def test():
button = Button()
leds = Leds()
console = Console(font='Lat15-TerminusBold20x10')
count = 0
while True:
leds.set_color('LEFT', 'BLACK')
leds.set_color('RIGHT', "BLACK")
sleep(1)
leds.set_color('LEFT', 'GREEN')
leds.set_color('RIGHT', 'GREEN')
sleep(1)
leds.set_color('LEFT', 'BLACK')
leds.set_color('RIGHT', "BLACK")
sleep(1)
leds.set_color('LEFT', 'RED')
leds.set_color('RIGHT', 'RED')
sleep(1)
count = count + 1
if button.enter:
print("press enter", file=sys.stderr)
break
print(count)
sleep(10)
def main():
'''The main function of our program'''
# set the console just how we want it
reset_console()
set_cursor(OFF)
set_font('Lat15-Terminus24x12')
print('How are you?')
print("")
print("Hello Selina.")
print("Hello Ethan.")
STUD_MM = 8
tank = MoveDifferential(OUTPUT_A, OUTPUT_B, EV3Tire, 16 * STUD_MM)
motorLift = MediumMotor(OUTPUT_D)
sound = Sound()
# sound.speak('How are you master!')
# sound.speak("I like my family")
# sound.speak("I like my sister and i like my brother.")
sound.beep()
eye = InfraredSensor(INPUT_1)
robot = Robot(tank, None, eye)
botton = Button()
while not botton.any():
distance = eye.distance(channel=1)
heading = eye.heading(channel=1)
print('distance: {}, heading: {}'.format(distance, heading))
motorLift.on_to_position(speed=40, position=-7200, block=True) #20 Rounds
if distance is None:
sound.speak("I am lost, there is no beacon!")
else:
if (distance < 14):
tank.off()
sound.speak("I am very close to the beacon!")
motorLift.on_to_position(speed=40, position=7200, block=True)
sound.speak("I had to get some more rubbish.")
sound.speak("Please wait while I lift up my fork.")
tank.turn_right(speed=20, degrees=random.randint(290, 340)) # random.randint(150, 210)
tank.on_for_seconds(left_speed=20, right_speed=20, seconds=20)
tank.turn_right(speed=20, degrees=330)
motorLift.on_to_position(speed=40, position=0, block=True)
elif distance >= 100:
sound.speak("I am too faraway from the beacon")
elif (distance < 99) and (-4 <= heading <= 4): # in right heading
sound.speak("Moving farward")
tank.on(left_speed=20, right_speed=20)
else:
if heading > 0:
tank.turn_left(speed=20, degrees=20)
else:
tank.turn_right(speed=20, degrees=20)
sound.speak("I am finding the beacon.")
time.sleep(0.1)
def randomWalk(tank: MoveDifferential, touchSensor: TouchSensor):
btn = Button()
while not btn.any():
if touchSensor.is_pressed:
tank.off()
else:
tank.on(left_speed = 45, right_speed = 45)
def command_loop():
btn = Button()
btn.on_up = up_pressed
btn.on_down = down_pressed
while not btn.enter:
btn.process()
sleep(0.01)
def colourAttachment_values():
button = Button()
stop = False
os.system('setfont Lat15-TerminusBold14')
# os.system('setfont Lat15-TerminusBold32x16') # Try this larger font
print('insert black', file=stderr)
print('insert black')
button.wait_for_pressed(['enter'])
black = colourAttachment.raw
print('insert green', file=stderr)
print('insert green')
Delay_seconds(lambda: stop, 2)
green = colourAttachment.raw
print('insert red', file=stderr)
print('insert red')
Delay_seconds(lambda: stop, 2)
red = colourAttachment.raw
print('insert yellow', file=stderr)
print('insert yellow')
Delay_seconds(lambda: stop, 2)
yellow = colourAttachment.raw
print('insert white', file=stderr)
print('insert white')
Delay_seconds(lambda: stop, 2)
white = colourAttachment.raw
attachment_values = [black, green, red, yellow, white]
print(black[0], file=stderr)
return attachment_values
def main():
snake_body = [[6, 3],[6, 4],[6, 5], [6, 6]]
lcd = Display()
btn = Button()
snake_dir = 0 # 0 stop, 1=up, 2=right, 3=down, 4=left
draw_play_field(lcd)
rows = 15
columne = 20
s = snake(snake_body)
flag = True
draw_grid(lcd)
while flag:
s.draw(lcd)
if (btn.up and snake_dir != 3):
snake_dir = 1
if (btn.down and snake_dir !=1):
snake_dir = 3
if (btn.right and snake_dir !=4):
snake_dir = 2
if (btn.left and snake_dir !=2):
snake_dir = 4
s.move(snake_dir)
time.sleep(0.3)
redraw_widow(lcd)
def __init__(self, output_a, output_d):
self.right_motor = LargeMotor(output_a)
self.left_motor = LargeMotor(output_d)
self.btn = Button()
self.cl = ColorSensor()
self.us = UltrasonicSensor()
self.us.mode='US-DIST-CM'
self.gy = GyroSensor()
self.gy.mode='GYRO-ANG'
self.defaultSpeed = 450
self.right_sp = 450
self.left_sp = 450
self.lastColor1 = None
self.lastColor2 = None
self.lastColor3 = None
self.node = [(0,0)]
# self.direction = None
self.directionStr = ['top', 'right', 'bottom', 'left']
def __init__(self):
self.speed_data = []
self.motor_l = ev3.LargeMotor(ev3.OUTPUT_B)
self.motor_r = ev3.LargeMotor(ev3.OUTPUT_C)
self.btn = Button()
self.measure = False
threading.Thread.__init__(self)
def flip_boolean_setting(self, setting):
"""Flip a boolean true/false setting named `settings`"""
btn = Button()
self.wait_for_button_press(btn)
# flip the gyro setting
self.settings.settings[setting] = not self.settings.get(setting)
self.settings.write()
return self.settings.get(setting)
def __init__(self):
self.btn = Button()
self.LLight = LightSensor(INPUT_1)
self.RLight = LightSensor(INPUT_4)
self.drive = MoveTank(OUTPUT_B, OUTPUT_C)
os.system('setfont Lat15-TerminusBold14')
thread = threading.Thread(target=self.run, args=())
thread.daemon = True
thread.start()
def choose_motor_loop():
"""
while the back button is not pressed
loop and set the active motor to control
based on the button pressed.
"""
btn = Button()
btn.on_change = change_motor
while True:
btn.process()
sleep(0.01)
def __init__(self):
self.button = Button()
self.tank = MoveSteering(OUTPUT_C, OUTPUT_B)
self.cs = ColorSensor()
self.cs.mode = ColorSensor.MODE_COL_REFLECT
self.gs = GyroSensor()
self.gs.reset()
self.before_direction = self.gyro()
def __init__(self,
left_motor_port,
right_motor_port,
desc=None,
motor_class=LargeMotor):
self.cur_turn_i = 0
self.button = Button()
super().__init__(left_motor_port,
right_motor_port,
desc=None,
motor_class=LargeMotor)
def main():
# remove the following line and replace with your code
btn = Button() # we will use any button to stop script
cl = ColorSensor()
cl.mode = 'COL-AMBIENT'
while not btn.any(): # exit loop when any button pressed
print("Ambient light reading:")
print(cl.value())
sleep(1) # wait for 0.1 seconds
def Launchrun():
Sound.speak("ready to go")
btn = Button()
#adjust the while statement for however long you want it to go.
while True:
# V if up button is pressed, wait 1 second. if button is still pressed run program 1 if else run program 2 (repeat for each button)
if btn.up:
sleep(1)
if btn.up:
Program2()
else:
Program1()
def display_gyro_sensor(self, which_gyro_sensor):
"""Display reflected light intensity of said sensor"""
gyro = self.choose_gyro_sensor(which_gyro_sensor)
gyro.mode = gyro.MODE_GYRO_ANG
btn = Button()
angle = gyro.angle
while True:
self.write_to_console(str(angle), column=5, row=2, reset_console=True, inverse=True, alignment='C', font_size='L')
angle = gyro.angle
self.sleep_in_loop()
if btn.any():
break
def display_color_sensor(self, which_color_sensor):
"""Display reflected light intensity of said sensor"""
cs = self.choose_color_sensor(which_color_sensor)
cs.MODE_COL_REFLECT = 'COL-REFLECT'
btn = Button()
light = cs.reflected_light_intensity
while True:
self.write_to_console(str(light), column=5, row=2, reset_console=True, inverse=True, alignment='C', font_size='L')
light = cs.reflected_light_intensity
self.sleep_in_loop()
if btn.any():
break
def __init__(self):
self.sound = Sound()
self.direction_motor = MediumMotor(OUTPUT_D)
self.swing_motorL = LargeMotor(OUTPUT_A)
self.swing_motorC = LargeMotor(OUTPUT_B)
self.swing_motorR = LargeMotor(OUTPUT_C)
self.swing_motors = [
self.swing_motorL, self.swing_motorC, self.swing_motorR
]
self.touch_sensor = TouchSensor(INPUT_1)
self.console = Console(DEFAULT_FONT)
self.buttons = Button()
self.beeps_enabled = True
def Launchrun():
Sound.speak("ready to go")
btn = Button()
#adjust the while statement for however long you want it to go.
while True:
# V if up button is pressed, wait 1 second. if button is still pressed run program 1 if else run program 2 (repeat for each button)
if btn.up:
sleep(1)
if btn.up:
Sound.speak("Run krab")
Krab()
else:
Sound.speak("Run krab")
Krab()
if btn.down:
sleep(1)
if btn.down:
Sound.speak("Run spider")
Spider()
else:
Sound.speak("Run spider")
Spider()
if btn.left:
sleep(1)
if btn.left:
Sound.speak("Run crane")
Crane()
else:
Sound.speak("Run crane")
Crane()
if btn.right:
sleep(1)
if btn.right:
Sound.speak("Run bulldozer")
Bulldozer()
else:
Sound.speak("Run bulldozer")
Bulldozer()
if btn.enter:
sleep(1)
if btn.enter:
Sound.speak("Run traffic")
Traffic()
else:
Sound.speak("Run red circle")
Redcircle()
def init_hardware():
global button, display, leds, drive, infraredSensor
drive = LargeMotor(OUTPUT_B)
infraredSensor = InfraredSensor(INPUT_3)
infraredSensor.mode = InfraredSensor.MODE_IR_PROX
leds = Leds()
# ultrasonicSensor = UltrasonicSensor(INPUT_2)
# ultrasonicSensor.mode = UltrasonicSensor.MODE_US_DIST_CM
display = Display()
button = Button()
button.on_enter = btn_on_enter
def __init__(self):
self.exit = True
self.callback_exit = True
# Connect sensors and buttons.
self.btn = Button()
self.ir = InfraredSensor()
self.ts = TouchSensor()
self.power = PowerSupply()
self.tank_drive = MoveTank(OUTPUT_A, OUTPUT_B)
print('EV3 Node init starting')
rospy.init_node('ev3_robot', anonymous=True, log_level=rospy.DEBUG)
print('EV3 Node init complete')
rospy.Subscriber('ev3/active_mode', String, self.active_mode_callback, queue_size=1)
self.power_init()
print('READY!')
def __init__(self):
self.steer = MoveSteering(OUTPUT_B, OUTPUT_C)
self.tank_pair = MoveTank(OUTPUT_B, OUTPUT_C)
self.touch_sensor = TouchSensor()
self.cl = ColorSensor()
self.s = Sound()
self.btn = Button()
self.c_switch = True # True: Turning left, comp right, False: opposite.
self.col_switch = True # True: black, False: white.
self.tile_count = 0
self.tile_length = 230
# Sets up offset for variable light
self.off_set = self.cl.reflected_light_intensity - 13
self.black_range = range(0, 30)
self.white_range = range(30, 100)
def runCalibrator():
speed = 25
counter_max = 5
# todo: adjust scale
proximityScale = 0.7
button = Button()
colorS = ColorSensor(INPUT_3)
sound = Sound()
moveTank = CustomMoveTank(OUTPUT_A, OUTPUT_D)
infrared = InfraredSensor()
def moveWithDistance(moveLengthCm, distance):
movedLength = 0
step = 10
turn = 0.5
while movedLength < moveLengthCm:
proximity = proximityScale * infrared.proximity
debug("proximity cm " + str(proximity) + " movedLength " +
str(movedLength))
if proximity < distance:
moveTank.move_cm_lopsided(step + turn, step - turn, True)
else:
moveTank.move_cm_lopsided(step - turn, step + turn, True)
movedLength += step
# 70cm forward
# turn 90 degrees
# keep 10cm distance from edge
# drive forward 240cm
# stop to wait for usb
debug("calibrator: move forward")
moveTank.move_cm(30, True)
debug("calibrator: turn 90")
moveTank.turn(90, True)
debug("calibrator: move forward with distance from left edge")
moveWithDistance(140, 10)
debug("calibrator: wait for usb drop")
sleep(3)
debug("calibrator: move forward with distance from left edge")
moveWithDistance(40, 10)
def __init__(self):
self.btn = Button()
self.LLight = LightSensor(INPUT_1)
self.RLight = LightSensor(INPUT_4)
self.cs = ColorSensor()
self.drive = MoveTank(OUTPUT_A, OUTPUT_D)
self.steer = MoveSteering(OUTPUT_A, OUTPUT_D)
self.heightmotor = LargeMotor(OUTPUT_B)
self.clawactuator = MediumMotor(OUTPUT_C)
os.system('setfont Lat15-TerminusBold14')
self.speed = 40
self.sectionCache = 0
self.orient = {'N': "1", 'E': "1", 'S': "1", 'W': "1"}
def play(self):
delay = 0
step = [5, 10, 15, 20, 25, 30, 35, 40, 45, 55, 60, 65, 70]
button = Button()
button.on_up = self.volumeUp
button.on_down = self.volumeDown
button.on_left = self.multiplyUp
button.on_right = self.multiplyDown
button.on_enter = self.togglePause
button.on_backspace = self.backButton
ir = InfraredSensor()
ts = TouchSensor()
servo = MediumMotor()
while True:
self.volume = self.getVolume()
button.process()
if self.pause == True:
continue
distance = int(math.fabs(ir.value()))
position = int(math.fabs(servo.position))
for x in step:
if distance <= x:
hertz = int(x * 15)
# print("Hertz - " + str(hertz))
break
for x in step:
if position <= x:
duration = int(x * 5 * self.multiply)
# print("Duration - " + str(duration))
break
if ts.is_pressed:
if delay == 200:
delay = 0
else:
if delay == 0:
delay = 200
# play sound
self.sound.tone([(hertz, duration, delay)])
def read_from_color_sensor(self, which_color_sensor='right', read_white=True):
"""
Will show the value of the color sensor on the screen
and return when any button is pressed
TODO: Fix console display of light value which is changing size and location
"""
cs = self.choose_color_sensor(which_color_sensor)
cs.MODE_COL_REFLECT = 'COL-REFLECT'
btn = Button()
light = cs.reflected_light_intensity
while True:
self.write_to_console(str(light), column=5, row=2, reset_console=True, inverse=(not read_white), alignment='C', font_size='L')
light = cs.reflected_light_intensity
self.sleep_in_loop()
if btn.any():
break
return light
def runWhiteLine():
# valkoinen mitattu 70, harmaa mitattu 12, keskiarvo ^40
# taustavari
#ridColor = 20 # maalarinteippi
ridColor = 40 # valkoinen paperi
# Nopeus
speed = 25
counter_max = 5
button = Button()
colorS = ColorSensor(INPUT_3)
sound = Sound()
# ajaa eteenpain
tank_pair = MoveTank(OUTPUT_A, OUTPUT_D)
# kaantyy 2 sekunttia
tank_pair.off()
sound.beep()
# Suoritussilmukka
while True:
intensity = colorS.reflected_light_intensity
while (intensity > ridColor): # viivalla
intensity = colorS.reflected_light_intensity
tank_pair.on(50, 50) # Eteenpäin
counter_max = 5 # alustetaan viivanhaun sektorin leveys
if (intensity <= ridColor): #Ei viivalla -> alusta viivanhakumuuttujat
speed = -speed
i = 0
while (intensity <= ridColor and i < counter_max): # Ei viivalla ->
intensity = colorS.reflected_light_intensity
tank_pair.on(speed, -speed) # vasemman ja oikean nopeudet, kääntyy vasemmalle
i += 1
counter_max += counter_max
def __init__(self, config):
threading.Thread.__init__(self)
self.roboId = config['id']
self.threadID = 1
self.name = 'ui-thread'
self.isRunning = True
self.messageText = '-'
self.statusText = '-'
self.powerSupplyText = '-'
self.lcd = Display()
self.btn = Button()
self.sound = Sound()
self.leds = Leds()
self.theFont = fonts.load(Ui.M_FONT)
self.lcd.clear()
self.drawText()
self.lcd.update()
def __init__(
self,
left_motor_port: str = OUTPUT_B, right_motor_port: str = OUTPUT_C,
jaw_motor_port: str = OUTPUT_A,
touch_sensor_port: str = INPUT_1,
ir_sensor_port: str = INPUT_4, ir_beacon_channel: int = 1):
super().__init__(
left_motor_port=left_motor_port, right_motor_port=right_motor_port,
ir_sensor_port=ir_sensor_port, ir_beacon_channel=ir_beacon_channel)
self.jaw_motor = MediumMotor(address=jaw_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.button = Button()
self.speaker = Sound()
def __init__(self):
super().__init__(gadget_config_path='./auth.ini')
# order queue
self.queue = Queue()
self.button = Button()
self.leds = Leds()
self.sound = Sound()
self.console = Console()
self.console.set_font("Lat15-TerminusBold16.psf.gz", True)
self.dispense_motor = LargeMotor(OUTPUT_A)
self.pump_motor = LargeMotor(OUTPUT_B)
self.touch_sensor = TouchSensor(INPUT_1)
# Start threads
threading.Thread(target=self._handle_queue, daemon=True).start()
threading.Thread(target=self._test, daemon=True).start()
