def update(self):
self.x += self.xv
self.y += self.yv
if self.x - self.radius <= racket_left.thickness + racket_left.distance_from_edge:
if self.y < racket_left.pos - racket_left.width / 2 or self.y > racket_left.pos + racket_left.width:
Sound.tone(250, 100).wait()
Sound.tone(500, 100).wait()
self.reset()
else:
self.xv = -self.xv
self.yv += 1 if self.y > racket_left.pos else -1
m1.run_timed(time_sp=20,
speed_sp=900 * self.yv /
abs(1 if self.yv == 0 else self.yv))
if self.x + self.radius >= screen_width - racket_left.thickness - racket_left.distance_from_edge:
if self.y < racket_right.pos - racket_right.width / 2 or self.y > racket_right.pos + racket_right.width:
Sound.tone(250, 100).wait()
Sound.tone(500, 100).wait()
self.reset()
else:
self.xv = -self.xv
self.yv += 1 if self.y > racket_right.pos else -1
m2.run_timed(time_sp=20,
speed_sp=900 * self.yv /
abs(1 if self.yv == 0 else self.yv))
if self.y + self.radius >= screen_height or self.y - self.radius <= 0:
self.yv = -self.yv
Sound.tone(2000, 5)
def play(self, song):
"""Play the song"""
from ev3dev.ev3 import Sound
file_name = song.get('file_name')
with open(file_name) as data_file:
lyrics = json.load(data_file)
Sound.tone(self.convert_lyrics(lyrics)).wait()
def beep(duration=1000, freq=440):
"""
Potrobi s frekvenco `freq` za čas `duration`. Klic ne blokira.
"""
Sound.tone(freq, duration)
def playTone(hz, seconds, wait=False):
process = _Sound.tone([(hz, seconds * 1000)])
if wait:
process.wait()
def follow_line(self, direction, coloursens, linesens, stopcolours, collision):
print("PidRunner.follow_line(direction={},stopcolours={})".format(direction, stopcolours))
#Sound.play("/home/robot/tetris.wav")
# Coerce into list to avoid annoying errors
if not isinstance(stopcolours, list):
stopcolours = [stopcolours]
stopcolours = list(map(lambda s: colour2num[s] if isinstance(s, str) else s, stopcolours))
# Move forward a bit
for motor in (mLeft, mRight):
motor.stop_action = "coast"
motor.duty_cycle_sp = self.power
motor.run_direct()
time.sleep(0.15)
for motor in (mLeft, mRight):
motor.stop()
linesens.mode = 'COL-REFLECT'
coloursens.mode = 'COL-COLOR'
lastError = error = integral = 0
colour = None
done = False
while not done:
colour = coloursens.color
mLeft.run_direct()
mRight.run_direct()
while colour not in stopcolours:
refRead = linesens.value()
# Collision detection using ultrasonic sensor
UDIST_CM = 10 # How close an object has to be for the robot to stop
TIME_LIMIT = 10 # How long to wait [s] before raising an Exception
# and stopping all action
if collision and (sSonic.distance_centimeters <= UDIST_CM):
mLeft.stop()
mRight.stop()
timestart = time.time()
while sSonic.distance_centimeters <= UDIST_CM:
timeelapsed = time.time() - timestart
if timeelapsed > TIME_LIMIT:
# raise exception
raise SubinstructionError('Obstacle Encountered. Recover Unit')
Sound.tone(200, 100).wait()
mLeft.run_direct()
mRight.run_direct()
# PID movement
error = TARGET_REFL - (100 * (refRead - MIN_REFL) / (MAX_REFL - MIN_REFL))
derivative = error - lastError
lastError = error
integral = float(0.5) * integral + error
course = (self.Kp * error + self.Kd * derivative + self.Ki * integral) * direction
for (motor, pow) in zip((mLeft, mRight), self.steering(course)):
motor.duty_cycle_sp = pow
colour = coloursens.color
mRight.stop()
mLeft.stop()
# Check again for colour
done = True
for i in range(0, 4):
if colour != coloursens.color:
done = False
break
return colour
#print("no ball seen")
IROut = IR.value(0)
if IROut != 0: pass
motors.spinRight(0.5)
IROut = IR.value(0)
if IROut != 0: pass
time.sleep(1)
motors.spinLeft(0.96)
IROut = IR.value(0)
if IROut != 0: pass
time.sleep(1)
motors.spinRight(0.5)
IROut = IR.value(0)
if IROut != 0: pass
time.sleep(1)
'''
cmpscorr()
loop_on = False
while True:
if loop_on:
main()
if button.enter:
Sound.tone(1500,100).wait()
if loop_on:
loop_on = False
else:
loop_on = True
while button.enter:
pass
def beep(times, beep_duration=1000):
for i in range(times):
Sound.tone(1500, beep_duration).wait()
time.sleep(0.5)
def playTone(hz, seconds, wait = False):
process = _Sound.tone([(hz, seconds * 1000)])
if wait:
process.wait()
