def show_sensors(iterations):
""" Show the EV3 sensors, current mode and value """
sensors = list(list_sensors(address=[INPUT_1, INPUT_2, INPUT_3])) # , INPUT_4
for _ in range(iterations):
for sensor in sensors:
print("{} {}: {}".format(sensor.address, sensor.mode, sensor.value()))
sleep(.5)
sleep(10)
'''.format(left_cs.reflected_light_intensity,
center_cs.reflected_light_intensity,
right_cs.reflected_light_intensity))
if left_cs.reflected_light_intensity > 15 >= center_cs.reflected_light_intensity \
and right_cs.reflected_light_intensity > 15:
straight()
else:
if not turn_left() and not turn_right(
) and center_cs.reflected_light_intensity > 15:
conn.send(
'------------------------------ OFF THE LINE ------------------------------'
)
turn_right() if last_bl_cs is left_cs else turn_left(
) if last_bl_cs is right_cs else straight()
three = [sensor.driver_name
for sensor in list_sensors()].count('lego-ev3-color') == 3
logger_conn, motor_conn = Pipe(False)
p = Process(target=log_data, args=(logger_conn, logger_cs))
p.start()
while not btn.any():
follow_line_three(motor_conn) if three else follow_line(motor_conn)
motors.off()
motor_conn.send(None)
p.join()
print('Process joined')
def get_info(old_sensor_addresses, old_motor_addresses, all_info=False):
info = {"disconnected_devices": []}
if all_info:
for group_name, leds in LEDS.led_groups.items():
info["led:" + group_name] = {
led.desc.split("_")[0]: led.brightness_pct
for led in leds
}
sensor_addresses = set()
for sensor in list_sensors("*"):
try:
address = sensor.address
if address.count(":") > 1:
# addresses for i2c sensors end with ':i2c*', remove this
address = address[:address.index(":", address.index(":") + 1)]
if address in old_sensor_addresses:
old_sensor_addresses.remove(address)
info[address] = {
"values":
" ".join(
str(sensor.value(i)) for i in range(sensor.num_values))
}
else:
info[address] = {
"driver_name":
sensor.driver_name,
"mode": {
"values": sensor.modes,
"selected": sensor.mode
},
"command":
sensor.commands,
"values":
" ".join(
str(sensor.value(i))
for i in range(sensor.num_values)),
#"decimals": sensor.decimals,
}
sensor_addresses.add(address)
except Exception:
traceback.print_exc()
info["disconnected_devices"].extend(old_sensor_addresses)
motor_addresses = set()
for motor in list_motors("*"):
try:
address = motor.address
if address in old_motor_addresses:
old_motor_addresses.remove(address)
info[address] = {"position": motor.position}
else:
info[address] = {
"driver_name": motor.driver_name,
"duty_cycle_sp": motor.duty_cycle_sp,
"polarity": motor.polarity,
"position": motor.position,
"position_sp": motor.position_sp,
"speed_sp": motor.speed_sp,
"ramp_up_sp": motor.ramp_up_sp,
"ramp_down_sp": motor.ramp_down_sp,
"stop_action": {
"values": motor.stop_actions,
"selected": motor.stop_action
},
"time_sp": motor.time_sp,
"command": motor.commands
}
motor_addresses.add(address)
except Exception:
traceback.print_exc()
info["disconnected_devices"].extend(old_motor_addresses)
content = json.dumps(info).encode("utf-8")
return content, sensor_addresses, motor_addresses
#!/usr/bin/env python3
from ev3dev2.motor import LargeMotor, OUTPUT_B, OUTPUT_C, SpeedPercent, MoveTank, MoveSteering
from ev3dev2.sensor import Sensor, list_sensors
from ev3dev2.sensor.lego import TouchSensor, GyroSensor, ColorSensor
from ev3dev2.led import Leds
import time
import atexit
# Set Up Devices
for s in list_sensors():
if s.driver_name == 'ht-nxt-compass':
compass = s
elif s.driver_name == 'lego-ev3-gyro':
gyro = GyroSensor(s.address)
elif s.driver_name == 'ht-nxt-ir-seek-v2':
ir = s
elif s.driver_name == 'lego-ev3-color':
color_sensor = ColorSensor(s.address)
elif s.driver_name == 'lego-ev3-us':
sonic = s
tank_drive = MoveTank(OUTPUT_B, OUTPUT_C)
steer_drive = MoveSteering(OUTPUT_B, OUTPUT_C)
leds = Leds()
def stop():
# stop motors when program exits...
tank_drive.on(0,0)