class Thrower(object):
def __init__(self, output):
self.motor = Motor(output)
def throw(self):
self.motor.on_to_position(SpeedPercent(100), 50)
def reset(self):
self.motor.on_to_position(SpeedPercent(20), 0, block=False)
class TouchyArm(object):
def __init__(self, output, address):
self.motor = Motor(output)
self.sensor = TouchSensor(address)
self.should_wink = False
def put_down(self):
self.motor.on_to_position(SpeedPercent(20), 90, block=True)
def put_up(self):
self.motor.on_to_position(SpeedPercent(20), 0, block=True)
def reset(self):
self.motor.on_to_position(SpeedPercent(20), 0)
async def winking(self):
self.should_wink = True
while self.should_wink:
self.motor.on_for_degrees(SpeedPercent(100), -20, block=True)
self.motor.on_for_degrees(SpeedPercent(50), 20, block=True)
await asyncio.sleep(random.uniform(0.5, 2))
self.motor.on_for_degrees(SpeedPercent(100), -20, block=True)
self.motor.on_for_degrees(SpeedPercent(50), 20, block=True)
await asyncio.sleep(random.uniform(2, 3))
def stop_winking(self):
self.should_wink = False
async def wait_until_pressed(self):
while True:
if self.sensor.is_pressed:
break
await asyncio.sleep(0.1)
#! /usr/bin/python3
from ev3dev2.motor import Motor, SpeedDPS, SpeedPercent
from time import sleep
import os
os.system('setfont Lat15-TerminusBold14')
hand = Motor('A')
hand.position = 0
hand.on_to_position(0.05, 20 / 360 * hand.count_per_rot, block=False)
while True:
sleep(1)
print('\r', hand.position / hand.count_per_rot * 360, end='')
class Hand(object):
def __init__(self, turner, up_motor='B', hand_motor='A'):
self.angle = turner.angle
self.up = Motor(up_motor)
self.hand = Motor(hand_motor)
self.degrees = 21
self.up_bounds = -100
self.pwm_base = 0.1
self.color_org = 0
self.color_tgt = 0
self.up_org = 0
self.up_tgt = 0
def speed(self):
up = self.up.position / self.up_bounds
tgt = self.color_tgt * self.degrees
if up > 0.7:
tgt += 3
pos = self.hand.position / self.hand.count_per_rot * 360
if abs(pos - tgt) < 5:
if abs(pos - tgt) < 1:
return 0.01, tgt
return 0.1, tgt * 1.1
else:
return 5, tgt
def push(self):
vel, pos = self.speed()
self.hand.on_to_position(vel,
pos / 360 * self.hand.count_per_rot,
block=False)
def start(self):
self.hand.position = 0
self.up.position = 0
self.angle.position = 0
self.wait()
def wait(self):
self.up.wait_until_not_moving()
self.angle.wait_until_not_moving()
self.hand.wait_until_not_moving()
def goo(self):
def fun():
while True:
self.push()
sleep(0.05)
self.thread = Thread(target=fun)
self.thread.start()
def stop(self):
self.thread._stop()
def move(self, color, up, angle, lift=False):
self.up_org = self.up_tgt
self.up_tgt = up
self.color_org = self.color_tgt
self.color_tgt = color
self.up.on_to_position(10, up * self.up_bounds, block=False)
self.angle.on_to_position(10,
angle / 360 * self.angle.count_per_rot,
block=False)
self.wait()
