class CuriosityRov3r(IRBeaconRemoteControlledTank):
def __init__(
self,
left_motor_port: str = OUTPUT_B, right_motor_port: str = OUTPUT_C,
medium_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_port=left_motor_port, right_motor_port=right_motor_port,
ir_sensor_port=ir_sensor_port, ir_beacon_channel=ir_beacon_channel)
self.medium_motor = MediumMotor(address=medium_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.ir_beacon_channel = ir_beacon_channel
self.dis = Display()
self.noise = Sound()
def spin_fan(self, speed: float = 100):
if self.color_sensor.reflected_light_intensity > 20:
self.medium_motor.on(
speed=speed,
brake=False,
block=False)
else:
self.medium_motor.off(brake=True)
def say_when_touched(self):
if self.touch_sensor.is_pressed:
self.dis.image_filename(
filename='/home/robot/image/Angry.bmp',
clear_screen=True)
self.dis.update()
self.noise.play_file(
wav_file='/home/robot/sound/No.wav',
volume=100,
play_type=Sound.PLAY_WAIT_FOR_COMPLETE)
self.medium_motor.on_for_seconds(
speed=-50,
seconds=3,
brake=True,
block=True)
def main(self, speed: float = 100):
while True:
self.drive_once_by_ir_beacon(speed=speed)
self.say_when_touched()
self.spin_fan(speed=speed)
class Ev3rstorm(IRBeaconRemoteControlledTank):
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_port=left_foot_motor_port, right_motor_port=right_foot_motor_port, motor_class=LargeMotor,
ir_sensor_port=ir_sensor_port, ir_beacon_channel=ir_beacon_channel)
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.screen = Display()
self.speaker = Sound()
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_file(
wav_file='/home/robot/sound/Up.wav',
volume=100,
play_type=Sound.PLAY_WAIT_FOR_COMPLETE)
self.bazooka_blast_motor.on_for_rotations(
speed=100,
rotations=-3,
brake=True,
block=True)
else:
self.speaker.play_file(
wav_file='/home/robot/sound/Down.wav',
volume=100,
play_type=Sound.PLAY_WAIT_FOR_COMPLETE)
self.bazooka_blast_motor.on_for_rotations(
speed=100,
rotations=3,
brake=True,
block=True)
self.touch_sensor.wait_for_released()
def main(self, driving_speed: float = 100):
self.screen.image_filename(
filename='/home/robot/image/Target.bmp',
clear_screen=True)
self.screen.update()
while True:
self.drive_once_by_ir_beacon(speed=driving_speed)
self.blast_bazooka_if_touched()
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_beacon_channel: int = 1):
super().__init__(left_motor_port=left_foot_motor_port,
right_motor_port=right_foot_motor_port,
polarity=Motor.POLARITY_NORMAL,
speed=1000,
channel=ir_beacon_channel)
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.screen = Display()
self.speaker = Sound()
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_file(
wav_file='/home/robot/sound/Up.wav',
volume=100,
play_type=Sound.PLAY_WAIT_FOR_COMPLETE)
self.bazooka_blast_motor.on_for_rotations(speed=100,
rotations=-3,
brake=True,
block=True)
else:
self.speaker.play_file(
wav_file='/home/robot/sound/Down.wav',
volume=100,
play_type=Sound.PLAY_WAIT_FOR_COMPLETE)
self.bazooka_blast_motor.on_for_rotations(speed=100,
rotations=3,
brake=True,
block=True)
self.touch_sensor.wait_for_released()
def main(self):
self.screen.image_filename(filename='/home/robot/image/Target.bmp',
clear_screen=True)
self.screen.update()
Thread(target=self.blast_bazooka_whenever_touched, daemon=True).start()
super().main() # RemoteControlledTank.main()
def test():
print("start", file=sys.stderr)
display = Display()
display.draw.rectangle((10, 10, 80, 50), fill='black')
#display.draw.bitmap((0,0),im)
#显示图片
display.image.paste(Image.open('resources/2019-11-10_00126.png'), (0, 0))
display.update()
sleep(5)
print("end", file=sys.stderr)
def __init__(self):
self.playDebugSound = False
self.s = Sound()
self.display = Display()
self.display.clear()
self.colorSensor = ColorSensor(INPUT_2)
self.lastColor = 0
self.usSensor = UltrasonicSensor(INPUT_3)
self.usSensor.mode = 'US-DIST-CM'
self.touchL = TouchSensor(INPUT_1)
self.touchR = TouchSensor(INPUT_4)
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 show_text(string, font_name='courB24', font_width=15, font_height=24):
lcd = Display()
lcd.clear()
strings = wrap(string, width=int(180/font_width))
for i in range(len(strings)):
x_val = 89-font_width/2*len(strings[i])
y_val = 63-(font_height+1)*(len(strings)/2-i)
lcd.text_pixels(strings[i], False, x_val, y_val, font=font_name)
lcd.update()
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_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_port=left_foot_motor_port, right_motor_port=right_foot_motor_port, motor_class=LargeMotor,
ir_sensor_port=ir_sensor_port, ir_beacon_channel=ir_beacon_channel)
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.screen = Display()
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_beacon_channel: int = 1):
super().__init__(
left_motor_port=left_foot_motor_port, right_motor_port=right_foot_motor_port,
polarity=Motor.POLARITY_NORMAL,
speed=1000,
channel=ir_beacon_channel)
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.screen = Display()
self.speaker = Sound()
def __init__(self):
"""
Performs Alexa Gadget initialization routines and ev3dev resource allocation.
"""
super().__init__()
# Gadget state
self.heel_mode = False
self.patrol_mode = False
self.sitting = False
# Ev3dev initialization
self.leds = Leds()
self.sound = Sound()
# Connect infrared and touch sensors.
self.ir = InfraredSensor()
self.ts = TouchSensor()
# Init display
self.screen = Display()
self.dance = False
self.sound = Sound()
self.drive = MoveTank(OUTPUT_B, OUTPUT_C)
self.sound.speak('Hello, my name is Beipas!')
# Connect medium motor on output port A:
self.medium_motor = MediumMotor(OUTPUT_A)
# Connect two large motors on output ports B and C:
self.left_motor = LargeMotor(OUTPUT_B)
self.right_motor = LargeMotor(OUTPUT_C)
# Gadget states
self.bpm = 0
self.trigger_bpm = "off"
self.eyes = True
# Start threads
threading.Thread(target=self._dance_thread, daemon=True).start()
threading.Thread(target=self._patrol_thread, daemon=True).start()
threading.Thread(target=self._heel_thread, daemon=True).start()
threading.Thread(target=self._touchsensor_thread, daemon=True).start()
threading.Thread(target=self._eyes_thread, daemon=True).start()
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.touch_sensor = TouchSensor(address=touch_sensor_port)
self.color_sensor = ColorSensor(address=color_sensor_port)
self.dis = Display()
self.speaker = Sound()
def __init__(
self,
left_motor_port: str = OUTPUT_B, right_motor_port: str = OUTPUT_C,
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):
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.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.ir_beacon_channel = ir_beacon_channel
self.speaker = Sound()
self.dis = Display(desc='Display')
def show_text(string,
font_name='courB24',
font_width=15,
font_height=24): # A function to show text on the robot's screen
'''Function to show a text on EV3 screen.
This code is copied from ev3python.com'''
lcd = Display() # Defining screen
lcd.clear() # Clearing the screen so there isnt already text
strings = wrap(string, width=int(180 / font_width)) #
for i in range(len(strings)):
x_val = 89 - font_width / 2 * len(strings[i])
y_val = 63 - (font_height + 1) * (len(strings) / 2 - i)
lcd.text_pixels(strings[i], False, x_val, y_val, font=font_name)
lcd.update()
def __init__(
self,
left_motor_port: str = OUTPUT_B, right_motor_port: str = OUTPUT_C,
medium_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_port=left_motor_port, right_motor_port=right_motor_port,
polarity=Motor.POLARITY_NORMAL,
speed=1000,
channel=ir_beacon_channel)
self.medium_motor = MediumMotor(address=medium_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.ir_beacon_channel = ir_beacon_channel
self.dis = Display()
self.noise = Sound()
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,
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.tank_driver = MoveTank(left_motor_port=left_foot_motor_port,
right_motor_port=right_foot_motor_port,
motor_class=LargeMotor)
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.ir_beacon_channel = ir_beacon_channel
self.leds = Leds()
self.speaker = Sound()
self.screen = Display()
def __init__(self,
left_motor_port: str = OUTPUT_B,
right_motor_port: str = OUTPUT_C,
medium_motor_port: str = OUTPUT_A,
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.medium_motor = MediumMotor(address=medium_motor_port)
self.ir_sensor = InfraredSensor(address=ir_sensor_port)
self.ir_beacon_channel = ir_beacon_channel
self.screen = Display(desc='Display')
self.speaker = Sound()
def display_different_fonts():
lcd = Display()
sound = Sound()
def show_for(seconds):
lcd.update()
sound.beep()
sleep(seconds)
lcd.clear()
# Try each of these different sets:
style = 'helvB'
#style = 'courB'
#style = 'lutBS'
y_value = 0
str1 = ' The quick brown fox jumped'
str2 = '123456789012345678901234567890'
for height in [10, 14, 18, 24]:
text = style + str(height) + str1
lcd.text_pixels(text, False, 0, y_value, font=style + str(height))
y_value += height + 1 # short for y_value = y_value+height+1
lcd.text_pixels(str2, False, 0, y_value, font=style + str(height))
y_value += height + 1
show_for(6)
strings = [] # create an empty list
# Screen width can accommodate 12 fixed
# width characters with widths 14 or 15
# 123456789012
strings.append(style + '24 The')
strings.append('quick brown ')
strings.append('fox jumps ')
strings.append('over the dog')
strings.append('123456789012')
for i in range(len(strings)):
lcd.text_pixels(strings[i], False, 0, 25 * i, font=style + '24')
show_for(6)
def __init__(Self, WheelDistance, WheelDiameter, TankBase, MedMotors,
Ultrasonic, Color1, Color2,
Gyro): # WheelDistance and WheelDiameter in cm.
# Import the parts of the robot.
from ev3dev2.button import Button
from ev3dev2.display import Display
from ev3dev2.motor import MoveTank, MediumMotor, LargeMotor, SpeedRPS, OUTPUT_A, OUTPUT_B, OUTPUT_C, OUTPUT_D
from ev3dev2.sensor import INPUT_1, INPUT_2, INPUT_3, INPUT_4
from ev3dev2.sensor.lego import UltrasonicSensor, ColorSensor, GyroSensor
# Define the ports.
Ports = {
"A": OUTPUT_A,
"B": OUTPUT_B,
"C": OUTPUT_C,
"D": OUTPUT_D,
"1": INPUT_1,
"2": INPUT_2,
"3": INPUT_3,
"4": INPUT_4
}
# Define the parts of the robot.
Self.SpeedRPS = SpeedRPS
Self.WheelDistance = WheelDistance
Self.WheelCircumference = WheelDiameter * 3.1416
Self.TankBase = MoveTank(Ports[TankBase[0]], Ports[TankBase[1]])
Self.DriveMotor = LargeMotor(
Ports[TankBase[0]]) # Used only for sensing degrees.
Self.MedMotors = [
MediumMotor(Ports[MedMotors[0]]),
MediumMotor(Ports[MedMotors[1]])
]
Self.Ultrasonic = UltrasonicSensor(Ports[Ultrasonic])
Self.Color1 = ColorSensor(Ports[Color1])
Self.Color2 = ColorSensor(Ports[Color2])
Self.Gyro = GyroSensor(Ports[Gyro])
Self.Buttons = Button()
Self.LCD = Display()
# Lock the medium motors.
Self.MotorOff([0])
Self.MotorOff([1])
if testcase == 'test_led':
from test_led import test
if testcase == 'test_sound':
from test_sound import test
if testcase == 'test_display':
from test_display import test
#执行用例
test()
exit()
disp = Display()
leds = Leds()
sounds = Sound()
#ts = TouchSensor(INPUT_2)
sounds.beep()
sleep(1)
sounds.set_volume(100)
sounds.speak(text='1.15')
#sounds.speak(text='Welcome to the E V 3 dev project!')
sleep(1)
exit()
'''
console.reset_console()
###################################
### load probot_empty.ttt scene ###
###################################
from ev3dev2.display import Display
from time import sleep
disp = Display()
disp.text_grid("0123456789" * 20)
sleep(1)
disp.text_grid(
"""Picture yourself in a boat on a river;With tangerine trees and marmalade skies;Somebody calls you, you answer quite slowly;A girl with kaleidoscope eyes"""
)
#!/usr/bin/env python3
from sys import stderr
from ev3dev2.sensor.lego import TouchSensor
from ev3dev2.sensor.lego import Sensor
from ev3dev2.sensor import INPUT_1, INPUT_2
from ev3dev2.display import Display
lcd = Display()
# Connect Pixy camera
pixy = Sensor()
# Connect TouchSensor
ts = TouchSensor(address=INPUT_1)
# Set mode
pixy.mode = 'ALL'
while not ts.value():
lcd.clear()
if pixy.value(0) != 0: # Object with SIG1 detected
x = pixy.value(1)
y = pixy.value(2)
w = pixy.value(3)
h = pixy.value(4)
dx = int(w / 2) # Half of the width of the rectangle
dy = int(h / 2) # Half of the height of the rectangle
xb = x + int(w / 2) # X-coordinate of bottom-right corner
yb = y - int(h / 2) # Y-coordinate of the bottom-right corner
lcd.draw.rectangle((dx, dy, xb, yb), fill='black')
lcd.update()
from ev3dev2.sensor.lego import GyroSensor
from ev3dev2.button import Button
from ev3dev2.sound import Sound
from ev3dev2.display import Display
import time
import sys
btn = Button() # variable so we can get buttons pressed on EV3
color = ColorSensor(INPUT_4) # color sensor for checking attachment color
tank_drive = MoveTank(
OUTPUT_B, OUTPUT_C) # Creates a variable so we can control the drivetrain
motorA = MediumMotor(OUTPUT_A) # left medium motor
motorD = MediumMotor(OUTPUT_D) # right medium motor
gyro = GyroSensor(INPUT_1) # gyro variable
Sound_ = Sound() # beepity beep
Display_ = Display() # for displaying text
Sound_.play_tone(frequency=400, duration=0.5,
volume=50) #plays a note so we know when the code starts
#---------------------------------------------------------------------------------------------------------------------------------------------------
#------------------------------------------------Distance conversion--------------------------------------------------------------------------------
# Distance Conversion
wheelDiameter_mm = 56 # Look at the first number on the NUMBERxNUMBER on wheel
wheelCircumference_cm = (
wheelDiameter_mm / 10
) * 3.14159265358979323846284338 # Convert to cm and multiply by pi for circumference
wheelCircumference_in = (
wheelDiameter_mm / 25.4
) * 3.14159265358979323846284338 # Convert to in and multiply by pi for circumference
#!/usr/bin/env python3
from ev3dev2.motor import MoveTank, OUTPUT_B, OUTPUT_C, MoveSteering
from ev3dev2.sensor.lego import TouchSensor, UltrasonicSensor
from ev3dev2.sound import Sound
from ev3dev2.display import Display
from ev3dev2.sensor.lego import ColorSensor
from textwrap import wrap
from threading import Thread
#from ev3dev2.led import Leds
from time import sleep
from ev3dev.ev3 import *
ts = TouchSensor()
lcd = Display()
def show_text(string, font_name='courB24', font_width=15, font_height=24):
lcd.clear()
strings = wrap(string, width=int(180/font_width))
for i in range(len(strings)):
x_val = 89-font_width/2*len(strings[i])
y_val = 63-(font_height+1)*(len(strings)/2-i)
lcd.text_pixels(strings[i], False, x_val, y_val, font=font_name)
lcd.update()
def WaitForBump(): # a 'bump' is a release of the touch sensor button
PreviousState=0
while True:
CurrentState=ts.value()
if PreviousState==1 and CurrentState==0: #button was released
break # button has just been released so exit loop
PreviousState=CurrentState # Ready for next loop
sleep(0.01) # don't read the sensor too frequently
#!/usr/bin/env python3
# (Display not yet working in MicroPython as of 2020)
from ev3dev2.motor import LargeMotor, OUTPUT_B, OUTPUT_C, MoveSteering, MoveTank
from ev3dev2.display import Display
TANK_DRIVER = MoveTank(left_motor_port=OUTPUT_B,
right_motor_port=OUTPUT_C,
motor_class=LargeMotor)
STEER_DRIVER = MoveSteering(left_motor_port=OUTPUT_B,
right_motor_port=OUTPUT_C,
motor_class=LargeMotor)
SCREEN = Display()
SCREEN.image_filename(filename='/home/robot/image/Neutral.bmp',
clear_screen=True)
SCREEN.update()
TANK_DRIVER.on_for_rotations(left_speed=75,
right_speed=75,
rotations=5,
brake=True,
block=True)
SCREEN.image_filename(filename='/home/robot/image/Middle left.bmp',
clear_screen=True)
SCREEN.update()
STEER_DRIVER.on_for_rotations(steering=50,
speed=75,
#!/usr/bin/env python3
import time
from ev3dev2.motor import LargeMotor, OUTPUT_B, OUTPUT_C, OUTPUT_D, SpeedPercent, MoveTank, MediumMotor
from ev3dev2.sensor import INPUT_1, INPUT_2, INPUT_3, INPUT_4
from ev3dev2.sensor.lego import ColorSensor, GyroSensor
import ev3dev2.fonts as fonts
from ev3dev2.button import Button
from ev3dev2.sound import Sound
from ev3dev2.display import Display
btn = Button()
color = ColorSensor(INPUT_4)
tank_drive = MoveTank(OUTPUT_B, OUTPUT_C) #This is the template whenever we code
gyro = GyroSensor(INPUT_1)
Sound_ = Sound()
Display_ = Display()
Sound_.play_tone(frequency=400, duration=0.5, volume=50) #plays a note so we know when the code starts
#------------------------------------------------Distance conversion--------------------------------------------------------------------------------
# Distance Conversion
wheelDiameter_mm = 56 # Look at the first number on the NUMBERxNUMBER on wheel
wheelCircumference_cm = (wheelDiameter_mm/10) * 3.14159265358979323846284338 # Convert to cm and multiply by pi for circumference
wheelCircumference_in = (wheelDiameter_mm/25.4) * 3.14159265358979323846284338 # Convert to in and multiply by pi for circumference
# inches to rotations:
# example: drive.on_for_rotations(SpeedPercent(100), SpeedPrecent(100), inToRotations(5))
# to go 5 inches
def inToRotations(inches):
return inches/wheelCircumference_in
# centimeters to rotations:
# example: drive.on_for_rotations(SpeedPercent(100), SpeedPrecent(100), cmToRotations(5))
# to go 5 centimeters
def cmToRotations(cm):
return cm/wheelCircumference_cm
ts = TouchSensor(INPUT_3) # define the gyro sensor gy = GyroSensor(INPUT_2) # define the large motor on port B lm_move = LargeMotor(OUTPUT_B) # define the large motor on port D lm_lifter = LargeMotor(OUTPUT_D) # define the midium motor on port A mm_move = MediumMotor(OUTPUT_A) # define the button btn = Button() # define lcd display lcd = Display() # define sound snd = Sound() # define the steps to go, initial value is 0 steps = 1 # Declare function for one step def oneStep(): global gy global ts # reset gyro sensor # gy.reset() gy.mode = 'GYRO-RATE'
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.tank_driver = MoveTank(left_motor_port=left_foot_motor_port,
right_motor_port=right_foot_motor_port,
motor_class=LargeMotor)
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.ir_beacon_channel = ir_beacon_channel
self.leds = Leds()
self.speaker = Sound()
self.screen = Display()
def drive_once_by_ir_beacon(self, speed: float = 100):
# forward
if self.ir_sensor.top_left(
channel=self.ir_beacon_channel) and self.ir_sensor.top_right(
channel=self.ir_beacon_channel):
self.tank_driver.on(left_speed=speed, right_speed=speed)
# backward
elif self.ir_sensor.bottom_left(channel=self.ir_beacon_channel
) and self.ir_sensor.bottom_right(
channel=self.ir_beacon_channel):
self.tank_driver.on(left_speed=-speed, right_speed=-speed)
# turn left on the spot
elif self.ir_sensor.top_left(channel=self.ir_beacon_channel
) and self.ir_sensor.bottom_right(
channel=self.ir_beacon_channel):
self.tank_driver.on(left_speed=-speed, right_speed=speed)
# turn right on the spot
elif self.ir_sensor.top_right(
channel=self.ir_beacon_channel) and self.ir_sensor.bottom_left(
channel=self.ir_beacon_channel):
self.tank_driver.on(left_speed=speed, right_speed=-speed)
# turn left forward
elif self.ir_sensor.top_left(channel=self.ir_beacon_channel):
self.tank_driver.on(left_speed=0, right_speed=speed)
# turn right forward
elif self.ir_sensor.top_right(channel=self.ir_beacon_channel):
self.tank_driver.on(left_speed=speed, right_speed=0)
# turn left backward
elif self.ir_sensor.bottom_left(channel=self.ir_beacon_channel):
self.tank_driver.on(left_speed=0, right_speed=-speed)
# turn right backward
elif self.ir_sensor.bottom_right(channel=self.ir_beacon_channel):
self.tank_driver.on(left_speed=-speed, right_speed=0)
# otherwise stop
else:
self.tank_driver.off(brake=False)
def dance_if_ir_beacon_pressed(self):
while self.ir_sensor.beacon(channel=self.ir_beacon_channel):
self.tank_driver.on_for_seconds(left_speed=randint(-100, 100),
right_speed=randint(-100, 100),
seconds=1,
brake=False,
block=True)
def detect_object_by_ir_sensor(self):
if self.ir_sensor.proximity < 25:
self.leds.animate_police_lights(color1=Leds.ORANGE,
color2=Leds.RED,
group1=Leds.LEFT,
group2=Leds.RIGHT,
sleeptime=0.5,
duration=5,
block=False)
self.speaker.play_file(wav_file='/home/robot/sound/Object.wav',
volume=100,
play_type=Sound.PLAY_WAIT_FOR_COMPLETE)
self.speaker.play_file(wav_file='/home/robot/sound/Detected.wav',
volume=100,
play_type=Sound.PLAY_WAIT_FOR_COMPLETE)
self.speaker.play_file(
wav_file='/home/robot/sound/Error alarm.wav',
volume=100,
play_type=Sound.PLAY_WAIT_FOR_COMPLETE)
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_file(wav_file='/home/robot/sound/Up.wav',
volume=100,
play_type=Sound.PLAY_WAIT_FOR_COMPLETE)
self.bazooka_blast_motor.on_for_rotations(speed=100,
rotations=-3,
brake=True,
block=True)
self.speaker.play_file(
wav_file='/home/robot/sound/Laughing 1.wav',
volume=100,
play_type=Sound.PLAY_WAIT_FOR_COMPLETE)
else:
self.speaker.play_file(wav_file='/home/robot/sound/Down.wav',
volume=100,
play_type=Sound.PLAY_WAIT_FOR_COMPLETE)
self.bazooka_blast_motor.on_for_rotations(speed=100,
rotations=3,
brake=True,
block=True)
self.speaker.play_file(
wav_file='/home/robot/sound/Laughing 2.wav',
volume=100,
play_type=Sound.PLAY_WAIT_FOR_COMPLETE)
self.touch_sensor.wait_for_released()
def main(self, driving_speed: float = 100):
self.screen.image_filename(filename='/home/robot/image/Target.bmp',
clear_screen=True)
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()
from ev3dev2.sound import Sound
from ev3dev2.display import Display
from PIL import Image
import array
import random
import os
#logging
logging.basicConfig(level=logging.DEBUG, format='%(asctime)s %(levelname)5s: %(message)s')
log=logging.getLogger(__name__)
log.info("Starting Snake")
btn=Button()
sound=Sound()
display=Display()
# declare the variables
# direction x: 0-no move; 1-left; -1-right
dx=0
# direction y: 0-no move; 1-down; -1-up
dy=0
# Set burger position x
hx=random.randint(10, 170)
# set burger position y
hy=random.randint(20, 120)
# set the start x position of snake
Sx=[80]
# set the start y position of snake
Sy=[60]
# set the start x position of snake
class Ui(threading.Thread):
M_FONT = 'helvB12'
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 drawText(self):
self.lcd.draw.text((0, 0), 'RoboRinth', font=self.theFont)
self.lcd.draw.text((0, 14), 'ID: ' + self.roboId, font=self.theFont)
self.lcd.draw.text((0, 28),
'Status: ' + self.statusText,
font=self.theFont)
self.lcd.draw.text((0, 42),
'Msg: ' + self.messageText,
font=self.theFont)
# self.lcd.draw.text((0,56), 'Pwr: ' + self.powerSupplyText, font=self.theFont)
def run(self):
while self.isRunning:
self.lcd.clear()
self.drawText()
self.lcd.update()
self.btn.process()
sleep(1)
# sleep(0.5)
self.lcd.clear()
self.lcd.draw.rectangle((0, 0, 178, 128), fill='white')
self.lcd.update()
def registerBackspaceHandler(self, backspaceHandler):
self.btn.on_backspace = backspaceHandler
def stop(self):
self.isRunning = False
self.join()
def setMessageText(self, text):
self.messageText = text
def setStatusText(self, text):
self.statusText = text
def setPowerSupplyText(self, text):
self.powerSupplyText = text
def playStartSound(self):
self.sound.tone([(800, 200, 0), (1200, 400, 100)])
def setStatusLed(self, color):
if color == 'green':
self.leds.set_color('RIGHT', 'GREEN')
elif color == 'orange':
self.leds.set_color('RIGHT', 'ORANGE')
else:
print('unsupported color: ' + str(color))
from ev3dev2.motor import OUTPUT_A, OUTPUT_B, MoveTank, SpeedPercent, follow_for_ms, follow_for_forever
from ev3dev2.sensor.lego import ColorSensor
from ev3dev2.sound import Sound
from ev3dev2.display import Display
from ev3dev2.button import Button
from time import sleep, time
import threading
import os
speeker = Sound()
tank = MoveTank(OUTPUT_A, OUTPUT_B)
cs = ColorSensor()
tank.cs = cs
screen = Display()
button = Button()
# os.system('setfont CyrAsia-Terminus12x6')
def color_find(endtime):
start_time = time()
triggerd = False
while True:
if cs.color == 5:
speeker.beep()
tank.stop()
sleep(1)
exit()
if time() - start_time >= endtime and not triggerd:
tank.stop()
speeker.beep()
