def __init__(self, port=None):
"""
The port must be 1, 2, 3, 4, or None, where None means to attempt
to autodetect a port into which a physical Touch Sensor is plugged.
---
:param port: The port (1, 2, 3, or 4) into which a Touch Sensor is
plugged, or None to attempt to autodetect such a port.
:type port: int | None
"""
if port not in (1, 2, 3, 4, None):
message = "The port for a TouchSensor must be\n"
message += "1, 2, 3, or 4, or None to attempt\n"
message += "to autodetect a physical Touch Sensor."
raise ValueError(message)
if port is not None:
self._touch_sensor = ev3.TouchSensor('in' + str(port))
else:
self._touch_sensor = ev3.TouchSensor() # Attempt to autodetect
def __init__(self):
self.running = True
self.touch_sensor = ev3.TouchSensor()
self.seeker = ev3.BeaconSeeker(channel=1)
self.left_motor = ev3.LargeMotor(ev3.OUTPUT_B)
self.right_motor = ev3.LargeMotor(ev3.OUTPUT_C)
assert self.left_motor.connected
assert self.right_motor.connected
self.pixy = ev3.Sensor(driver_name="pixy-lego")
self.mode = "Follow"
def arm_down(self):
arm_motor = ev3.MediumMotor(ev3.OUTPUT_A)
assert arm_motor.connected
touch_sensor = ev3.TouchSensor()
assert touch_sensor
arm_motor.run_to_abs_pos(position_sp=0, speed_sp=900)
arm_motor.wait_while(
ev3.Motor.STATE_STALLED) # Blocks until the motor finishes running
ev3.Sound.beep().wait()
def touch_sensor_as_state():
"""Example of using the TouchSensor with a state."""
touch_sensor = ev3.TouchSensor()
assert touch_sensor
for _ in range(10):
if touch_sensor.is_pressed:
print("Touch sensor is pressed")
else:
print("Touch sensor is not pressed")
time.sleep(1.0)
def __init__(self):
self.running = True
self.left_motor = ev3.LargeMotor(ev3.OUTPUT_B)
self.right_motor = ev3.LargeMotor(ev3.OUTPUT_C)
self.arm_motor = ev3.MediumMotor(ev3.OUTPUT_A)
self.touch_sensor = ev3.TouchSensor()
self.color_sensor = ev3.ColorSensor()
self.ir_sensor = ev3.InfraredSensor()
self.pixy = ev3.Sensor(drive_name="pixy-lego")
self.mqtt_client = com.MqttClient()
self.mqtt_client.connect_to_pc()
def __init__(self):
self.speed = 400
self.turnSpeed = 100
self.ts = ev3.TouchSensor()
self.lm = ev3.LargeMotor('outA')
self.rm = ev3.LargeMotor('outB')
self.lm.reset()
self.rm.reset()
self.cpr = self.lm.count_per_rot
self.prevLmPosition = self.lm.position
self.prevRmPosition = self.rm.position
def __init__(self):
self.color_sensor = ev3.ColorSensor()
assert self.color_sensor
self.touch_sensor = ev3.TouchSensor()
assert self.touch_sensor
self.ir_sensor = ev3.InfraredSensor()
assert self.ir_sensor
self.pixy = ev3.Sensor(driver_name="pixy-lego")
assert self.pixy
self.left_motor = ev3.LargeMotor(ev3.OUTPUT_B)
self.right_motor = ev3.LargeMotor(ev3.OUTPUT_C)
def arm_up(self):
arm_motor = ev3.MediumMotor(ev3.OUTPUT_A)
assert arm_motor.connected
touch_sensor = ev3.TouchSensor()
assert touch_sensor
arm_motor.run_forever(speed_sp=900)
while not touch_sensor.is_pressed:
time.sleep(0.01)
arm_motor.stop()
ev3.Sound.beep().wait()
def arm_up(self):
arm_motor = ev3.MediumMotor(ev3.OUTPUT_A)
assert arm_motor.connected
touch_sensor = ev3.TouchSensor()
assert touch_sensor.connected
arm_motor.run_forever(speed_sp=900)
while not touch_sensor.is_pressed:
time.sleep(0.01)
arm_motor.stop(stop_action="brake")
arm_motor.wait_while(ev3.Motor.STATE_RUNNING)
ev3.Sound.beep().wait()
def __init__(self, port):
"""
Constructs a TouchSensor at the given port,
where port should be one of:
ev3.INPUT_1 ev3.INPUT_2 ev3.INPUT_3 ev3.INPUT_4
"""
self.port = port
self.sensor = ev3.TouchSensor(port)
assert self.sensor.connected,\
("The touch sensor appears to not be connected.\n"
+ " Check the jack labelled 1. Is the plug connected securely?")
def run():
# the execution of all code shall be started from within this function
print('Hello World')
planet = Planet()
odometry = Odometry()
movement_functions = Movement(motor_list = (ev3.LargeMotor('outB'), ev3.LargeMotor('outC')), odometry = odometry)
line_follower = follow.LineFollowing(colour_sensor = ev3.ColorSensor('in2'),
ts_list = (ev3.TouchSensor('in1'), ev3.TouchSensor('in4')), movement=movement_functions, odometry = odometry)
communication = Communication(planet = planet, odometry = odometry)
communication.connect()
line_follower.colour_calibration()
line_follower.line_following()
communication.first_communication()
sleep(2)
line_follower.path_recognising()
while True:
#odometry.odometry_calculations()
line_follower.line_following()
line_follower.path_recognising()
def arm_up(self):
MAX_SPEED = 900
arm_motor = ev3.MediumMotor(ev3.OUTPUT_A)
assert arm_motor.connected
touch_sensor = ev3.TouchSensor()
assert touch_sensor
arm_motor.run_forever(speed_sp=MAX_SPEED)
while not touch_sensor.is_pressed:
time.sleep(0.01)
arm_motor.stop()
print('arm is up')
def setupSensorsMotors(self, configs):
for item in configs:
port = configs[item]
if item == self.LEFT_MOTOR:
self.lmot = ev3.LargeMotor(port)
elif item == self.RIGHT_MOTOR:
self.rmot = ev3.LargeMotor(port)
elif item == self.SERVO_MOTOR:
self.mmot = ev3.MediumMotor(port)
elif item == self.LEFT_TOUCH:
self.leftTouch = ev3.TouchSensor(port)
elif item == self.RIGHT_TOUCH:
self.rightTouch = ev3.TouchSensor(port)
elif item == self.ULTRA_SENSOR:
self.ultraSensor = ev3.UltrasonicSensor(port)
elif item == self.COLOR_SENSOR:
self.colorSensor = ev3.ColorSensor(port)
elif item == self.GYRO_SENSOR:
self.gyroSensor = ev3.GyroSensor(port)
else:
print("Unknown configuration item:", item)
def __init__(self):
self.left_motor = ev3.LargeMotor(ev3.OUTPUT_B)
self.right_motor = ev3.LargeMotor(ev3.OUTPUT_C)
self.arm_motor = ev3.MediumMotor(ev3.OUTPUT_A)
self.touch_sensor = ev3.TouchSensor()
self.color_sensor = ev3.ColorSensor()
self.ir_sensor = ev3.InfraredSensor()
self.beacon_seeker = ev3.BeaconSeeker(channel=1)
self.pixy = ev3.Sensor(driver_name='pixy-lego')
assert self.color_sensor
assert self.ir_sensor
assert self.pixy
def __init__(self):
self.running = True
self.left_motor = ev3.LargeMotor(ev3.OUTPUT_B)
self.right_motor = ev3.LargeMotor(ev3.OUTPUT_C)
self.arm_motor = ev3.MediumMotor(ev3.OUTPUT_A)
self.touch_sensor = ev3.TouchSensor()
self.color_sensor = ev3.ColorSensor()
self.beacon = ev3.BeaconSeeker(channel=2)
self.ir = ev3.InfraredSensor()
self.pixy = ev3.Sensor(driver_name="pixy-lego")
self.items_in_cart = []
self.max_speed = 900
def main():
print("--------------------------------------------")
print(" Say the Color")
print(" Press the touch sensor to exit")
print("--------------------------------------------")
ev3.Sound.speak("Say the Color").wait()
color_sensor = ev3.ColorSensor()
assert color_sensor
# Potential values of the color_sensor.color property
# 0: No color
# 1: Black
# 2: Blue
# 3: Green
# 4: Yellow
# 5: Red
# 6: White
# 7: Brown
# From http://python-ev3dev.readthedocs.io/en/latest/sensors.html#special-sensor-classes
last_color_spoken = 0 # No color name has been spoken.
touch_sensor = ev3.TouchSensor()
assert touch_sensor
while not touch_sensor.is_pressed:
current_color = color_sensor.color
if current_color == 0:
last_color_spoken = current_color # Clear the saved value
else:
if current_color != last_color_spoken:
last_color_spoken = current_color # Avoid saying the name again immediately.
if current_color == 1:
ev3.Sound.speak("Black").wait()
elif current_color == 2:
ev3.Sound.speak("Blue").wait()
elif current_color == 3:
ev3.Sound.speak("Green").wait()
elif current_color == 4:
ev3.Sound.speak("Yellow").wait()
elif current_color == 5:
ev3.Sound.speak("Red").wait()
elif current_color == 6:
ev3.Sound.speak("White").wait()
elif current_color == 7:
ev3.Sound.speak("Brown").wait()
# Hit Ctrl-c to exit as there is no other way out!
time.sleep(0.05)
ev3.Sound.speak("Goodbye").wait()
def arm_up(self):
arm_motor = ev3.MediumMotor(ev3.OUTPUT_A)
assert arm_motor.connected
touch_sensor = ev3.TouchSensor()
assert touch_sensor
arm_motor.run_to_rel_pos(position_sp=14.2 * 360, speed_sp=900)
while not touch_sensor.is_pressed:
time.sleep(0.01)
arm_motor.stop_action = ev3.Motor.STOP_ACTION_BRAKE
ev3.Sound.beep()
def publish_data(run_event):
while run_event.is_set():
ts = ev3.TouchSensor()
if ts.connected and ts.value() == 1:
try:
ev3.Leds.set_color(ev3.Leds.LEFT, (ev3.Leds.GREEN, ev3.Leds.RED)[ts.value()])
payload = ("{\"touchSensorValue\": \"%d\"}" % ts.value())
client.publish(mindBlue.publisher_topic, payload)
print("Data sent")
except:
print("Err")
else:
ev3.Leds.set_color(ev3.Leds.LEFT, (ev3.Leds.GREEN, ev3.Leds.RED)[ts.value()])
def main():
print("--------------------------------------------")
print(" Say the Color")
print("--------------------------------------------")
ev3.Sound.speak("Say the Color").wait()
print(" Press the touch sensor to exit")
color_sensor = ev3.ColorSensor()
assert color_sensor
# Potential values of the color_sensor.color property
# 0: No color
# 1: Black
# 2: Blue
# 3: Green
# 4: Yellow
# 5: Red
# 6: White
# 7: Brown
# From http://python-ev3dev.readthedocs.io/en/latest/sensors.html#special-sensor-classes
last_color_spoken = 0 # No color name has been spoken.
touch_sensor = ev3.TouchSensor()
assert touch_sensor
while not touch_sensor.is_pressed:
current_color = color_sensor.color
if current_color == ev3.ColorSensor.COLOR_NOCOLOR:
last_color_spoken = current_color # Clear the saved value
else:
if current_color != last_color_spoken:
last_color_spoken = current_color # Avoid saying the name again immediately.
if current_color == ev3.ColorSensor.COLOR_BLACK:
ev3.Sound.speak("Black").wait()
elif current_color == ev3.ColorSensor.COLOR_BLUE:
ev3.Sound.speak("Blue").wait()
elif current_color == ev3.ColorSensor.COLOR_GREEN:
ev3.Sound.speak("Green").wait()
elif current_color == ev3.ColorSensor.COLOR_YELLOW:
ev3.Sound.speak("Yellow").wait()
elif current_color == ev3.ColorSensor.COLOR_RED:
ev3.Sound.speak("Red").wait()
elif current_color == ev3.ColorSensor.COLOR_WHITE:
ev3.Sound.speak("White").wait()
elif current_color == ev3.ColorSensor.COLOR_BROWN:
ev3.Sound.speak("Brown").wait()
time.sleep(0.05)
print("Goodbye!")
ev3.Sound.speak("Goodbye").wait()
def arm_calibration(self):
"""Moves the arm up and then back down to recalibrate it."""
touch_sensor = ev3.TouchSensor()
self.arm_motor.run_forever(speed_sp=900)
while not touch_sensor.is_pressed:
time.sleep(0.01)
self.arm_motor.stop(stop_action=ev3.Motor.STOP_ACTION_BRAKE)
ev3.Sound.beep().wait()
self.arm_motor.run_to_rel_pos(position_sp=-5112, speed_sp=900)
self.arm_motor.wait_while(ev3.Motor.STATE_RUNNING)
ev3.Sound.beep().wait()
self.arm_motor.position = 0
def setupSensorsMotors(self, configs):
"""Takes in a dictionary where the key is a string that identifies a motor or sensor
and the value is the port for that motor or sensor. It sets up all the specified motors
and sensors accordingly."""
for item in configs:
port = configs[item]
if item == self.LEFT_MOTOR:
self.leftMotor = ev3.LargeMotor(port)
elif item == self.RIGHT_MOTOR:
self.rightMotor = ev3.LargeMotor(port)
elif item == self.SERVO_MOTOR:
self.servoMotor = ev3.MediumMotor(port)
elif item == self.LEFT_TOUCH:
self.leftTouch = ev3.TouchSensor(port)
elif item == self.RIGHT_TOUCH:
self.rightTouch = ev3.TouchSensor(port)
elif item == self.ULTRA_SENSOR:
self.ultraSensor = ev3.UltrasonicSensor(port)
elif item == self.COLOR_SENSOR:
self.colorSensor = ev3.ColorSensor(port)
elif item == self.GYRO_SENSOR:
self.gyroSensor = ev3.GyroSensor("in1")
else:
print("Unknown configuration item:", item)
def leds_example():
"""Basic LED example"""
touch_sensor = ev3.TouchSensor()
assert touch_sensor
for _ in range(100):
time.sleep(0.1)
if touch_sensor.is_pressed:
ev3.Leds.set_color(ev3.Leds.LEFT, ev3.Leds.RED)
ev3.Leds.set_color(ev3.Leds.RIGHT, ev3.Leds.ORANGE)
else:
ev3.Leds.set_color(ev3.Leds.LEFT, ev3.Leds.GREEN)
ev3.Leds.set_color(ev3.Leds.RIGHT, ev3.Leds.ORANGE)
ev3.Leds.all_off() # The lines below can be used to turn off only 1 LED if you need that.
def __init__(self):
self.mr = ev3.LargeMotor("outC") #Initializing sensors and motors
self.ml = ev3.LargeMotor("outB")
self.cs = ev3.ColorSensor()
self.ts = ev3.TouchSensor()
self.d_wheel = 5.6
self.d_axis = 12
self.oldposition = (0, 0)
self.position = (0, 0)
self.oldview = Direction.NORTH
self.view = Direction.NORTH
self.status = "free"
self.speedListL = []
self.speedListR = []
self.timeList = []
self.directionList = []
def __int__(self):
self.arm_motor = ev3.MediumMotor(ev3.OUTPUT_A)
self.left_motor = ev3.LargeMotor(ev3.OUTPUT_B)
self.right_motor = ev3.LargeMotor(ev3.OUTPUT_C)
self.touch_sensor = ev3.TouchSensor()
self.color_sensor = ev3.ColorSensor()
self.ir_sensor = ev3.InfraredSensor()
self.BeaconSeeker = ev3.BeaconSeeker()
self.pixy = ev3.Sensor(driver_name="pixy-lego")
assert self.pixy.connected
assert self.ir_sensor.connected
assert self.color_sensor.connected
assert self.arm_motor.connected
assert self.left_motor.connected
assert self.right_motor.connected
assert self.touch_sensor.connected
def color_sensor():
#WORKING TO COLOR SENSOR:
ts = ev3.TouchSensor()
cl = ev3.ColorSensor()
cl.mode = 'COL-COLOR' #returns an integer [0,7]
#cl.mode='COL-REFLECT' #measures reflected light intensity and returns an integer [0,100]
#cl.mode='COL-AMBIENT' #measures ambient light intensity and returns an integer [0,100]
#cl.mode='RGB-RAW' #returns RGB tuple ([0,1020], [0,1020], [0,1020])
colors = ('unknown black blue green yellow red white brown'.split())
while not ts.value():
ev3.Sound.speak(colors[cl.value()]).wait()
time.sleep(1)
def __init__(self):
self.left_motor = ev3.LargeMotor(ev3.OUTPUT_B)
self.right_motor = ev3.LargeMotor(ev3.OUTPUT_C)
self.arm_motor = ev3.MediumMotor(ev3.OUTPUT_A)
self.touch_sensor = ev3.TouchSensor()
self.color_sensor = ev3.ColorSensor()
self.ir_sensor = ev3.InfraredSensor()
self.pixy = ev3.Sensor(driver_name="pixy-lego")
self.running = None
assert self.right_motor
assert self.left_motor
assert self.touch_sensor
assert self.arm_motor
assert self.color_sensor
assert self.ir_sensor
assert self.pixy
def makeLightSwitch():
print ("turn on LED w switch")
print ("for 10 seconds")
t_start = util.timestamp_now()
ts = ev3.TouchSensor(ev3.INPUT_1)
while True:
ev3.Leds.set_color(ev3.Leds.LEFT, (ev3.Leds.GREEN, ev3.Leds.RED)[ts.value()])
t_now = util.timestamp_now()
if (t_now - t_start > 10E3):
print ("finishing")
break
print ("turning off light")
print (" ")
ev3.Leds.set_color(ev3.Leds.LEFT, (ev3.Leds.GREEN, ev3.Leds.RED)[0])
def __init__(self):
self.left_motor = ev3.LargeMotor(ev3.OUTPUT_B)
self.right_motor = ev3.LargeMotor(ev3.OUTPUT_C)
self.arm_motor = ev3.MediumMotor(ev3.OUTPUT_A)
self.touch_sensor = ev3.TouchSensor()
self.rc1 = ev3.RemoteControl(channel=1)
self.rc2 = ev3.RemoteControl(channel=2)
self.rc3 = ev3.RemoteControl(channel=3)
self.rc4 = ev3.RemoteControl(channel=4)
self.color_sensor = ev3.ColorSensor()
self.ir_sensor = ev3.InfraredSensor()
self.pixy = ev3.Sensor(driver_name="pixy-lego")
assert ev3.ColorSensor()
assert ev3.InfraredSensor()
assert ev3.Sensor(driver_name="pixy-lego")
def __init__(self, sensor_list):
self.sensors = {}
# self.sensors_and_names_dict = {} # actuator_name: actuator for actuator_name, actuator in zip(self.actuator_names, self.sensors)
self.main_motors_running = False
for sensor in sensor_list:
if sensor["type"] == "TOUCH_SENSOR":
logger.debug("Adding TOUCH_SENSOR:%s", sensor["port"])
self.sensors[sensor["name"]] = ev3.TouchSensor(sensor["port"])
elif sensor["type"] == "INFRARED_SENSOR":
logger.debug("Adding MEDIUM_MOTOR:%s", sensor["port"])
self.sensors[sensor["name"]] = ev3.InfraredSensor(
sensor["port"])
elif sensor["type"] == "COLOR_SENSOR":
logger.debug("Adding MEDIUM_MOTOR:%s", sensor["port"])
self.sensors[sensor["name"]] = ev3.ColorSensor(sensor["port"])
def arm_calibration(self):
arm_motor = ev3.MediumMotor(ev3.OUTPUT_A)
assert arm_motor.connected
touch_sensor = ev3.TouchSensor()
assert touch_sensor.connected
arm_motor.run_forever(speed_sp=900)
while not touch_sensor.is_pressed:
time.sleep(0.01)
arm_motor.stop(stop_action="brake")
arm_revolutions_for_full_range = 14.2
arm_motor.run_to_rel_pos(position_sp=-arm_revolutions_for_full_range *
440,
speed_sp=900)
arm_motor.wait_while(ev3.Motor.STATE_RUNNING)
ev3.Sound.beep().wait()
arm_motor.position = 0
