def __init__(self):
self.PORT_NUMBER = 5004
self.DATA_SIZE = 1024
self.DEFAULT_PULSES_PER_SECOND = 0
self.DEFAULT_HOLD_MODE = "on"
self.DEFAULT_STOP_MODE = "brake"
self.DEFAULT_REGULATION_MODE = True
self.MOTOR_STARTING_POSITION = 0
self.system_on = False
self.YAW_LEFT = "yaw_left "
self.YAW_RIGHT = "yaw_right"
self.socket = None
self.motor_lock = threading.Lock()
self.unpacker = struct.Struct('f f')
self.right_track_motor = Motor(port=Motor.PORT.A)
self.left_track_motor = Motor(port=Motor.PORT.B)
#self.servo_arm_pitch_motor=Motor(port=Motor.PORT.C)
#self.servo_arm_roll_motor=Motor(port=Motor.PORT.D)
self.camera_fov = 640
self.camera_av = self.camera_fov / 2
self.face_x = 0
self.face_y = 0
self.kp = 0.15625 # Constant for the proportional controller
self.ki = 0 # Constant for the integral controller
self.kd = 0 # Constant for the differential controller
self.offset = self.camera_av # Offtset used to calculate error
self.tp = 0 # Turning power of motors when there is no error
self.previous_dt = 0
self.integral = 0
self.previous_err = 0
self.derivative = 0
self.coordinates_time_recv = 0
self.timeout = 0.2 #seconds
self.face_coordinates_lock = threading.Lock()
self.system_on_lock = threading.Lock()
self.update_coordinates_thread = threading.Thread(
target=self.update_face_coordinates)
self.update_coordinates_thread.start()
print "Setting up connection.\n"
self.initialise_connection()
print "Initialising Motors..\n"
self.initialise_motors()
print "Awaiting new connection...\n"
self.update_face_coordinates()
def __init__(self, *args, **kwargs):
super(TestMotor, self).__init__(*args, **kwargs)
self.d = Motor(port=Motor.PORT.A)
app.debug = True
# Create a random secrey key so we can use sessions
app.config['SECRET_KEY'] = os.urandom(12)
from ev3.ev3dev import Tone
alarm = Tone()
#head = None#Motor(port=Motor.PORT.A)
right_wheel = None
left_wheel = None
button = None
ir_sensor = None
color_sensor = None
try:
right_wheel = Motor(port=Motor.PORT.B)
left_wheel = Motor(port=Motor.PORT.C)
button = TouchSensor()
#ir_sensor = InfraredSensor()
color_sensor = ColorSensor()
alarm.play(200)
except Exception as e:
alarm.play(200)
alarm.play(200)
raise e
right_wheel.position = 0
left_wheel.position = 0
right_wheel.reset()
left_wheel.reset()
def __init__(self):
self.left = Motor(port=Motor.PORT.B)
self.right = Motor(port=Motor.PORT.C)
self.left.reset()
self.right.reset()
self.gyro = GyroSensor()
C 2 red
D 2 blue
The program is stopped by pressing the baecon button.
"""
from ev3.ev3dev import Motor, NoSuchMotorError
from ev3.lego import InfraredSensor
from ev3.event_loop import EventLoop
ir = InfraredSensor()
motors = []
for port in 'ABCD':
try:
motor = Motor(port=port)
motor.regulation_mode = False
except NoSuchMotorError:
motor = None
motors.append(motor)
buttons = [
(ir.REMOTE.RED_UP, ir.REMOTE.RED_DOWN),
(ir.REMOTE.BLUE_UP, ir.REMOTE.BLUE_DOWN),
]
def ir_changed(event):
for channel in range(2):
state = event.evaluation[channel]
if state == ir.REMOTE.BAECON_MODE_ON:
import socket
import ev3.ev3dev
import time
from ev3.ev3dev import Motor
rightTrackMotor=Motor(port=Motor.PORT.A)
leftTrackMotor=Motor(port=Motor.PORT.B)
servoArmPitchMotor=Motor(port=Motor.PORT.C)
servoArmRollMotor=Motor(port=Motor.PORT.D)
print "Motors initialised."
def setUp(motor):
motor.reset()
motor.regulation_mode = True
motor.pulses_per_second_sp = 30
setUp(rightTrackMotor)
setUp(leftTrackMotor)
setUp(servoArmPitchMotor)
setUp(servoArmRollMotor)
print "Motors set up."
#def yaw(direction):
#left/right
#def roll(direction):
#left/right
#def pitch(direction):
