PORT)
self.distance_sensor = Sonar(self.DISTANCE_SENSOR_PORT)
self.color_sensor = \
Colorsensor(
self.COLOR_SENSOR_PORT, # index
False, # is_grayscale
700 # proximity
)
self.left_touch_led = Touchled(self.LEFT_TOUCH_LED_PORT)
self.right_touch_led = Touchled(self.RIGHT_TOUCH_LED_PORT)
self.controller = Controller()
self.controller.set_deadband(self.CONTROLLER_DEADBAND)
def pivot_base_by_controller_left_buttons(self):
# pivot base right
if self.controller.buttonLDown.pressing():
self.base_pivot_motor.spin(
DirectionType.REV, # dir
self.BASE_PIVOT_VELOCITY_PERCENT, # velocity
VelocityUnits.PCT # velocityUnit
)
# pivot base left
elif self.controller.buttonLUp.pressing():
self.base_pivot_motor.spin(
DirectionType.FWD, # dir
self.BASE_PIVOT_VELOCITY_PERCENT, # velocity
VelocityUnits.PCT # velocityUnit
)
else:
self.base_pivot_motor.stop(BrakeType.HOLD)
def keep_pivoting_base_by_controller_left_buttons(self):
while True:
self.pivot_base_by_controller_left_buttons()
def control_shoulder_by_controller_axis_d(self):
controller_axis_d_position = self.controller.axisD.position()
if ((controller_axis_d_position > 0) and
(not self.base_bumper_switch.pressing())) or \
(controller_axis_d_position < 0):
self.shoulder_motor.spin(
DirectionType.FWD, # dir
controller_axis_d_position, # velocity
VelocityUnits.PCT # velocityUnit
)
else:
self.shoulder_motor.stop(BrakeType.HOLD)
def keep_controlling_shoulder_by_controller_axis_d(self):
while True:
self.control_shoulder_by_controller_axis_d()
def control_elbow_by_controller_axis_a(self):
controller_axis_a_position = self.controller.axisA.position()
if ((controller_axis_a_position > 0) and
(not self.elbow_bumper_switch.pressing())) or \
(controller_axis_a_position < 0):
self.elbow_motor.spin(
DirectionType.FWD, # dir
controller_axis_a_position, # velocity
VelocityUnits.PCT # velocityUnit
)
else:
self.elbow_motor.stop(BrakeType.HOLD)
def keep_controlling_elbow_by_controller_axis_a(self):
while True:
self.control_elbow_by_controller_axis_a()
def control_claw_by_controller_right_buttons(self):
# open claw
if self.controller.buttonRDown.pressing():
self.claw_motor.spin(
DirectionType.REV, # dir
self.CLAW_MOTOR_VELOCITY_PERCENT, # velocity
VelocityUnits.PCT # velocityUnit
)
# close claw
elif self.controller.buttonRUp.pressing():
self.claw_motor.spin(
DirectionType.FWD, # dir
self.CLAW_MOTOR_VELOCITY_PERCENT, # velocity
VelocityUnits.PCT # velocityUnit
)
else:
self.claw_motor.stop(BrakeType.HOLD)
def keep_controlling_claw_by_controller_right_buttons(self):
while True:
self.control_claw_by_controller_right_buttons()
def main(self):
while True:
self.pivot_base_by_controller_left_buttons()
self.control_shoulder_by_controller_axis_d()
self.control_elbow_by_controller_axis_a()
self.control_claw_by_controller_right_buttons()
class Allie:
FRONT_LEFT_MOTOR_PORT = Ports.PORT1
FRONT_LEFT_MOTOR_REVERSE_POLARITY = False
FRONT_RIGHT_MOTOR_PORT = Ports.PORT6
FRONT_RIGHT_MOTOR_REVERSE_POLARITY = True
REAR_LEFT_MOTOR_PORT = Ports.PORT7
REAR_LEFT_MOTOR_REVERSE_POLARITY = False
REAR_RIGHT_MOTOR_PORT = Ports.PORT12
REAR_RIGHT_MOTOR_REVERSE_POLARITY = True
MOTOR_VELOCITY_PCT = 100
CONTROLLER_DEADBAND = 3 # seconds
def __init__(self):
self.front_left_motor = \
Motor(
self.FRONT_LEFT_MOTOR_PORT, # index
self.FRONT_LEFT_MOTOR_REVERSE_POLARITY # reverse
)
self.front_right_motor = \
Motor(
self.FRONT_RIGHT_MOTOR_PORT, # index
self.FRONT_RIGHT_MOTOR_REVERSE_POLARITY # reverse
)
self.rear_left_motor = \
Motor(
self.REAR_LEFT_MOTOR_PORT, # index
self.REAR_LEFT_MOTOR_REVERSE_POLARITY # reverse
)
self.rear_right_motor = \
Motor(
self.REAR_RIGHT_MOTOR_PORT, # index
self.REAR_RIGHT_MOTOR_REVERSE_POLARITY # reverse
)
self.controller = Controller()
self.controller.set_deadband(self.CONTROLLER_DEADBAND)
def rest_leg_on_surface(self, leg_motor, forward=True):
# rotate motor up to 270 degrees within 1 second
# using max velocity but very light power/torque
leg_motor.set_max_torque_percent(5)
leg_motor.set_timeout(
1, # time,
TimeUnits.SEC # timeUnit
)
leg_motor.spin_for(
DirectionType.FWD if forward else DirectionType.REV, # dir
270, # rotation
RotationUnits.DEG, # rotationUnit
100, # velocity
VelocityUnits.PCT, # velocityUnit
True # waitForCompletion
)
# restore max motor power/torque to 100% again
leg_motor.set_max_torque_percent(100)
def reset_legs(self):
for leg_motor in (self.front_left_motor, self.front_right_motor,
self.rear_left_motor, self.rear_right_motor):
self.rest_leg_on_surface(leg_motor, True)
# set motor encoder to 0
leg_motor.reset_rotation()
def rest_left_legs_forward(self):
for leg_motor in (self.front_left_motor, self.rear_left_motor):
self.rest_leg_on_surface(leg_motor, True)
def rest_left_legs_backward(self):
for leg_motor in (self.rear_left_motor, self.front_left_motor):
self.rest_leg_on_surface(leg_motor, False)
def rest_right_legs_forward(self):
for leg_motor in (self.front_right_motor, self.rear_right_motor):
self.rest_leg_on_surface(leg_motor, True)
def rest_right_legs_backward(self):
for leg_motor in (self.rear_right_motor, self.front_right_motor):
self.rest_leg_on_surface(leg_motor, False)
def remote_control_once(self):
if self.controller.buttonEUp.pressing():
self.rest_left_legs_forward()
elif self.controller.buttonEDown.pressing():
self.rest_left_legs_backward()
elif self.controller.buttonFUp.pressing():
self.rest_right_legs_forward()
elif self.controller.buttonFDown.pressing():
self.rest_right_legs_backward()
else:
left_velocity = self.controller.axisA.position()
right_velocity = self.controller.axisD.position()
self.front_left_motor.spin(
DirectionType.FWD, # dir
left_velocity, # velocity
VelocityUnits.PCT # velocityUnit
)
self.rear_left_motor.spin(
DirectionType.FWD, # dir
left_velocity, # velocity
VelocityUnits.PCT # velocityUnit
)
self.front_right_motor.spin(
DirectionType.FWD, # dir
right_velocity, # velocity
VelocityUnits.PCT # velocityUnit
)
self.rear_right_motor.spin(
DirectionType.FWD, # dir
right_velocity, # velocity
VelocityUnits.PCT # velocityUnit
)
def keep_remote_controlling(self):
while True:
self.remote_control_once()
class Clawbot:
# Drive Base configs
LEFT_MOTOR_PORT = Ports.PORT1
LEFT_MOTOR_REVERSE_POLARITY = False
RIGHT_MOTOR_PORT = Ports.PORT6
RIGHT_MOTOR_REVERSE_POLARITY = True
WHEEL_TRAVEL = 200
TRACK_WIDTH = 176
DISTANCE_UNIT = DistanceUnits.MM
GEAR_RATIO = 1
# Arm motor configs
ARM_MOTOR_PORT = Ports.PORT10
ARM_MOTOR_REVERSE_POLARITY = False
ARM_MOTOR_VELOCITY_PERCENT = 30
# Claw motor configs
CLAW_MOTOR_PORT = Ports.PORT11
CLAW_MOTOR_REVERSE_POLARITY = False
CLAW_MOTOR_TIMEOUT_SECS = 3
CLAW_MOTOR_VELOCITY_PERCENT = 60
# sensor configs
TOUCH_LED_PORT = Ports.PORT2
COLOR_SENSOR_PORT = Ports.PORT3
GYRO_SENSOR_PORT = Ports.PORT4
DISTANCE_SENSOR_PORT = Ports.PORT7
BUMPER_SWITCH_PORT = Ports.PORT8
# Controller configs
CONTROLLER_DEADBAND = 3
def __init__(self):
self.brain = Brain()
self.left_motor = \
Motor(
self.LEFT_MOTOR_PORT, # index
self.LEFT_MOTOR_REVERSE_POLARITY # reverse polarity?
)
self.right_motor = \
Motor(
self.RIGHT_MOTOR_PORT, # index
self.RIGHT_MOTOR_REVERSE_POLARITY # reverse polarity?
)
self.drivetrain = \
Drivetrain(
self.left_motor, # left_motor
self.right_motor, # right_motor
self.WHEEL_TRAVEL, # wheel_travel
self.TRACK_WIDTH, # track_width
self.DISTANCE_UNIT, # distanceUnit
self.GEAR_RATIO # gear_ratio
)
self.arm_motor = \
Motor(
self.ARM_MOTOR_PORT, # index
self.ARM_MOTOR_REVERSE_POLARITY # reverse polarity?
)
self.claw_motor = \
Motor(
self.CLAW_MOTOR_PORT, # index
self.CLAW_MOTOR_REVERSE_POLARITY # reverse polarity?
)
self.claw_motor.set_timeout(
self.CLAW_MOTOR_TIMEOUT_SECS, # time
TimeUnits.SEC # timeUnit
)
self.touch_led = Touchled(self.TOUCH_LED_PORT)
self.color_sensor = \
Colorsensor(
self.COLOR_SENSOR_PORT, # index
False, # is_grayscale
700 # proximity
)
self.gyro_sensor = \
Gyro(
self.GYRO_SENSOR_PORT, # index
True # calibrate
)
self.distance_sensor = Sonar(self.DISTANCE_SENSOR_PORT)
self.bumper_switch = Bumper(self.BUMPER_SWITCH_PORT)
self.controller = Controller()
self.controller.set_deadband(self.CONTROLLER_DEADBAND)
def drive_by_controller(self):
self.left_motor.spin(
DirectionType.FWD, # dir
self.controller.axisA.position(), # velocity
VelocityUnits.PCT # velocityUnit
)
self.right_motor.spin(
DirectionType.FWD, # dir
self.controller.axisD.position(), # velocity
VelocityUnits.PCT # velocityUnit
)
def keep_driving_by_controller(self):
while True:
self.drive_by_controller()
def lower_or_raise_arm_by_controller(self):
if self.controller.buttonLDown.pressing():
self.arm_motor.spin(
DirectionType.REV, # dir
self.ARM_MOTOR_VELOCITY_PERCENT, # velocity
VelocityUnits.PCT # velocityUnit
)
elif self.controller.buttonLUp.pressing():
self.arm_motor.spin(
DirectionType.FWD, # dir
self.ARM_MOTOR_VELOCITY_PERCENT, # velocity
VelocityUnits.PCT # velocityUnit
)
else:
self.arm_motor.stop(BrakeType.HOLD)
def keep_lowering_or_raising_arm_by_controller(self):
while True:
self.lower_or_raise_arm_by_controller()
def grab_or_release_object_by_controller(self):
if self.controller.buttonRDown.pressing():
self.claw_motor.spin(
DirectionType.REV, # dir
self.CLAW_MOTOR_VELOCITY_PERCENT, # velocity
VelocityUnits.PCT # velocityUnit
)
elif self.controller.buttonRUp.pressing():
self.claw_motor.spin(
DirectionType.FWD, # dir
self.CLAW_MOTOR_VELOCITY_PERCENT, # velocity
VelocityUnits.PCT # velocityUnit
)
else:
self.claw_motor.stop(BrakeType.HOLD)
def keep_grabbing_or_releasing_objects_by_controller(self):
while True:
self.grab_or_release_object_by_controller()
def main(self):
while True:
self.drive_by_controller()
self.lower_or_raise_arm_by_controller()
self.grab_or_release_object_by_controller()
class Clawbot:
ARM_MOTOR_PORT = Ports.PORT10
ARM_MOTOR_REVERSE_POLARITY = False
CLAW_MOTOR_PORT = Ports.PORT11
CLAW_MOTOR_REVERSE_POLARITY = False
def __init__(self):
self.brain = Brain()
self.arm_motor = \
Motor(
self.ARM_MOTOR_PORT, # index
self.ARM_MOTOR_REVERSE_POLARITY # reverse
)
self.claw_motor = \
Motor(
self.CLAW_MOTOR_PORT, # index
self.CLAW_MOTOR_REVERSE_POLARITY # reverse
)
self.control_arm_or_claw = 0
def switch_between_arm_and_claw(self):
if self.brain.buttonCheck.pressing():
self.control_arm_or_claw = 1 - self.control_arm_or_claw
def control_arm(self):
if not self.control_arm_or_claw:
if self.brain.buttonUp.pressing():
self.arm_motor.spin(
DirectionType.FWD, # dir
100, # velocity
VelocityUnits.PCT # velocityUnit
)
elif self.brain.buttonDown.pressing():
self.arm_motor.spin(
DirectionType.REV, # dir
100, # velocity
VelocityUnits.PCT # velocityUnit
)
else:
self.arm_motor.stop(BrakeType.HOLD)
else:
self.arm_motor.stop(BrakeType.HOLD)
def control_claw(self):
if self.control_arm_or_claw:
if self.brain.buttonDown.pressing():
self.claw_motor.spin(
DirectionType.REV, # dir
None, # velocity
VelocityUnits.PCT # velocityUnit
)
elif self.brain.buttonUp.pressing():
self.claw_motor.spin(
DirectionType.FWD, # dir
None, # velocity
VelocityUnits.PCT # velocityUnit
)
else:
self.claw_motor.stop(BrakeType.HOLD)
else:
self.claw_motor.stop(BrakeType.HOLD)
