def __init__(self, port, mode):
portStringMap = {
Port.S1: "in1",
Port.S2: "in2",
Port.S3: "in3",
Port.S4: "in4",
}
portString = portStringMap.get(port, 'Invalid Port')
self.abs = Sensor(address='ev3-ports:' + portString + ':i2c1')
self.abs.mode = mode
class IMU:
abs = Sensor()
def __init__(self, port, mode):
portStringMap = {
Port.S1: "in1",
Port.S2: "in2",
Port.S3: "in3",
Port.S4: "in4",
}
portString = portStringMap.get(port, 'Invalid Port')
self.abs = Sensor(address='ev3-ports:' + portString + ':i2c1')
self.abs.mode = mode
def angle(self):
res = []
for i in range(self.abs.num_values):
res.append(self.abs.value(i))
return res
def on_message(self, messages):
global move_joystick
try:
print("got messages", messages)
for message in json.loads(messages):
type_ = message["type"]
if type_ == "rc-joystick":
if message["leftPort"] != old_joystick_left_port or message[
"rightPort"] != old_joystick_right_port:
move_joystick = MoveJoystick(message["leftPort"],
message["rightPort"])
if message["x"] == 0 and message["y"] == 0:
move_joystick.off(brake=False)
else:
move_joystick.on(message["x"], message["y"], 1)
elif type_ == "rc-motor":
if message["port"] in motors:
motor = motors[message["port"]]
else:
motor = motors[message["port"]] = Motor(
message["port"])
motor.on(message["speed"] * 100)
elif type_ == "sensor":
port = message["port"]
attributes = message["attributes"]
device = Sensor(port)
for name, value in attributes.items():
setattr(device, name, value)
# send changes to other clients
EV3InfoHandler.send_to_all(json.dumps({port: attributes}),
{self})
elif type_ == "motor":
port = message["port"]
attributes = message["attributes"]
device = Motor(port)
for name, value in attributes.items():
setattr(device, name, value)
# send changes to other clients
EV3InfoHandler.send_to_all(json.dumps({port: attributes}),
{self})
elif type_ == "led":
port = message["port"]
attributes = message["attributes"]
led_group = port.split(":")[1].lower()
for color_name, brightness in attributes.items():
LEDS.leds[color_name + "_" +
led_group].brightness_pct = float(brightness)
# send changes to other clients
EV3InfoHandler.send_to_all(json.dumps({port: attributes}),
{self})
else:
raise ValueError("Unknown message type '" + type_ + "'")
except Exception:
traceback.print_exc()
self.send_to_all("next")
""" Limit speed in range [-1000,1000] """
if speed > 1000:
speed = 1000
elif speed < -1000:
speed = -1000
return speed
# Set LEGO port for Pixy on input port 1
in1 = LegoPort(INPUT_1)
in1.mode = 'auto'
# Wait 2 secs for the port to get ready
sleep(2)
# Connect Pixy camera
pixy = Sensor(INPUT_1)
# Set mode to detect signature 1 only
pixy.mode = 'SIG1'
# Signatures we're interested in (SIG1)
sig = 1
# Connect TouchSensor (to stop script)
ts = TouchSensor(INPUT_4)
# Connect LargeMotors
rmotor = LargeMotor(OUTPUT_A)
lmotor = LargeMotor(OUTPUT_B)
# Defining constants
X_REF = 128 # X-coordinate of referencepoint
from ev3dev2.port import LegoPort
# EV3 Display
lcd = Display()
# Connect TouchSensor
ts = TouchSensor(INPUT_4)
# Set LEGO port for Pixy on input port 1
in1 = LegoPort(INPUT_1)
in1.mode = 'auto'
# Wait 2 secs for the port to get ready
sleep(2)
# Connect Pixy camera
pixy = Sensor(INPUT_1)
# Set mode to detect signature 1 only
pixy.mode = 'SIG1'
# Read and display data until TouchSensor is pressed
while not ts.value():
# Clear EV3 display
lcd.clear()
# Read values from Pixy
x = pixy.value(1) # X-coordinate of centerpoint of object
y = pixy.value(2) # Y-coordinate of centerpoint of object
w = pixy.value(3) # Width of rectangle around detected object
h = pixy.value(4) # Heigth of rectangle around detected object
# scale to resolution of EV3 display:
# Resolution Pixy while color tracking; (255x199)
# Resolution EV3 display: (178x128)
STEP_LENGTH = (1, 3) # Move in a new direction every 1-3 seconds
MOTOR_SPEEDS = (-100, 100) # Motor values are anything between -100 and 100
PRINT_TIME = 5 # Print sensor values every 5 seconds
def random_between(a, b):
# Returns a random float between a and b:
return a + random.random() * (b - a)
# Initialise all sensors.
lm1 = LargeMotor(address="outB")
lm2 = LargeMotor(address="outC")
cs = ColorSensor(address="in2")
us = UltrasonicSensor(address="in3")
ir = Sensor(address="in1", driver_name="ht-nxt-ir-seek-v2")
compass = Sensor(address="in4", driver_name="ht-nxt-compass")
compass.command = "BEGIN-CAL"
compass.command = "END-CAL"
# This code moves in random directions, and stores the movements in a circular queue.
movement_queue = deque([], maxlen=5)
last_step_time = time.time()
last_print_time = time.time()
current_step_wait = 0
solving_white = False
while True:
if time.time() - last_step_time > current_step_wait:
# Set some new motor speeds, and a wait time.
last_step_time = time.time()
STEP_LENGTH = (1, 3) # Move in a new direction every 1-3 seconds
MOTOR_SPEEDS = (-100, 100) # Motor values are anything between -100 and 100
PRINT_TIME = 5 # Print sensor values every 5 seconds
def random_between(a, b):
# Returns a random float between a and b:
return a + random.random() * (b - a)
# Initialise all sensors.
lm1 = LargeMotor(address='outB')
lm2 = LargeMotor(address='outC')
cs = ColorSensor(address='in2')
us = UltrasonicSensor(address='in3')
ir = Sensor(address='in1', driver_name='ht-nxt-ir-seek-v2')
compass = Sensor(address='in4', driver_name='ht-nxt-compass')
compass.command = 'BEGIN-CAL'
compass.command = 'END-CAL'
# This code moves in random directions, and stores the movements in a circular queue.
movement_queue = deque([], maxlen=5)
last_step_time = time.time()
last_print_time = time.time()
current_step_wait = 0
solving_white = False
while True:
if time.time() - last_step_time > current_step_wait:
# Set some new motor speeds, and a wait time.
last_step_time = time.time()
from ev3dev2.sensor.lego import TouchSensor
from ev3dev2.led import Leds
import time
leds = Leds()
#while True:
# leds.set_color("LEFT", "GREEN")
# leds.set_color("RIGHT", "GREEN")
# time.sleep(1)
# leds.set_color("LEFT", "RED")
# leds.set_color("RIGHT", "RED")
# time.sleep(1)
ir = Sensor('in4:i2c8')
tank_drive = MoveTank(OUTPUT_B, OUTPUT_C)
# drive in a turn for 5 rotations of the outer motor
# the first two parameters can be unit classes or percentages.
#tank_drive.on_for_rotations(SpeedPercent(50), SpeedPercent(75), 10)
# drive in a different turn for 3 seconds
#tank_drive.on_for_seconds(SpeedPercent(60), SpeedPercent(30), 3)
def start():
pass
from ev3sim.code_helpers import wait_for_tick
from ev3dev2.motor import LargeMotor, OUTPUT_A, OUTPUT_B
from ev3dev2.sensor import Sensor, INPUT_1
m_l = LargeMotor(OUTPUT_A)
m_r = LargeMotor(OUTPUT_B)
compass = Sensor(INPUT_1, driver_name="ht-nxt-compass")
robot_speed = 26.316
compass.command = "BEGIN-CAL"
compass.command = "END-CAL"
n = int(input())
commands = []
x = 0
while x < n:
msg = input().split()
name = msg[0]
distance = int(msg[2])
degrees = int(msg[5])
commands.append((name, distance, degrees))
x = x + 1
goto = input()
wanted = goto.split()[2]
print(goto)
# Now, find the command which has name == wanted.
def setSensor(GyroSensor, Hitechnic):
global Gyro, ColorSight
Gyro = GyroSensor(GyroSensor)
ColorSight = Sensor(driver='ht-nxt-color-v2', address=Hitechnic)
us_units = us.units ir_value = ir.value(0) ir_proximity = ir.proximity # an estimate of the distance between the sensor and the objects in front of it ir_beacon= ir.distance(channel=1) # returns distance (0,100) to the beacon on the given channel ir_heading = ir.heading(channel=1) # returns heading (-25,25) to the beacon on the given channel ir_address = ir.address gyro_value = gyro.value(0) gyro_angle = gyro.angle gyro_address = gyro.address gyro_units = gyro.units # Sensors connected to NXT-Sensor-Split MUX - Barometer--------------------------------------------------------- temp1 = Sensor(INPUT_1) temp1.mode = 'TEMP' Temp_NXT = (temp1.value(0)/1000) pressure = Sensor(INPUT_1) pressure.mode = 'PRESS' Pressure_NXT = ((pressure.value(0)/10)*25.4) # Sensors connected to either INPUT3 or INPUT 4 ------------------------------------------------------------------- a = LegoPort(INPUT_4) a.set_device = 'lego-nxt-sound' sleep(1) ss = SoundSensor() spl = ss.sound_pressure_low sound_value = ss.value(0)
from ev3sim.code_helpers import wait_for_tick
from ev3dev2.motor import LargeMotor
from ev3dev2.sensor import Sensor
motor = LargeMotor("outA")
# Put in the right values here.
ir = Sensor("in1", driver_name=???)
ir.mode = ???
# Write some code here!
def getIrValue():
ir = Sensor(address="i2c-legoev33:i2c8")
return ir.value()