def __init__(self, logger=None):
self._logger = logger or logging.getLogger(__name__)
super().__init__(thread_name='EV3MazeSolver')
self._max_moves = 30
self._ev3_distance_sensors = EV3DistanceDetectors()
self._ev3_distance_sensors.start()
self._ev3_gyro = Gyro()
self._ev3_gyro.start()
self._motors = EV3Motors(distance_sensors=self._ev3_distance_sensors,
gyro=self._ev3_gyro)
self._wall_detector = EV3WallDetector(
distance_sensors=self._ev3_distance_sensors)
self._maze_solver = CuriousMazeSolver(
motors=self._motors,
wall_detector=self._wall_detector,
finish_detector=DummyFinishDetector(),
outputs=DummyOutputs)
self._ev3_buttons = EV3Buttons()
self._ev3_buttons.start()
self._ev3_buttons.add_enter_button_listener(self.start_maze_solving)
class EV3MazeSolver(SimplePeriodicWorkerThread):
def __init__(self, logger=None):
self._logger = logger or logging.getLogger(__name__)
super().__init__(thread_name='EV3MazeSolver')
self._max_moves = 30
self._ev3_distance_sensors = EV3DistanceDetectors()
self._ev3_distance_sensors.start()
self._ev3_gyro = Gyro()
self._ev3_gyro.start()
self._motors = EV3Motors(distance_sensors=self._ev3_distance_sensors,
gyro=self._ev3_gyro)
self._wall_detector = EV3WallDetector(
distance_sensors=self._ev3_distance_sensors)
self._maze_solver = CuriousMazeSolver(
motors=self._motors,
wall_detector=self._wall_detector,
finish_detector=DummyFinishDetector(),
outputs=DummyOutputs)
self._ev3_buttons = EV3Buttons()
self._ev3_buttons.start()
self._ev3_buttons.add_enter_button_listener(self.start_maze_solving)
def solve_maze(self) -> int:
_move_count = 0
_finished_or_cannot_move = False
while not _finished_or_cannot_move and _move_count < self._max_moves:
self._logger.debug('Move count={}'.format(_move_count))
_finished_or_cannot_move = self._maze_solver.next_move()
_move_count += 1
if not _finished_or_cannot_move and _move_count >= self._max_moves:
self._logger.warning(
'Maximum allowed move count={} reached!'.format(
self._max_moves))
return _move_count
def run(self):
super().run()
self._ev3_gyro.stop()
self._ev3_distance_sensors.stop()
self._ev3_buttons.stop()
def perform_cycle(self):
# Don't do anything, just listen for events.
pass
def start_maze_solving(self):
self._logger.debug('Start event received')
self._ev3_buttons.remove_enter_button_listener()
self._ev3_gyro.reset()
self.solve_maze()
def stop(self):
self._logger.debug('Stop event received')
super().stop()
import logging
import sys
from ev3.motors import EV3Motors
from ev3.distance_detectors import EV3DistanceDetectors
from ev3.gyro import Gyro
def set_up_console_logging():
console_handler = logging.StreamHandler(sys.stdout)
console_handler.setFormatter(
logging.Formatter(
'%(asctime)s - %(name)s - %(levelname)s - %(message)s'))
logging.basicConfig(level=logging.INFO, handlers=[console_handler])
logging.getLogger('ev3.motors').setLevel(logging.DEBUG)
logging.getLogger('ev3.position_corrector').setLevel(logging.DEBUG)
if __name__ == "__main__":
set_up_console_logging()
distance_sensors = EV3DistanceDetectors()
gyro = Gyro()
motors = EV3Motors(distance_sensors=distance_sensors, gyro=gyro)
distance_sensors.start()
gyro.start()
for _i in range(6):
print('======== move {} ========'.format(_i + 1))
motors.move_forward()
time.sleep(1)
distance_sensors.stop()
gyro.stop()
#!/usr/bin/python3
import time
from ev3.gyro import Gyro
if __name__ == "__main__":
gyro = Gyro()
gyro.start()
for _ in range(10):
_angle = gyro.get_orientation()
print('Angle = {}'.format(_angle))
time.sleep(1)
gyro.stop()