def speak_and_rotate():
sound = Sound()
os.system('setfont Lat15-TerminusBold14')
mL = LargeMotor('outB')
mL.stop_action = 'hold'
mR = LargeMotor('outC')
mR.stop_action = 'hold'
print('Hello, my name is EV3D4!')
str_en = 'Hello, my name is E V 3 D 4!'
opts = '-a 200 -s 150 -p 70 -v'
sound.speak(str_en, espeak_opts=opts + 'en+f5')
sleep(2)
str_en = "Performing perimeter scan"
sound.speak(str_en, espeak_opts=opts + 'en+f5')
# Sound.speak('Hello, my name is Evie, 3 D 4!').wait()
mL.run_to_rel_pos(position_sp=1662, speed_sp=300)
mR.run_to_rel_pos(position_sp=-1662, speed_sp=300)
#mL.wait_while('running')
#mR.wait_while('running')
sleep(1)
str_en = "At your command Big Daddy"
sound.speak(str_en, espeak_opts=opts + 'en+f5')
sleep(1)
# added IR
polarCoordsIRr = np.array(
[], dtype=np.int32) # list to hold 'r' - IR distance r (in arb units)
polarCoordsIRmean = np.array(
[], dtype=np.int32) # list to hold processed data IR-mean
polarCoordsIRstd = np.array(
[], dtype=np.int32) # list to hold processed data IR-stdev
# setup motors
mL = LargeMotor(OUTPUT_A)
time.sleep(0.5)
mL.reset()
time.sleep(2)
mLspd = 0
mL.stop_action = 'coast'
# mL.polarity = 'inversed'
mL.position = 0
mR = LargeMotor(OUTPUT_B)
time.sleep(0.5)
mR.reset()
time.sleep(2)
mRspd = 0
mR.stop_action = 'coast'
# mR.polarity = 'inversed'
mR.position = 0
spd = 0 # set this value to -30 to +90; use to set outer wheel/motor speed; default to mL for driving straight
turnRatio = 0.0 # set this value to -0.5 to +0.5; subtract from 1 to set turn ratio; multiply * spd to set inside motor speed
#
import time, tty, sys
from ev3dev2.motor import LargeMotor, OUTPUT_D, SpeedPercent, SpeedDPS, MoveTank
from ev3dev2.sensor import INPUT_1
tty.setcbreak(sys.stdin)
mShuttle = LargeMotor(OUTPUT_D)
time.sleep(0.5)
mShuttle.reset()
time.sleep(2)
mShuttle.duty_cycle_sp = 0
mShuttleDtyMax = 22
mShuttle.stop_action = 'coast'
mShuttle.polarity = 'inversed'
mShuttle.position = 0
prev_mShuttle_pos = 0
# Turn motor on with run_direct and duty_cycle_sp of '0'
mShuttle.run_direct()
print ("Ready for keyboard commands...")
while (True):
x = ord(sys.stdin.read(1))
if x == 120: # x key pushed - exit
mShuttle.duty_cycle_sp = 0
mShuttle.off(brake=False)
from ev3dev2.sensor import INPUT_1
print("Please attach a motor to BAM1")
time.sleep(3)
start_pos = 0
end_pos = 0
start_time = 0.0
end_time = 0.0
m = LargeMotor(OUTPUT_A)
time.sleep(0.1)
m.reset()
time.sleep(0.1)
start_time = time.time()
m.stop_action = 'brake'
# m.ramp_up_sp(5000) #### unsupported (on PiStorms only?)
# m._ramp_down_sp(5000) #### unsupported (on PiStorms only?)
m.on(SpeedDPS(0))
t1 = time.time()
for i in range(0, 910, 10):
# print("START --------> m.on...", round((time.time() - t1), 4))
print(i, " Increment SpeedDPS --------> m.on(SpeedDPS(i)) ",
round((time.time() - t1), 4))
m.on(SpeedDPS(i))
#m.on_to_position(SpeedDPS(100), (i * 360), brake=False, block=True) ### this method FAILS TO BLOCK
#m.run_to_rel_pos(position_sp=(i * 360), speed_sp=600, stop_action="hold") ### no claim of blocking
#m.on_for_degrees(SpeedDPS(900), (i * 360), brake=True, block=True) ### this method FAILS TO BLOCK
# m.on_for_seconds(speed=i, seconds=8, brake=False)
d_deg = 0
t1 = 0.0
dt = 0.0
tachospeed = 0.0 # degrs Per Sec
ev3dev2_speed = 0
d_deg_avg = 0.0
tachospeed_avg = 0.0
start_pos = 0
end_pos = 0
start_time = 0.0
end_time = 0.0
m = LargeMotor(OUTPUT_A)
time.sleep(0.1)
#m.reset()
m.stop_action = 'coast'
m.stop()
m.position = 0
time.sleep(0.1)
start_time = time.time()
#m.on(SpeedDPS(800))
while True:
for i in range(6000):
t1 = time.time()
old_pos = encoder_pos
time.sleep(0.05)
encoder_pos = m.position
dt = time.time() - t1
d_deg = encoder_pos - old_pos
tachospeed = d_deg / dt
# 3/22/2020 Ron King v2.0 - change from regulated 'on', 'speed' to duty_cycle # Removed all traces of Pistorms version (issues and comments) import time, tty, sys from ev3dev2.motor import LargeMotor, OUTPUT_C, OUTPUT_D, SpeedPercent, SpeedDPS, MoveTank from ev3dev2.sensor import INPUT_1 tty.setcbreak(sys.stdin) mLift = LargeMotor(OUTPUT_C) time.sleep(0.5) mLift.reset() time.sleep(2) mLift.duty_cycle_sp = 0 mLiftDtyMax = 36 mLift.stop_action = 'coast' mLift.polarity = 'inversed' mLift.position = 0 mGrab = LargeMotor(OUTPUT_D) time.sleep(0.5) mGrab.reset() time.sleep(2) mGrab.duty_cycle_sp = 0 mGrabDtyMax = 36 mGrab.stop_action = 'coast' mGrab.polarity = 'inversed' mGrab.position = 0 # Turn motors on with run_direct and duty_cycle_sp of '0' mLift.run_direct()
from ev3dev2.sensor import INPUT_1
print("Please attach a motor to BAM1")
time.sleep(3)
start_pos = 0
end_pos = 0
start_time = 0.0
end_time = 0.0
m = LargeMotor(OUTPUT_A)
time.sleep(0.1)
m.reset()
time.sleep(0.1)
start_time = time.time()
m.stop_action = 'hold'
for i in range(1, 11):
#print("START --------> m.on_to_position ... or on_for_degrees")
m.on_to_position(SpeedDPS(200), (i * 360), brake=True,
block=True) ### this method FAILS TO BLOCK
# m.on_for_degrees(SpeedDPS(200), (i * 360), brake=False, block=True) ### this method FAILS TO BLOCK
#print("END --------> m.on_to_position ... or on_for_degrees")
print("stop_action is ", m.stop_action)
print("state is ", m.state)
print("START --------> m.wait_while...blah")
m.wait_while('stalled')
#print("END --------> m.wait_while...blah")
print("stop_action is ", m.stop_action)
print("state is ", m.state)
time.sleep(3)
