def __init__(self,
init_pose,
soc=None,
port_motor_rear=OUTPUT_A,
port_motor_steer=OUTPUT_B,
port_sensor_gyro='in1'):
# initialization of devices
self.__button_halt = Button()
self.__motor_rear = LargeMotor(port_motor_rear)
self.__motor_steer = LargeMotor(port_motor_steer)
self.__sensor_gyro = GyroSensor(port_sensor_gyro)
self.__velocity_controller = VelocityController(self,
0,
0,
adaptation=False)
self.s = soc
# NOTE: possible using other controllers. Change only here!
self.__trajectory_controller = ControllerWithLinearization()
self.__path_controller = PathController()
self.__localization = Localization(self, init_pose)
self.__robot_state = [0, 0, 0, 0, 0, 0] # x,y, dx,dy, theta,omega
self.reset()
Sound.speak('Ready').wait()
def __init__(self,
port_motor_rear=OUTPUT_A,
port_motor_steer=OUTPUT_B,
port_sensor_gyro='in1',
port_sensor_us_front='in2',
port_sensor_us_rear='in3'):
# initialization of devices
self.__button_halt = Button()
self.__motor_rear = LargeMotor(port_motor_rear)
self.__motor_steer = LargeMotor(port_motor_steer)
self.__sensor_gyro = GyroSensor(port_sensor_gyro)
self.__sensor_us_rear = UltrasonicSensor(port_sensor_us_rear)
self.__sensor_us_front = UltrasonicSensor(port_sensor_us_front)
self.__velocity_controller = VelocityController(self, 0, 0)
# NOTE: possible using other controllers. Change only here!
self.__trajectory_controller = ControllerWithLinearization()
self.__localization = Localization(self)
self.__robot_state = [0, 0, 0, 0, 0, 0] # x,y, dx,dy, theta,omega
self.reset()
Sound.speak('Initialization complete!').wait()
def __init__(self):
self.left_color_sensor = ColorSensor('in4')
self.right_color_sensor = ColorSensor('in1')
self.left_large_motor = LargeMotor('outD')
self.right_large_motor = LargeMotor('outA')
self.touch_sensor = TouchSensor('in3')
self.listeners = []
self.prev_is_pressed = False
def init_large_motor(port: str) -> LargeMotor:
"""
Preveri, ali je motor priklopljen na izhod `port`.
Vrne objekt za motor (LargeMotor).
"""
motor = LargeMotor(port)
while not motor.connected:
print('\nPriklopi motor na izhod ' + port +
' in pritisni + spusti gumb DOL.')
wait_for_button('down')
motor = LargeMotor(port)
return motor
def speedUp(self, motor: ev3.LargeMotor, speed: int) -> None:
"""
Proportionally speed up the motor as speed increases.
Args:
motor (ev3.LargeMotor): the motor to speed up.
speed (int): amount to speed up by.
Returns:
None: calculates and sets speed of motor.
"""
motorSpeed = speed * self.__amplify
motor.run_forever(speed_sp=motorSpeed)
def slowDown(self, motor: ev3.LargeMotor, speed: int) -> None:
"""
Proportionally slow down the motor as speed increases.
Args:
motor (ev3.LargeMotor): the motor to slow down.
speed (int): amount to slow down by.
Returns:
None: calculates and sets speed of motor.
"""
motorSpeed = (self.__maxIntensity - speed) * self.__amplify
motor.run_forever(speed_sp=motorSpeed)
def __init__(self,
left_motor_port: str = OUTPUT_B,
right_motor_port: str = OUTPUT_C,
polarity: str = Motor.POLARITY_NORMAL,
ir_sensor_port: str = INPUT_4,
ir_beacon_channel: int = 1):
self.left_motor = LargeMotor(address=left_motor_port)
self.right_motor = LargeMotor(address=right_motor_port)
self.left_motor.polarity = self.right_motor.polarity = polarity
self.ir_sensor = InfraredSensor(address=ir_sensor_port)
self.tank_drive_remote_control = \
RemoteControl(
sensor=self.ir_sensor,
channel=ir_beacon_channel)
def __init__(self, motor, speed=0):
self._motor = LargeMotor(motor)
assert self._motor.connected
self._motor.reset()
self._motor.position = 0
self._motor.stop_action = 'brake'
self._set_speed(speed)
def __init__(self,
motor1Port,
motor2Port,
gyroPort=None,
wheelDiameter=None): #init
if GyroSensor != None:
self.GS = GyroSensor(gyroPort)
else:
self.GS = GyroSensor()
self.M1 = LargeMotor(motor1Port)
self.M2 = LargeMotor(motor2Port)
self.motor_stop = True
self.wheelDiameter = wheelDiameter
self.time = 0
self.MDistanceRunning = True
self.distance = 0
self.pauseDistance = []
def __init__(
self,
back_foot_motor_port: str = OUTPUT_C, front_foot_motor_port: str = OUTPUT_B,
gear_motor_port: str = OUTPUT_A,
touch_sensor_port: str = INPUT_1, color_sensor_port: str = INPUT_3,
ir_sensor_port: str = INPUT_4, ir_beacon_channel: int = 1):
self.front_foot_motor = LargeMotor(address=front_foot_motor_port)
self.back_foot_motor = LargeMotor(address=back_foot_motor_port)
self.gear_motor = MediumMotor(address=gear_motor_port)
self.touch_sensor = TouchSensor(address=touch_sensor_port)
self.color_sensor = ColorSensor(address=color_sensor_port)
self.ir_sensor = InfraredSensor(address=ir_sensor_port)
self.remote_control = RemoteControl(sensor=self.ir_sensor,
channel=ir_beacon_channel)
def __init__(self,
left_foot_track_motor_port: str = OUTPUT_B,
right_foot_track_motor_port: str = OUTPUT_C,
bazooka_blast_motor_port: str = OUTPUT_A,
touch_sensor_port: str = INPUT_1,
color_sensor_port: str = INPUT_3,
ir_sensor_port: str = INPUT_4,
driving_ir_beacon_channel: int = 1,
shooting_ir_beacon_channel: int = 2):
self.left_foot_track_motor = LargeMotor(
address=left_foot_track_motor_port)
self.right_foot_track_motor = LargeMotor(
address=right_foot_track_motor_port)
self.bazooka_blast_motor = MediumMotor(
address=bazooka_blast_motor_port)
self.ir_sensor = InfraredSensor(address=ir_sensor_port)
self.driving_remote_control = RemoteControl(
sensor=self.ir_sensor, channel=driving_ir_beacon_channel)
self.shooting_remote_control = RemoteControl(
sensor=self.ir_sensor, channel=shooting_ir_beacon_channel)
self.touch_sensor = TouchSensor(address=INPUT_1)
self.color_sensor = ColorSensor(address=INPUT_3)
self.leds = Leds()
self.screen = Screen()
assert self.left_foot_track_motor.connected
assert self.right_foot_track_motor.connected
assert self.bazooka_blast_motor.connected
assert self.ir_sensor.connected
assert self.touch_sensor.connected
assert self.color_sensor.connected
# reset the motors
for motor in (self.left_foot_track_motor, self.right_foot_track_motor,
self.bazooka_blast_motor):
motor.reset()
motor.position = 0
motor.stop_action = Motor.STOP_ACTION_BRAKE
self.draw_face()
def __init__(self,
left_motor_port: str = OUTPUT_B,
right_motor_port: str = OUTPUT_C,
grip_motor_port: str = OUTPUT_A,
touch_sensor_port: str = INPUT_1,
ir_sensor_port: str = INPUT_4,
ir_beacon_channel: int = 1):
self.left_motor = LargeMotor(address=left_motor_port)
self.right_motor = LargeMotor(address=right_motor_port)
self.grip_motor = MediumMotor(address=grip_motor_port)
self.touch_sensor = TouchSensor(address=touch_sensor_port)
self.ir_sensor = InfraredSensor(address=ir_sensor_port)
self.ir_beacon_channel = ir_beacon_channel
self.beacon = RemoteControl(sensor=self.ir_sensor,
channel=ir_beacon_channel)
self.speaker = Sound()
def __init__(
self,
left_foot_motor_port: str = OUTPUT_B, right_foot_motor_port: str = OUTPUT_C,
bazooka_blast_motor_port: str = OUTPUT_A,
touch_sensor_port: str = INPUT_1, color_sensor_port: str = INPUT_3,
ir_sensor_port: str = INPUT_4, ir_beacon_channel: int = 1):
self.left_foot_motor = LargeMotor(address=left_foot_motor_port)
self.right_foot_motor = LargeMotor(address=right_foot_motor_port)
self.bazooka_blast_motor = MediumMotor(address=bazooka_blast_motor_port)
self.touch_sensor = TouchSensor(address=touch_sensor_port)
self.color_sensor = ColorSensor(address=color_sensor_port)
self.ir_sensor = InfraredSensor(address=ir_sensor_port)
self.remote_control = RemoteControl(sensor=self.ir_sensor,
channel=ir_beacon_channel)
self.screen = Screen()
self.speaker = Sound()
def __init__(self,
turn_motor_port: str = OUTPUT_A,
move_motor_port: str = OUTPUT_B,
scare_motor_port: str = OUTPUT_D,
touch_sensor_port: str = INPUT_1,
color_sensor_port: str = INPUT_3,
ir_sensor_port: str = INPUT_4,
ir_beacon_channel: int = 1):
self.turn_motor = MediumMotor(address=turn_motor_port)
self.move_motor = LargeMotor(address=move_motor_port)
self.scare_motor = LargeMotor(address=scare_motor_port)
self.touch_sensor = TouchSensor(address=touch_sensor_port)
self.color_sensor = ColorSensor(address=color_sensor_port)
self.ir_sensor = InfraredSensor(address=ir_sensor_port)
self.beacon = RemoteControl(sensor=self.ir_sensor,
channel=ir_beacon_channel)
self.noise = Sound()
def __init__(self, left_motor_port, right_motor_port, front_us_port,
right_us_port, left_us_port):
self.leftMotor = LargeMotor('out' + left_motor_port)
self.rightMotor = LargeMotor('out' + right_motor_port)
self.FRONT_US_SENSOR = UltrasonicSensor('in' + front_us_port)
self.RIGHT_US_SENSOR = UltrasonicSensor('in' + right_us_port)
self.LEFT_US_SENSOR = UltrasonicSensor('in' + left_us_port)
self.TOUCH_SENSOR = TouchSensor()
assert self.leftMotor.connected, "Connect left Motor to port" + \
str(left_motor_port)
assert self.rightMotor.connected, "Connect right Motor to port" + \
str(right_motor_port)
assert self.TOUCH_SENSOR.connected, "Connect a touch sensor"
assert self.FRONT_US_SENSOR.connected, "Connect the ultrasound sensor in the front"
assert self.RIGHT_US_SENSOR.connected, "Connect the ultrasound sensor on the right"
assert self.LEFT_US_SENSOR.connected, "Connect the ultrasound sensor on the left"
#set sensor mode to cm
self.FRONT_US_SENSOR.mode = 'US-DIST-CM'
self.RIGHT_US_SENSOR.mode = 'US-DIST-CM'
self.LEFT_US_SENSOR.mode = 'US-DIST-CM'
def __init__(self,
sting_motor_port: str = OUTPUT_D,
go_motor_port: str = OUTPUT_B,
claw_motor_port: str = OUTPUT_A,
touch_sensor_port: str = INPUT_1,
color_sensor_port: str = INPUT_3,
ir_sensor_port: str = INPUT_4,
ir_beacon_channel: int = 1):
self.sting_motor = LargeMotor(address=sting_motor_port)
self.go_motor = LargeMotor(address=go_motor_port)
self.claw_motor = MediumMotor(address=claw_motor_port)
self.ir_sensor = InfraredSensor(address=ir_sensor_port)
self.ir_beacon_channel = ir_beacon_channel
self.beacon = RemoteControl(sensor=self.ir_sensor,
channel=self.ir_beacon_channel)
self.touch_sensor = TouchSensor(address=touch_sensor_port)
self.color_sensor = ColorSensor(address=color_sensor_port)
self.dis = Screen()
self.speaker = Sound()
#!/usr/bin/python from ev3dev.ev3 import MediumMotor as MediumMotor from ev3dev.ev3 import LargeMotor as LargeMotor from time import sleep a = MediumMotor(address='outA') b = LargeMotor(address='outB') c = LargeMotor(address='outC') a.reset() b.reset() c.reset() a.position_sp = 50 a.duty_cycle_sp = 50 a.command = 'run-to-abs-pos' b.position_sp = -450 b.duty_cycle_sp = 50 b.command = 'run-to-abs-pos' c.position_sp = -450 b.duty_cycle_sp = 50 b.command = 'run-to-abs-pos' sleep(5)
#!/usr/bin/env python3
from ev3dev.ev3 import (Motor, LargeMotor, MediumMotor, OUTPUT_A, OUTPUT_B,
OUTPUT_D, InfraredSensor, INPUT_4, Leds, Sound)
from random import randint
from time import sleep
MEDIUM_MOTOR = MediumMotor(address=OUTPUT_A)
TAIL_MOTOR = LargeMotor(address=OUTPUT_B)
CHEST_MOTOR = LargeMotor(address=OUTPUT_D)
IR_SENSOR = InfraredSensor(address=INPUT_4)
LIGHTS = Leds()
SPEAKER = Sound()
CHEST_MOTOR.run_timed(speed_sp=-300,
time_sp=1000,
stop_action=Motor.STOP_ACTION_BRAKE)
CHEST_MOTOR.wait_while(Motor.STATE_RUNNING)
while True:
if IR_SENSOR.proximity < 30:
LIGHTS.set_color(group=Leds.LEFT, color=Leds.RED, pct=1)
LIGHTS.set_color(group=Leds.RIGHT, color=Leds.RED, pct=1)
MEDIUM_MOTOR.stop(stop_action=Motor.STOP_ACTION_HOLD)
TAIL_MOTOR.stop(stop_action=Motor.STOP_ACTION_BRAKE)
#!/usr/bin/env python3
from ev3dev.ev3 import (
Motor, LargeMotor, MediumMotor, OUTPUT_A, OUTPUT_B, OUTPUT_C,
TouchSensor, InfraredSensor, RemoteControl, INPUT_1, INPUT_4,
Sound
)
MEDIUM_MOTOR = MediumMotor(address=OUTPUT_A)
LEFT_MOTOR = LargeMotor(address=OUTPUT_B)
RIGHT_MOTOR = LargeMotor(address=OUTPUT_C)
TOUCH_SENSOR = TouchSensor(address=INPUT_1)
IR_SENSOR = InfraredSensor(address=INPUT_4)
BEACON_CONTROL = RemoteControl(sensor=IR_SENSOR,
channel=1)
SPEAKER = Sound()
def drive_once_by_ir_beacon(speed: float = 1000):
if BEACON_CONTROL.red_up and BEACON_CONTROL.blue_up:
# go forward
LEFT_MOTOR.run_forever(speed_sp=speed)
RIGHT_MOTOR.run_forever(speed_sp=speed)
elif BEACON_CONTROL.red_down and BEACON_CONTROL.blue_down:
# go backward
LEFT_MOTOR.run_forever(speed_sp=-speed)
class Robot(object):
def __init__(self):
self.left_color_sensor = ColorSensor('in4')
self.right_color_sensor = ColorSensor('in1')
self.left_large_motor = LargeMotor('outD')
self.right_large_motor = LargeMotor('outA')
self.touch_sensor = TouchSensor('in3')
self.listeners = []
self.prev_is_pressed = False
def move_forward(self):
self.left_large_motor.run_forever(speed_sp=DEFAULT_POWER)
self.right_large_motor.run_forever(speed_sp=DEFAULT_POWER)
def move_backward(self):
self.left_large_motor.run_forever(speed_sp=-DEFAULT_POWER)
self.right_large_motor.run_forever(speed_sp=-DEFAULT_POWER)
def steer_left(self):
self.left_large_motor.run_forever(speed_sp=NON_STEERING_POWER)
self.right_large_motor.run_forever(speed_sp=STEERING_POWER)
def steer_right(self):
self.left_large_motor.run_forever(speed_sp=STEERING_POWER)
self.right_large_motor.run_forever(speed_sp=NON_STEERING_POWER)
def turn_left(self):
self.stop()
self.left_large_motor.run_timed(speed_sp=-TURNING_POWER,
time_sp=TURNING_MILLISECONDS)
self.right_large_motor.run_timed(speed_sp=TURNING_POWER,
time_sp=TURNING_MILLISECONDS)
# Block any calls to the motor while the train is turning
self.left_large_motor.wait_while('running')
self.right_large_motor.wait_while('running')
def turn_right(self):
self.stop()
self.left_large_motor.run_timed(speed_sp=TURNING_POWER,
time_sp=TURNING_MILLISECONDS)
self.right_large_motor.run_timed(speed_sp=-TURNING_POWER,
time_sp=TURNING_MILLISECONDS)
# Block any calls to the motor while the train is turning
self.left_large_motor.wait_while('running')
self.right_large_motor.wait_while('running')
def stop(self):
self.left_large_motor.stop()
self.right_large_motor.stop()
def step(self):
left_color = self.left_color_sensor.color
right_color = self.right_color_sensor.color
if left_color == Color.INVALID or right_color == Color.INVALID:
for listener in self.listeners:
listener.on_invalid(self, left_color == Color.INVALID,
right_color == Color.INVALID)
if left_color == Color.BLACK or right_color == Color.BLACK:
for listener in self.listeners:
listener.on_black(self, left_color == Color.BLACK,
right_color == Color.BLACK)
if left_color == Color.BLUE or right_color == Color.BLUE:
for listener in self.listeners:
listener.on_blue(self, left_color == Color.BLUE,
right_color == Color.BLUE)
if left_color == Color.GREEN or right_color == Color.GREEN:
for listener in self.listeners:
listener.on_green(self, left_color == Color.GREEN,
right_color == Color.GREEN)
if left_color == Color.YELLOW or right_color == Color.YELLOW:
for listener in self.listeners:
listener.on_yellow(self, left_color == Color.YELLOW,
right_color == Color.YELLOW)
if left_color == Color.RED or right_color == Color.RED:
for listener in self.listeners:
listener.on_red(self, left_color == Color.RED,
right_color == Color.RED)
if left_color == Color.WHITE or right_color == Color.WHITE:
for listener in self.listeners:
listener.on_white(self, left_color == Color.WHITE,
right_color == Color.WHITE)
if left_color == Color.BROWN or right_color == Color.BROWN:
for listener in self.listeners:
listener.on_brown(self, left_color == Color.BROWN,
right_color == Color.BROWN)
if self.prev_is_pressed and not self.touch_sensor.is_pressed:
for listener in self.listeners:
listener.on_click(self)
self.prev_is_pressed = self.touch_sensor.is_pressed
def add_listener(self, listener: 'RobotListener'):
self.listeners.append(listener)
#!/usr/bin/python
from ev3dev.ev3 import LargeMotor as LargeMotor
from ev3dev.ev3 import TouchSensor as TouchSensor
from time import sleep
power = -100
run_time = 3
motor_b = LargeMotor(address='outB')
motor_c = LargeMotor(address='outC')
motor_b.reset()
motor_c.reset()
motor_b.command = 'run-direct'
motor_c.command = 'run-direct'
trigger = TouchSensor()
print("Fire when ready!")
while True:
if trigger.value() == True:
break
else:
sleep(.01)
class Ev3rstorm:
def __init__(self,
left_foot_motor_port: str = OUTPUT_B,
right_foot_motor_port: str = OUTPUT_C,
bazooka_blast_motor_port: str = OUTPUT_A,
touch_sensor_port: str = INPUT_1,
color_sensor_port: str = INPUT_3,
ir_sensor_port: str = INPUT_4,
ir_beacon_channel: int = 1):
self.left_foot_motor = LargeMotor(address=left_foot_motor_port)
self.right_foot_motor = LargeMotor(address=right_foot_motor_port)
self.bazooka_blast_motor = MediumMotor(
address=bazooka_blast_motor_port)
self.touch_sensor = TouchSensor(address=touch_sensor_port)
self.color_sensor = ColorSensor(address=color_sensor_port)
self.ir_sensor = InfraredSensor(address=ir_sensor_port)
self.remote_control = RemoteControl(sensor=self.ir_sensor,
channel=ir_beacon_channel)
self.screen = Screen()
self.speaker = Sound()
def drive_once_by_ir_beacon(
self,
speed: float = 1000 # degrees per second
):
# forward
if self.remote_control.red_up and self.remote_control.blue_up:
self.left_foot_motor.run_forever(speed_sp=speed)
self.right_foot_motor.run_forever(speed_sp=speed)
# backward
elif self.remote_control.red_down and self.remote_control.blue_down:
self.left_foot_motor.run_forever(speed_sp=-speed)
self.right_foot_motor.run_forever(speed_sp=-speed)
# turn left on the spot
elif self.remote_control.red_up and self.remote_control.blue_down:
self.left_foot_motor.run_forever(speed_sp=-speed)
self.right_foot_motor.run_forever(speed_sp=speed)
# turn right on the spot
elif self.remote_control.red_down and self.remote_control.blue_up:
self.left_foot_motor.run_forever(speed_sp=speed)
self.right_foot_motor.run_forever(speed_sp=-speed)
# turn left forward
elif self.remote_control.red_up:
self.right_foot_motor.run_forever(speed_sp=speed)
# turn right forward
elif self.remote_control.blue_up:
self.left_foot_motor.run_forever(speed_sp=speed)
# turn left backward
elif self.remote_control.red_down:
self.right_foot_motor.run_forever(speed_sp=-speed)
# turn right backward
elif self.remote_control.blue_down:
self.left_foot_motor.run_forever(speed_sp=-speed)
# otherwise stop
else:
self.left_foot_motor.stop(stop_action=Motor.STOP_ACTION_COAST)
self.right_foot_motor.stop(stop_action=Motor.STOP_ACTION_COAST)
def blast_bazooka_if_touched(self):
if self.touch_sensor.is_pressed:
if self.color_sensor.ambient_light_intensity < 5: # 15 not dark enough
self.speaker.play(wav_file='/home/robot/sound/Up.wav').wait()
self.bazooka_blast_motor.run_to_rel_pos(
speed_sp=1000, # degrees per second
position_sp=-3 * 360, # degrees
stop_action=Motor.STOP_ACTION_HOLD)
else:
self.speaker.play(wav_file='/home/robot/sound/Down.wav').wait()
self.bazooka_blast_motor.run_to_rel_pos(
speed_sp=1000, # degrees per second
position_sp=3 * 360, # degrees
stop_action=Motor.STOP_ACTION_HOLD)
while self.touch_sensor.is_pressed:
pass
def main(
self,
driving_speed: float = 1000 # degrees per second
):
self.screen.image.paste(im=Image.open('/home/robot/image/Target.bmp'))
self.screen.update()
while True:
self.drive_once_by_ir_beacon(speed=driving_speed)
self.blast_bazooka_if_touched()
def run(fun):
# Connect two motors and two (different) light sensors
mL = LargeMotor('outC')
mR = LargeMotor('outB')
sL = ColorSensor('in1')
sR = ColorSensor('in4')
gy = GyroSensor('in3')
# Check if the sensors are connected
assert sL.connected, "Left ColorSensor is not connected"
assert sR.connected, "Right ColorSensor is not conected"
assert gy.connected, "Gyro is not connected"
gyro = Gyro()
light_sensors = LightSensors()
encoder = Encoder()
# Set the motor mode
mL.polarity = "normal" # "inversed"
mR.polarity = "normal" # "inversed"
mL.position = 0
mR.position = 0
def stop_motors():
mL.run_direct()
mR.run_direct()
mL.duty_cycle_sp = 0
mR.duty_cycle_sp = 0
stop_motors()
# The example doesn't end on its own.
# Use CTRL-C to exit it (needs command line).
# This is a generic way to be informed
# of this event and then take action.
def signal_handler(sig, frame):
stop_motors()
print('Shut down gracefully')
exit(0)
# Install the signal handler for CTRL+C
signal(SIGINT, signal_handler)
print('Press Ctrl+C to exit')
per = {
'mL': mL,
'mR': mR,
'sL': sL,
'sR': sR,
'gy': gy
}
light_sensors.init(per)
gyro.init(gy)
# Endless loop reading sensors and controlling motors.
last_log = time()
last_now = time()
max_dt = 0
dts = 0
speed_mL = None
speed_mR = None
while True:
state = {}
state = light_sensors(per, state)
state = encoder(per, state)
state = gyro(per, state)
state = fun(per, state)
max_speed = 40 * TICKS_PER_CM
_speed_mL = state.get('mL', 0)
if _speed_mL != speed_mL:
speed_mL = _speed_mL
mL.run_forever(speed_sp=speed_mL/100 * max_speed)
_speed_mR = state.get('mR', 0)
if _speed_mR != speed_mR:
speed_mR = _speed_mR
mR.run_forever(speed_sp=speed_mR/100 * max_speed)
dts += 1
now = time()
dt = now - last_now
last_now = now
if dt > max_dt: max_dt = dt
if now - last_log > 5.0:
last_log = now
print("avg fps: ", dts / 5.0)
print('min fps: ', 1 / max_dt)
max_dt = 0
dts = 0
#!/usr/bin/env python3
from ev3dev.ev3 import (Motor, LargeMotor, MediumMotor, OUTPUT_A, OUTPUT_B,
OUTPUT_C, InfraredSensor, RemoteControl, BeaconSeeker,
INPUT_4, Leds, Sound)
LEFT_FOOT_MOTOR = LargeMotor(address=OUTPUT_B)
RIGHT_FOOT_MOTOR = LargeMotor(address=OUTPUT_C)
BAZOOKA_BLAST_MOTOR = MediumMotor(address=OUTPUT_A)
IR_SENSOR = InfraredSensor(address=INPUT_4)
REMOTE_CONTROL = RemoteControl(sensor=IR_SENSOR, channel=1)
BEACON_SEEKER = BeaconSeeker(sensor=IR_SENSOR, channel=1)
LEDS = Leds()
SPEAKER = Sound()
while True:
LEDS.set_color(group=Leds.LEFT, color=Leds.ORANGE, pct=1)
LEDS.set_color(group=Leds.RIGHT, color=Leds.ORANGE, pct=1)
if REMOTE_CONTROL.beacon:
heading_difference = BEACON_SEEKER.heading - (-3)
proximity_difference = BEACON_SEEKER.distance - 70
if (heading_difference == 0) and (proximity_difference == 0):
LEFT_FOOT_MOTOR.stop(stop_action=Motor.STOP_ACTION_HOLD)
RIGHT_FOOT_MOTOR.stop(stop_action=Motor.STOP_ACTION_HOLD)
class IRBeaconRemoteControlledTank:
def __init__(self,
left_motor_port: str = OUTPUT_B,
right_motor_port: str = OUTPUT_C,
polarity: str = Motor.POLARITY_NORMAL,
ir_sensor_port: str = INPUT_4,
ir_beacon_channel: int = 1):
self.left_motor = LargeMotor(address=left_motor_port)
self.right_motor = LargeMotor(address=right_motor_port)
self.left_motor.polarity = self.right_motor.polarity = polarity
self.ir_sensor = InfraredSensor(address=ir_sensor_port)
self.tank_drive_remote_control = \
RemoteControl(
sensor=self.ir_sensor,
channel=ir_beacon_channel)
def drive_once_by_ir_beacon(
self,
speed: float = 1000 # degrees per second
):
# forward
if self.tank_drive_remote_control.red_up and \
self.tank_drive_remote_control.blue_up:
self.left_motor.run_forever(speed_sp=speed)
self.right_motor.run_forever(speed_sp=speed)
# backward
elif self.tank_drive_remote_control.red_down and \
self.tank_drive_remote_control.blue_down:
self.left_motor.run_forever(speed_sp=-speed)
self.right_motor.run_forever(speed_sp=-speed)
# turn left on the spot
elif self.tank_drive_remote_control.red_up and \
self.tank_drive_remote_control.blue_down:
self.left_motor.run_forever(speed_sp=-speed)
self.right_motor.run_forever(speed_sp=speed)
# turn right on the spot
elif self.tank_drive_remote_control.red_down and \
self.tank_drive_remote_control.blue_up:
self.left_motor.run_forever(speed_sp=speed)
self.right_motor.run_forever(speed_sp=-speed)
# turn left forward
elif self.tank_drive_remote_control.red_up:
self.right_motor.run_forever(speed_sp=speed)
# turn right forward
elif self.tank_drive_remote_control.blue_up:
self.left_motor.run_forever(speed_sp=speed)
# turn left backward
elif self.tank_drive_remote_control.red_down:
self.right_motor.run_forever(speed_sp=-speed)
# turn right backward
elif self.tank_drive_remote_control.blue_down:
self.left_motor.run_forever(speed_sp=-speed)
# otherwise stop
else:
self.left_motor.stop(stop_action=Motor.STOP_ACTION_COAST)
self.right_motor.stop(stop_action=Motor.STOP_ACTION_COAST)
# this method must be used in a parallel process/thread
# in order not to block other operations
def keep_driving_by_ir_beacon(
self,
speed: float = 1000 # degrees per second
):
while True:
self.drive_once_by_ir_beacon(speed=speed)
from ev3dev.ev3 import LargeMotor, Sound, \
GyroSensor, OUTPUT_A, INPUT_1
from time import sleep, time
from math import sin, pi
N = 1000
motor = LargeMotor(OUTPUT_A)
gyro = GyroSensor(INPUT_1)
Sound().beep()
fout = open("data.txt", "w")
sleep(1)
start_time = time()
for i in range(0, N):
t = (time() - start_time) * 1000
rotation = gyro.value() + 4
u_float = 100 * sin(pi * t / N)
motor.run_forever(speed_sp=u_float * 10) #should use speed_sp!!!
s = "%d\t%d\t%d" % (t, rotation, u_float)
fout.write(s)
sleep(0.004)
fout.close()
class Gripp3r:
def __init__(self,
left_motor_port: str = OUTPUT_B,
right_motor_port: str = OUTPUT_C,
grip_motor_port: str = OUTPUT_A,
touch_sensor_port: str = INPUT_1,
ir_sensor_port: str = INPUT_4,
ir_beacon_channel: int = 1):
self.left_motor = LargeMotor(address=left_motor_port)
self.right_motor = LargeMotor(address=right_motor_port)
self.grip_motor = MediumMotor(address=grip_motor_port)
self.touch_sensor = TouchSensor(address=touch_sensor_port)
self.ir_sensor = InfraredSensor(address=ir_sensor_port)
self.ir_beacon_channel = ir_beacon_channel
self.beacon = RemoteControl(sensor=self.ir_sensor,
channel=ir_beacon_channel)
self.speaker = Sound()
def keep_driving_by_ir_beacon(self, speed: float = 1000):
while True:
if self.beacon.red_up and self.beacon.blue_up:
# go forward
self.left_motor.run_forever(speed_sp=speed)
self.right_motor.run_forever(speed_sp=speed)
elif self.beacon.red_down and self.beacon.blue_down:
# go backward
self.left_motor.run_forever(speed_sp=-speed)
self.right_motor.run_forever(speed_sp=-speed)
elif self.beacon.red_up and self.beacon.blue_down:
# turn around left
self.left_motor.run_forever(speed_sp=-speed)
self.right_motor.run_forever(speed_sp=speed)
elif self.beacon.red_down and self.beacon.blue_up:
# turn around right
self.left_motor.run_forever(speed_sp=speed)
self.right_motor.run_forever(speed_sp=-speed)
elif self.beacon.red_up:
# turn left
self.left_motor.run_forever(speed_sp=0)
self.right_motor.run_forever(speed_sp=speed)
elif self.beacon.blue_up:
# turn right
self.left_motor.run_forever(speed_sp=speed)
self.right_motor.run_forever(speed_sp=0)
elif self.beacon.red_down:
# left backward
self.left_motor.run_forever(speed_sp=0)
self.right_motor.run_forever(speed_sp=-speed)
elif self.beacon.blue_down:
# right backward
self.left_motor.run_forever(speed_sp=-speed)
self.right_motor.run_forever(speed_sp=0)
else:
self.left_motor.stop(stop_action=Motor.STOP_ACTION_BRAKE)
self.right_motor.stop(stop_action=Motor.STOP_ACTION_BRAKE)
def grip_or_release_by_ir_beacon(self, speed: float = 50):
while True:
if self.beacon.beacon:
if self.touch_sensor.is_pressed:
self.speaker.play(
wav_file='/home/robot/sound/Air release.wav')
self.grip_motor.run_timed(
speed_sp=500,
time_sp=1000,
stop_action=Motor.STOP_ACTION_BRAKE)
self.grip_motor.wait_while(Motor.STATE_RUNNING)
else:
self.speaker.play(
wav_file='/home/robot/sound/Airbrake.wav')
self.grip_motor.run_forever(speed_sp=-500)
while not self.touch_sensor.is_pressed:
pass
self.grip_motor.stop(stop_action=Motor.STOP_ACTION_BRAKE)
while self.beacon.beacon:
pass
def main(self, speed: float = 1000):
self.grip_motor.run_timed(speed_sp=-500,
time_sp=1000,
stop_action=Motor.STOP_ACTION_BRAKE)
self.grip_motor.wait_while(Motor.STATE_RUNNING)
Thread(target=self.grip_or_release_by_ir_beacon, daemon=True).start()
self.keep_driving_by_ir_beacon(speed=speed)
class R3ptar:
def __init__(self,
turn_motor_port: str = OUTPUT_A,
move_motor_port: str = OUTPUT_B,
scare_motor_port: str = OUTPUT_D,
touch_sensor_port: str = INPUT_1,
color_sensor_port: str = INPUT_3,
ir_sensor_port: str = INPUT_4,
ir_beacon_channel: int = 1):
self.turn_motor = MediumMotor(address=turn_motor_port)
self.move_motor = LargeMotor(address=move_motor_port)
self.scare_motor = LargeMotor(address=scare_motor_port)
self.touch_sensor = TouchSensor(address=touch_sensor_port)
self.color_sensor = ColorSensor(address=color_sensor_port)
self.ir_sensor = InfraredSensor(address=ir_sensor_port)
self.beacon = RemoteControl(sensor=self.ir_sensor,
channel=ir_beacon_channel)
self.noise = Sound()
def keep_driving_by_ir_beacon(self, speed: float = 1000):
while True:
if self.beacon.red_up and self.beacon.blue_up:
self.move_motor.run_forever(speed_sp=speed)
elif self.beacon.red_down and self.beacon.blue_down:
self.move_motor.run_forever(speed_sp=-speed)
elif self.beacon.red_up:
self.turn_motor.run_forever(speed_sp=-500)
self.move_motor.run_forever(speed_sp=speed)
elif self.beacon.blue_up:
self.turn_motor.run_forever(speed_sp=500)
self.move_motor.run_forever(speed_sp=speed)
elif self.beacon.red_down:
self.turn_motor.run_forever(speed_sp=-500)
self.move_motor.run_forever(speed_sp=-speed)
elif self.beacon.blue_down:
self.turn_motor.run_forever(speed_sp=500)
self.move_motor.run_forever(speed_sp=-speed)
else:
self.turn_motor.stop(stop_action=Motor.STOP_ACTION_HOLD)
self.move_motor.stop(stop_action=Motor.STOP_ACTION_COAST)
def bite_by_ir_beacon(self, speed: float = 1000):
while True:
if self.beacon.beacon:
self.noise.play(wav_file='/home/robot/sound/Snake hiss.wav')
self.scare_motor.run_timed(speed_sp=speed,
time_sp=1000,
stop_action=Motor.STOP_ACTION_BRAKE)
self.scare_motor.wait_while(Motor.STATE_RUNNING)
self.scare_motor.run_timed(speed_sp=-300,
time_sp=1000,
stop_action=Motor.STOP_ACTION_BRAKE)
self.scare_motor.wait_while(Motor.STATE_RUNNING)
while self.beacon.beacon:
pass
def run_away_if_chased(self):
while True:
if self.color_sensor.reflected_light_intensity > 30:
self.move_motor.run_timed(speed_sp=500,
time_sp=4000,
stop_action=Motor.STOP_ACTION_BRAKE)
self.move_motor.wait_while(Motor.STATE_RUNNING)
for i in range(2):
self.turn_motor.run_timed(
speed_sp=500,
time_sp=1000,
stop_action=Motor.STOP_ACTION_BRAKE)
self.turn_motor.wait_while(Motor.STATE_RUNNING)
self.turn_motor.run_timed(
speed_sp=-500,
time_sp=1000,
stop_action=Motor.STOP_ACTION_BRAKE)
self.turn_motor.wait_while(Motor.STATE_RUNNING)
def bite_if_touched(self):
while True:
if self.touch_sensor.is_pressed:
self.noise.play(wav_file='/home/robot/sound/Snake hiss.wav')
self.scare_motor.run_timed(speed_sp=1000,
time_sp=1000,
stop_action=Motor.STOP_ACTION_COAST)
self.scare_motor.wait_while(Motor.STATE_RUNNING)
self.scare_motor.run_timed(speed_sp=-300,
time_sp=1000,
stop_action=Motor.STOP_ACTION_COAST)
self.scare_motor.wait_while(Motor.STATE_RUNNING)
def main(self, speed: float = 1000):
Process(target=self.bite_by_ir_beacon, daemon=True).start()
Process(target=self.bite_if_touched, daemon=True).start()
Process(target=self.run_away_if_chased, daemon=True).start()
self.keep_driving_by_ir_beacon(speed=speed)
class MyMotor(object):
def __init__(self, motor, speed=0):
self._motor = LargeMotor(motor)
assert self._motor.connected
self._motor.reset()
self._motor.position = 0
self._motor.stop_action = 'brake'
self._set_speed(speed)
@property
def speed(self):
return int(self._speed/10)
def _set_speed(self, speed):
assert speed >= -100 and speed <= 100
self._speed = speed*10
def run_forever(self, speed):
if speed is not None:
self._set_speed(speed)
self._motor.run_forever(speed_sp=self._speed)
def run_timed(self, timed, speed):
if speed is not None:
self._set_speed(speed)
runtimed = timed * 1000
self._motor.run_timed(speed_sp=self._speed, time_sp=runtimed)
def run_position(self, postion, speed, lastpostion=False):
if speed is not None:
self._set_speed(speed)
if lastpostion:
self._motor.run_to_abs_pos(speed_sp=self._speed)
else:
self._motor.run_to_rel_pos(speed_sp=self._speed)
def stop(self):
self._motor.stop()
def run_back(self, speed):
if not self._speed:
self.stop()
self._set_speed(speed)
self._motor.run_forever(speed_sp=self._speed)
#!/usr/bin/env python
from ev3dev.ev3 import LargeMotor, \
OUTPUT_A, Sound, PowerSupply
from time import time, sleep
from math import pi, copysign
N = 1000
file_name = "data_pc.txt"
Kp = 20
pwr = 0
motor = LargeMotor(OUTPUT_A)
battary = PowerSupply()
Sound().beep()
fout = open(file_name, "w")
sleep(0.05)
motor.reset()
print(motor.position)
start_time = time()
for i in range(0, N):
t = time() - start_time
rotation = motor.position
e = (360 - rotation) * pi / 180
pwr = Kp * e
pwr = pwr / battary.measured_volts * 100
if abs(pwr) > 100:
pwr = copysign(1, pwr) * 100
motor.run_direct(duty_cycle_sp=pwr)
line = "%f\t%d\n" % (t, rotation)
fout.write(line)
#!/usr/bin/env python3
from ev3dev.ev3 import (
Motor, MediumMotor, LargeMotor, OUTPUT_A, OUTPUT_B, OUTPUT_D,
InfraredSensor, INPUT_4,
Sound
)
MEDIUM_MOTOR = MediumMotor(address=OUTPUT_A)
GO_MOTOR = LargeMotor(address=OUTPUT_B)
STING_MOTOR = LargeMotor(address=OUTPUT_D)
INFRARED_SENSOR = InfraredSensor(address=INPUT_4)
SPEAKER = Sound()
MEDIUM_MOTOR.run_timed(
speed_sp=500,
time_sp=1000,
stop_action=Motor.STOP_ACTION_HOLD)
MEDIUM_MOTOR.wait_while(Motor.STATE_RUNNING)
MEDIUM_MOTOR.run_timed(
speed_sp=-500,
time_sp=0.3 * 1000,
stop_action=Motor.STOP_ACTION_HOLD)
MEDIUM_MOTOR.wait_while(Motor.STATE_RUNNING)
#!/usr/bin/env python3
from ev3dev.ev3 import (Motor, LargeMotor, MediumMotor, OUTPUT_A, OUTPUT_D,
INPUT_4, InfraredSensor, Sound)
from threading import Thread
from time import sleep
LARGE_MOTOR = LargeMotor(address=OUTPUT_D)
MEDIUM_MOTOR = MediumMotor(address=OUTPUT_A)
IR_SENSOR = InfraredSensor(address=INPUT_4)
SPEAKER = Sound()
def rattle():
while True:
MEDIUM_MOTOR.run_timed(speed_sp=100,
time_sp=1000,
stop_action=Motor.STOP_ACTION_COAST)
MEDIUM_MOTOR.wait_while(Motor.STATE_RUNNING)
SPEAKER.play(wav_file='/home/robot/sound/Snake rattle.wav').wait()
MEDIUM_MOTOR.run_timed(speed_sp=-100,
time_sp=1000,
stop_action=Motor.STOP_ACTION_COAST)
MEDIUM_MOTOR.wait_while(Motor.STATE_RUNNING)
sleep(1)
#!/usr/bin/env python3
from ev3dev.ev3 import LargeMotor, ColorSensor, GyroSensor, InfraredSensor, Button
from Classes.Motores import *
from Classes.PID import *
from time import time, sleep
from os import system
import paho.mqtt.client as mqtt
# Motores
M_PORTA = LargeMotor("outC")
M_ESQUERDO = LargeMotor("outA")
M_DIREITO = LargeMotor("outB")
# Sensores infravermelhos
PROX1 = InfraredSensor("in4")
PROX2 = InfraredSensor("in3")
PROX1.mode = "IR-PROX"
PROX2.mode = "IR-PROX"
# Giroscopio
GYRO = GyroSensor("in1")
GYRO.mode = "GYRO-ANG"
# Sensor de cor
COLOR = ColorSensor("in2")
COLOR.mode = "COL-COLOR"
# Variaveis usadas durante o programa
# Constantes
TEMPO_CURVA_90 = 1700
#!/usr/bin/env python3
from ev3dev.ev3 import (Motor, LargeMotor, MediumMotor, OUTPUT_A, OUTPUT_B,
OUTPUT_C, Sound)
from time import sleep
LEFT_MOTOR = LargeMotor(address=OUTPUT_B)
RIGHT_MOTOR = LargeMotor(address=OUTPUT_C)
MEDIUM_MOTOR = MediumMotor(address=OUTPUT_A)
SPEAKER = Sound()
MEDIUM_MOTOR.run_forever(speed_sp=-1000)
for i in range(2):
LEFT_MOTOR.run_to_rel_pos(
position_sp=2 * 360, # degrees
speed_sp=750, # degrees per second
stop_action=Motor.STOP_ACTION_BRAKE)
RIGHT_MOTOR.run_to_rel_pos(
position_sp=2 * 360, # degrees
speed_sp=750, # degrees per second
stop_action=Motor.STOP_ACTION_BRAKE)
LEFT_MOTOR.wait_while(Motor.STATE_RUNNING)
RIGHT_MOTOR.wait_while(Motor.STATE_RUNNING)
MEDIUM_MOTOR.run_forever(speed_sp=1000)
SPEAKER.play(wav_file='/home/robot/sound/Airbrake.wav').wait()
