def solid_green():
"""blink the LED green"""
try:
from ev3dev.ev3 import Leds
Leds.set_color(Leds.LEFT, Leds.GREEN)
Leds.set_color(Leds.LEFT, Leds.GREEN)
Leds.set(Leds.LEFT, trigger='default-on')
Leds.set(Leds.RIGHT, trigger='default-on')
time.sleep(0.5)
Leds.all_off()
except Exception as ex:
logging.getLogger(__name__).error(str(ex))
def all_green():
process = robot.scan(200)
g_count = 0
for i, j in process:
if i == Color.GREEN:
g_count += 1
if g_count == len(process):
Leds.set_color(Leds.RIGHT, Leds.GREEN)
Leds.set_color(Leds.LEFT, Leds.GREEN)
Sound.speak("good to go, all green").wait()
Leds.all_off()
return True
else:
return False
def play_leds():
"""Indicate that we've started"""
from ev3dev.ev3 import Leds
# save current state
saved_state = [led.brightness_pct for led in Leds.LEFT + Leds.RIGHT]
Leds.all_off()
time.sleep(0.1)
for _ in range(1):
for color in (Leds.RED, Leds.YELLOW, Leds.GREEN):
for group in (Leds.LEFT, Leds.RIGHT):
Leds.set_color(group, color)
time.sleep(0.1)
Leds.all_off()
time.sleep(0.5)
for led, level in zip(Leds.RIGHT + Leds.LEFT, saved_state):
led.brightness_pct = level
def play_leds(self):
from ev3dev.ev3 import Leds
# save current state
saved_state = [led.brightness_pct for led in Leds.LEFT + Leds.RIGHT]
Leds.all_off()
time.sleep(0.1)
# continuous mix of colors
print('colors fade')
for i in range(180):
rd = math.radians(10 * i)
Leds.red_left.brightness_pct = .5 * (1 + math.cos(rd))
Leds.green_left.brightness_pct = .5 * (1 + math.sin(rd))
Leds.red_right.brightness_pct = .5 * (1 + math.sin(rd))
Leds.green_right.brightness_pct = .5 * (1 + math.cos(rd))
time.sleep(0.05)
Leds.all_off()
time.sleep(0.5)
for led, level in zip(Leds.RIGHT + Leds.LEFT, saved_state):
led.brightness_pct = level
class Ev3rstorm(RemoteControlledTank):
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):
super().__init__(
left_motor=left_foot_motor_port, right_motor=right_foot_motor_port,
polarity=Motor.POLARITY_NORMAL)
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.leds = Leds()
self.screen = Screen()
self.speaker = Sound()
def keep_detecting_objects_by_ir_sensor(self):
while True:
if self.ir_sensor.proximity < 25:
self.leds.set_color(
group=Leds.LEFT,
color=Leds.RED,
pct=1)
self.leds.set_color(
group=Leds.RIGHT,
color=Leds.RED,
pct=1)
self.speaker.play(wav_file='/home/robot/sound/Object.wav').wait()
self.speaker.play(wav_file='/home/robot/sound/Detected.wav').wait()
self.speaker.play(wav_file='/home/robot/sound/Error alarm.wav').wait()
else:
self.leds.all_off()
def blast_bazooka_whenever_touched(self):
while True:
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):
self.screen.image.paste(im=Image.open('/home/robot/image/Target.bmp'))
self.screen.update()
# DON'T use IR Sensor in 2 different modes in the same program / loop
# - https://github.com/pybricks/support/issues/62
# - https://github.com/ev3dev/ev3dev/issues/1401
# Thread(target=self.keep_detecting_objects_by_ir_sensor,
# daemon=True).start()
Thread(target=self.blast_bazooka_whenever_touched,
daemon=True).start()
super().main() # RemoteControlledTank.main()
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.leds = Leds()
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 dance_if_ir_beacon_pressed(self):
while self.remote_control.beacon:
self.left_foot_motor.run_timed(speed_sp=randint(-1000, 1000),
time_sp=1000,
stop_action=Motor.STOP_ACTION_COAST)
self.right_foot_motor.run_timed(
speed_sp=randint(-1000, 1000),
time_sp=1000,
stop_action=Motor.STOP_ACTION_COAST)
self.left_foot_motor.wait_while(Motor.STATE_RUNNING)
self.right_foot_motor.wait_while(Motor.STATE_RUNNING)
def detect_object_by_ir_sensor(self):
if self.ir_sensor.proximity < 25:
self.leds.set_color(group=Leds.LEFT, color=Leds.RED, pct=1)
self.leds.set_color(group=Leds.RIGHT, color=Leds.RED, pct=1)
self.speaker.play(wav_file='/home/robot/sound/Object.wav').wait()
self.speaker.play(wav_file='/home/robot/sound/Detected.wav').wait()
self.speaker.play(
wav_file='/home/robot/sound/Error alarm.wav').wait()
else:
self.leds.all_off()
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.dance_if_ir_beacon_pressed()
# DON'T use IR Sensor in 2 different modes in the same program / loop
# - https://github.com/pybricks/support/issues/62
# - https://github.com/ev3dev/ev3dev/issues/1401
# self.detect_object_by_ir_sensor()
self.blast_bazooka_if_touched()
""" This demo illustrates how to use the two red-green LEDs of the EV3 brick.
"""
import time
import math
from ev3dev.ev3 import Leds
print(__doc__.lstrip())
print('saving current LEDs state')
# save current state
saved_state = [led.brightness_pct for led in Leds.LEFT + Leds.RIGHT]
Leds.all_off()
time.sleep(1)
# cycle LEDs like a traffic light
print('traffic light')
for _ in range(3):
for color in (Leds.GREEN, Leds.YELLOW, Leds.RED):
for group in (Leds.LEFT, Leds.RIGHT):
Leds.set_color(group, color)
time.sleep(0.5)
Leds.all_off()
time.sleep(0.5)
# blink LEDs from side to side now
print('side to side')