[-48.05303, -5.74169], [20.55724, -9.699068],
[-26.58092, 20.82998]]
Input = [0, 0, 0, 0]
Hidden = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
Output = [0, 0]
# END OF COMPUTER GENERATED CODE
# ---------------------------------------------------------------
color_left = ColorSensor('D')
color_right = ColorSensor('C')
color_front = ColorSensor('F')
color_back = ColorSensor('B')
motor_left = Motor('E')
motor_right = Motor('A')
def drive(left_motor, right_motor, seconds):
motor_left.start_at_power(check_range(-left_motor))
motor_right.start_at_power(check_range(right_motor))
wait_for_seconds(seconds)
def check_range(speed):
if speed > 100:
return 100
if speed < -100:
# %%
print("-" * 15 + " Execution started " + "-" * 15 + "\n")
# %%
hub = MSHub()
app = App()
# %%
hub.status_light.on('black')
# %% [markdown]
# # Configure motors
# %%
print("Configuring motors...")
motor_left_arm = Motor('B') # Left arm
motor_right_arm = Motor('F') # Right arm
motors_arms = MotorPair('B', 'F')
motor_left_arm.set_default_speed(-100)
motor_right_arm.set_default_speed(100)
print("DONE!")
# %% [markdown]
# # Set arm motors to starting position
# %%
print("Setting arm motors to position 0...")
motor_left_arm.run_to_position(0)
motor_right_arm.run_to_position(0)
print("DONE!")
# By setting its color to black
# %%
print("Turning center button off...")
hub.status_light.on('black')
print("DONE!")
# %% [markdown]
# # Set arm motors to starting position
# In the original Scratch program, there's a `Charlie - Calibrate` block. I don't know exactly how the calibration is done, but in the end I think that it just sets the motor to position 0.
# Notice that moving motors to a specific position needs to be done individually (and sequentially). In other words, we cannot run a `MotorPair` to a position, only one motor at a time.
#
# %%
print("Setting arm motors to position 0...")
motor_b = Motor('B') # Left arm
motor_f = Motor('F') # Right arm
motor_b.run_to_position(0)
motor_f.run_to_position(0)
print("DONE!")
# %% [markdown]
# # Configure motors
# %%
print("Configuring motors...")
motors_movement = MotorPair('A', 'E')
motors_movement.set_default_speed(80)
print("DONE!")
# %% [markdown]
# %%
print("-" * 15 + " Execution started " + "-" * 15 + "\n")
# %%
hub = MSHub()
app = App()
# %%
hub.status_light.on('black')
# %% [markdown]
# # Configure motors
# %%
print("Configuring motors...")
motor_left_arm = Motor('B') # Left arm
motor_right_arm = Motor('F') # Right arm
motors_arms = MotorPair('B', 'F')
motors_wheels = MotorPair('A', 'E')
print("DONE!")
# %% [markdown]
# # Set arm motors to starting position
# %%
print("Setting arm motors to position 0...")
motor_left_arm.run_to_position(0)
motor_right_arm.run_to_position(0)
print("DONE!")
# %% [markdown]
print("DONE!")
# %%
print("Displaying asleep face...")
hub.light_matrix.show_image('ASLEEP')
print("DONE!")
# %% [markdown]
# # Set motors to starting position
# In the original Scratch program, there's a `Charlie - Calibrate` block. I don't know exactly how the calibration is done, but in the end I think that it just sets the motor to position 0.
# Notice that moving motors to a specific position needs to be done individually (and sequentially). In other words, we cannot run a `MotorPair` to a position, only a single motor.
#
# %%
print("Setting motors to position 0...")
motor_b = Motor('B')
motor_f = Motor('F')
motor_b.run_to_position(0)
motor_f.run_to_position(0)
print("DONE!")
# %% [markdown]
# # Raise hands when tapped
# All through the execution, we will put pauses on different points to be able to see better what Charlie is doing.
# %%
print("Waiting to be tapped...")
if hub.motion_sensor.wait_for_new_gesture() == 'tapped':
print("TAPPED!")
def initiate_objects(self):
self.hub = MSHub()
self.hub.status_light.on('orange')
self.motor_front = Motor(self.settings['motor_front_port'])
self.motor_rear = Motor(self.settings['motor_rear_port'])
self.dist_sens = DistanceSensor(self.settings['dist_sens_port'])
def code():
rightArm = Motor('A')
rightArm.start(50)
wait_for_seconds(2)
rightArm.stop()
# %%
print("-" * 15 + " Execution started " + "-" * 15 + "\n")
# %%
hub = MSHub()
app = App()
# %%
hub.status_light.on('black')
# %% [markdown]
# # Configure motors
# %%
print("Configuring motors...")
motor_wheel = Motor('E') # Wheel (for turning around)
motor_left_arm = Motor('B') # Left arm
motor_left_arm.set_default_speed(-80)
print("DONE!")
# %%
print("Setting arm motor to initial position...")
motor_left_arm.run_for_seconds(1)
print("DONE!")
# %% [markdown]
# # Configure sensor
# %%
print("Configuring color sensor...")
color_sensor = ColorSensor('C')
async def on_start(vm, stack):
ms_hub.status_light.on("black")
rotate_hub_display_to_value("3")
blinking_frames = [hub.Image(frame) for frame in blinking_animation]
vm.system.display.show(blinking_frames,
clear=False,
delay=round(1000 / 8),
loop=True,
fade=1)
left_hand = Motor("B")
right_hand = Motor("F")
# Calibrate
left_hand.run_to_position(0)
right_hand.run_to_position(0)
vm.system.sound.play("/extra_files/Humming")
for i in range(2):
right_hand.run_for_degrees(-100, 50)
right_hand.run_for_degrees(100, 50)
left_hand.run_for_degrees(100, 50)
left_hand.run_for_degrees(-100, 50)
left_turn = MotorPair("B", "E")
right_turn = MotorPair("A", "F")
vm.system.sound.play("/extra_files/Humming")
for i in range(2):
right_turn.move(100, "degrees", steering=100, speed=50)
right_turn.move(-100, "degrees", steering=100, speed=50)
left_turn.move(100, "degrees", steering=-100, speed=50)
left_turn.move(-100, "degrees", steering=-100, speed=50)
wheels = MotorPair("A", "E")
wheels.move(14 * math.pi, "cm", steering=100, speed=80)
wheels.move(14 * math.pi, "cm", steering=-100, speed=80)
right_hand.run_to_position(270, direction="counterclockwise")
wait_for_seconds(1)
right_hand.run_for_seconds(1, 50)
await vm.system.sound.play_async("/extra_files/Tadaa")
wait_for_seconds(1)
right_hand.run_to_position(0, direction="counterclockwise")
# Radar car - this car drives only north<->south or east<->west, when hitting a wall rotating to where is the most space.
from mindstorms import MSHub, Motor, MotorPair, DistanceSensor
import math
import sys
# Setup hardware
hub = MSHub()
mradar = Motor("C")
sradar = DistanceSensor("F")
mdrive = MotorPair("A", "B")
# Lights up 5x5 matrix.
# Parameter `bits` is a 25 bits vector: a 1 switches on that led.
# Bit 24 is upper left, bit 0 is lower right.
def set_image(bits):
hub.light_matrix.off()
cur = 1 << 24
for y in range(5):
for x in range(5):
if bits & cur: hub.light_matrix.set_pixel(x, y, 100)
cur >>= 1
# Emits 3 tone fancy beep
def beep():
hub.speaker.beep(60, 0.1)
hub.speaker.beep(70, 0.1)
hub.speaker.beep(62, 0.1)
# # Display (happy) image
# %%
print("Displaying happy face...")
hub.light_matrix.show_image('HAPPY')
print("DONE!")
# %% [markdown]
# # Set arm motors to starting position
# In the original Scratch program, there's a `Charlie - Calibrate` block. I don't know exactly how the calibration is done, but in the end I think that it just sets the motor to position 0.
# Notice that moving motors to a specific position needs to be done individually (and sequentially). In other words, we cannot run a `MotorPair` to a position, only one motor at a time.
#
# %%
print("Setting arm motors to position 0...")
motor_b = Motor('B') # Left arm
motor_f = Motor('F') # Right arm
motor_b.run_to_position(0)
motor_f.run_to_position(0)
print("DONE!")
# %% [markdown]
# # Dance time!
# %%
print("Dancing steps 1...")
app.start_sound('Party Blower')
for ii in range(0, 2):
motor_f.run_for_degrees(-100)
# https://antonsmindstorms.com
# This code is meant to run on a robot with four rotocaster wheels
# The wheels are connected to ports A,B,E and F. C has a color sensor
# Connect to it using a steering wheel or app:
# https://play.google.com/store/apps/details?id=com.antonsmindstorms.mindstormsrc&hl=nl&gl=US
from projects.mpy_robot_tools.rc import RCReceiver, R_STICK_VER, L_STICK_HOR, R_STICK_HOR
from projects.mpy_robot_tools.helpers import clamp_int
from mindstorms import ColorSensor, Motor, DistanceSensor
from mindstorms.control import wait_for_seconds
import math
ls = ColorSensor('C')
rcv = RCReceiver(name="roto")
flw = Motor("A") # Front Right Wheel
frw = Motor("B")
blw = Motor("E")
brw = Motor("F")
light = 100
while 1:
if rcv.is_connected():
speed, turn, strafe = rcv.controller_state(R_STICK_VER, R_STICK_HOR, L_STICK_HOR)
if rcv.button_pressed(1):
light = 100
if rcv.button_pressed(2):
light = 50
if rcv.button_pressed(3):
light = 0
if rcv.button_pressed(8):
]
scared_animation = [
"00000:00000:99099:99099:00000",
"00000:99900:99900:99909:00000",
"00000:99900:99900:99909:00000",
"00000:00000:99099:99099:00000",
"00000:00999:00999:90999:00000",
"00000:00999:00999:90999:00000",
]
happy_animation = [
"77077:00000:97097:79079:00000",
"77077:00000:79079:97097:00000",
]
ms_hub = MSHub()
left_hand = Motor("B")
right_hand = Motor("F")
wheels = MotorPair("A", "E")
color_sensor = ColorSensor("C")
async def on_start(vm, stack):
ms_hub.status_light.on("black")
rotate_hub_display_to_value("3")
blinking_frames = [hub.Image(frame) for frame in looking_animation]
vm.system.display.show(blinking_frames,
clear=False,
delay=1000,
loop=True,
from mindstorms import MSHub, Motor, MotorPair, ColorSensor, DistanceSensor, App
from mindstorms.control import wait_for_seconds, wait_until, Timer
from mindstorms.operator import equal_to
#from mindstorms.operator import greater_than, greater_than_or_equal_to, less_than, less_than_or_equal_to, equal_to, not_equal_to
import math
import math
hub = MSHub()
rightArm = Motor('F')
leftArm = Motor('B')
color = ColorSensor('C')
def calibrate_charlie():
rightArm.set_stall_detection(True)
leftArm.set_stall_detection(True)
leftArm.start(20)
rightArm.start(-20)
wait_for_seconds(1)
rightArm.run_to_position(0, 'clockwise', 50)
leftArm.run_to_position(0, 'counterclockwise', 50)
leftArm.set_degrees_counted(0)
rightArm.set_degrees_counted(0)
def open_center():
# %%
print("-" * 15 + " Execution started " + "-" * 15 + "\n")
# %%
hub = MSHub()
# %%
hub.status_light.on('black')
# %% [markdown]
# # Configure motors
# %%
print("Configuring motors...")
motor_steer = Motor('A') # Front wheels (for steering)
motor_power = Motor('B') # Back wheels (for moving)
print("DONE!")
# %% [markdown]
# # Set steering motor to starting position
# %%
print("Setting steering motor to position 0...")
motor_steer.run_to_position(45, speed=100)
motor_steer.run_to_position(0, speed=100)
print("DONE!")
# %% [markdown]
# # Move MVP
# By setting its color to black
# %%
print("Turning center button off...")
hub.status_light.on('black')
print("DONE!")
# %% [markdown]
# # Set arm motors to starting position
# In the original Scratch program, there's a `Charlie - Calibrate` block. I don't know exactly how the calibration is done, but in the end I think that it just sets the motor to position 0.
# Notice that moving motors to a specific position needs to be done individually (and sequentially). In other words, we cannot run a `MotorPair` to a position, only one motor at a time.
#
# %%
print("Setting arm motors to position 0...")
motor_b = Motor('B') # Left arm
motor_f = Motor('F') # Right arm
motor_b.run_to_position(0)
motor_f.run_to_position(0)
print("DONE!")
# %% [markdown]
# # Configure motors
# %%
print("Configuring motors...")
motors_wheels = MotorPair('A', 'E')
print("DONE!")
# %% [markdown]
# # Rise arms
# %%
print("-" * 15 + " Execution started " + "-" * 15 + "\n")
# %%
hub = MSHub()
app = App()
# %%
hub.status_light.on('black')
# %% [markdown]
# # Configure motors
# %%
print("Configuring motors...")
motor_left_arm = Motor('B') # Left arm
motor_right_arm = Motor('F') # Right arm
motors_arms = MotorPair('B', 'F')
motors_wheels = MotorPair('A', 'E')
print("DONE!")
# %% [markdown]
# # Set arm motors to starting position
# %%
print("Setting arm motors to position 0...")
motor_left_arm.run_to_position(0)
motor_right_arm.run_to_position(0)
print("DONE!")
# %% [markdown]
# It is a little lower level, but it allows us making more things.
# Fore more information, see [Maarten Pennings brilliant explanation and unofficial documentation about it](https://github.com/maarten-pennings/Lego-Mindstorms/blob/main/ms4/faq.md#why-are-there-so-many-ways-to-do--in-python).
# %%
# hub = MSHub()
# %%
# hub.status_light.on('black')
hub.led(0, 0, 0)
# %% [markdown]
# # Initialize motors
# %%
print("Configuring motors...")
motor_steer = Motor('A') # Front wheels (for steering)
motor_power = Motor('C') # Back wheels (for moving)
motor_turret = Motor('B') # Turrent spinning
# %%
print("Setting motors to position 0...")
motor_steer.run_to_position(45, speed=100)
motor_steer.run_to_position(0, speed=100)
motor_turret.run_to_position(0, speed=75)
print("DONE!")
# %% [markdown]
# # Initialize distance sensor
class AutonomousCar:
def __init__(self, settings):
self.settings = settings
self.go_ahead = True
self.turn = False
self.turn_angle = 30
if bool(random.getrandbits(1)):
self.turn_angle *= -1
self.initiate_objects()
if settings['run_test']:
self.test_function()
else:
self.calibrate()
self.the_loop()
def initiate_objects(self):
self.hub = MSHub()
self.hub.status_light.on('orange')
self.motor_front = Motor(self.settings['motor_front_port'])
self.motor_rear = Motor(self.settings['motor_rear_port'])
self.dist_sens = DistanceSensor(self.settings['dist_sens_port'])
def calibrate(self):
self.motor_front.run_to_position(self.settings['motor_front_angle'])
def test_function(self):
self.hub.light_matrix.show_image('PACMAN')
sounds_and_colors = [(65, "blue"), (70, "azure"), (60, "cyan")]
for i in sounds_and_colors:
self.hub.speaker.beep(i[0], 0.3)
self.hub.status_light.on(i[1])
self.hub.light_matrix.off()
def end_turn(self):
self.turn = False
self.motor_front.run_for_degrees(self.turn_angle * -1)
def the_loop(self):
self.hub.light_matrix.write('GO')
self.hub.status_light.on('green')
loop_time_diff = 0
loop_start_time = time.time()
turn_time_diff = 0
turn_start_time = None
while loop_time_diff < self.settings['how_long_run']:
how_far = self.dist_sens.get_distance_cm()
rear_speed = self.settings.get('motor_rear_speed')
if self.turn:
self.hub.status_light.on('yellow')
turn_time_control = time.time()
turn_time_diff = turn_time_control - turn_start_time
if isinstance(
how_far, int
) and how_far <= self.settings['dist_threshold_low']:
self.go_ahead = False
self.end_turn()
elif turn_time_diff >= self.settings['turn_in_seconds']:
self.end_turn()
elif self.go_ahead:
self.hub.status_light.on('green')
rear_speed = rear_speed * -1
if isinstance(
how_far, int
) and how_far <= self.settings['dist_threshold_low']:
self.go_ahead = False
else:
self.hub.status_light.on('blue')
if isinstance(
how_far, int
) and how_far >= self.settings['dist_threshold_high']:
self.turn = True
turn_start_time = time.time()
self.motor_front.run_for_degrees(self.turn_angle)
self.go_ahead = True
self.motor_rear.start(rear_speed)
wait_for_seconds(0.25)
loop_time_control = time.time()
loop_time_diff = loop_time_control - loop_start_time
self.motor_rear.stop()
self.calibrate()
self.hub.light_matrix.write('STOP')
# %%
print("-" * 15 + " Execution started " + "-" * 15 + "\n")
# %%
hub = MSHub()
app = App()
# %%
hub.status_light.on('black')
# %% [markdown]
# # Configure motors
# %%
print("Configuring motors...")
motor_left_arm = Motor('B') # Left arm
motor_right_arm = Motor('F') # Right arm
motors_arms = MotorPair('B', 'F')
print("DONE!")
# %% [markdown]
# # Set arm motors to starting position
# %%
print("Setting arm motors to position 0...")
motor_left_arm.run_to_position(0)
motor_right_arm.run_to_position(0)
print("DONE!")
# %% [markdown]
# # Overwrite `Timer`
# %%
hub = MSHub()
app = App()
# %%
hub.status_light.on('black')
# %% [markdown]
# # Configure motors
# %%
print("Configuring motors...")
motors_wheels = MotorPair('A', 'E')
motors_wheels.set_default_speed(70)
motor_left_arm = Motor('B') # Left arm
motor_right_arm = Motor('F') # Right arm
motor_left_arm.set_default_speed(40)
motor_right_arm.set_default_speed(-40)
motors_arms = MotorPair('B', 'F')
print("DONE!")
# %% [markdown]
# # Set arm motors to starting position
# This isn't part of the original program, but I think it is good practice to make sure motors always start in the same state.
#
# %%
print("Setting arm motors to position 0...")
# This code is meant as a boilerplate for your remote control project.
# Connect to it using a steering wheel or app:
# https://play.google.com/store/apps/details?id=com.antonsmindstorms.mindstormsrc&hl=nl&gl=US
from projects.mpy_robot_tools.rc import (RCReceiver, L_STICK_HOR, L_STICK_VER,
R_STICK_HOR, R_STICK_VER, L_TRIGGER,
R_TRIGGER, SETTING1, SETTING2)
from projects.mpy_robot_tools.helpers import clamp_int
from mindstorms import MSHub, ColorSensor, Motor, DistanceSensor
from mindstorms.control import wait_for_seconds
import math
# Create your objects here.
rcv = RCReceiver(name="robot")
ma = Motor("A")
hub = MSHub()
# Write your program here.
while True: # Forever
if rcv.is_connected():
speed, turn = rcv.controller_state(R_STICK_VER, R_STICK_HOR)
if rcv.button_pressed(1):
hub.speaker.beep()
ma.start_at_power(clamp_int(speed))
else:
# Stop all motors when not connected
ma.stop()
print("Waiting for connection...")
wait_for_seconds(0.3) # async wait, better than sleep_ms
# driving with Tricky
wheel_radius = 2.8
pen_radius = 8.6
axis_radius = 5.6
line_length = 5
# Create your objects here.
hub = MSHub()
# Write your program here.
hub.speaker.beep()
motor = Motor('C')
motor.run_to_position(165)
def pen_up():
motor.run_for_degrees(-90)
def pen_down():
motor.run_for_degrees(90)
motor_pair = MotorPair('B', 'A')
motor_pair.set_default_speed(20)
motor_pair.set_motor_rotation(wheel_radius * 2 * math.pi, 'cm')
# %%
print("-" * 15 + " Execution started " + "-" * 15 + "\n")
# %%
hub = MSHub()
app = App()
# %%
hub.status_light.on('black')
# %% [markdown]
# # Configure motors
# %%
print("Configuring motors...")
motor_left_arm = Motor('B') # Left arm
motor_right_arm = Motor('F') # Right arm
motors_arms = MotorPair('B', 'F')
motors_wheels = MotorPair('A', 'E')
print("DONE!")
# %% [markdown]
# # Set arm motors to starting position
# %%
print("Setting arm motors to position 0...")
motor_left_arm.run_to_position(0)
motor_right_arm.run_to_position(0)
print("DONE!")
# %% [markdown]
