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")
# 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')
pen_down()
# # 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]
# # Overwrite `Timer`
# %%
print("Overwriting timer...")
class Timer():
"""
Replacement Timer class that allows using floats (i.e., seconds with a decimal place).
"""
def __init__(self):
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...")
motor_left_arm.run_to_position(0)
motor_right_arm.run_to_position(0)
print("DONE!")
# %% [markdown]
# # Move shopper Charlie
#
# So far, we've used `move` to move the wheel motors.
# However, when using `move`, the program will not continue until the specified value is reached.
# This is a problem, since we want to move the wheels *and* the arms at the same time.
# Therefore, we will use `start` and `stop`. This comes at the cost of being unable to
# define a stopping condition based on the motors alone (e.g., distance, time).
# We have to stop them at certain point of the program (as we do here) or based on a
# sensory input.
#
# I wonder if there's a way to perform async execution using the vanilla (Micro)Python.
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')
# # 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]
# # Configure sensor
# %%
print("Configuring sensors...")
color_sensor = ColorSensor('C')
distance_sensor = DistanceSensor('D')
distance_sensor.light_up_all()
print("DONE!")
# %% [markdown]
# %% [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
# %%
print("Steering...")
motor_steer.run_to_position(50, speed=35)
print("DONE!")
# %%
print("Moving...")
motor_power.set_default_speed(80)
motor_power.run_for_rotations(-16)
# %%
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]
# # Program color reactions
# %%
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!")
# %% [markdown]
# # Make Charlie push himself around
# If Charlie doesn't move properly, try:
# * adjusting the wheels on his poles
# * playing with the waiting time between movement of the right arm (`t_wait`)
# * putting him on another surface
# %%
print("Skiing...")
# Original value is 6.
# I set this to 3 due to space constraints.
# 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
# %%
print("Initializing distance sensor...")
distance_sensor = DistanceSensor('D')
print("DONE!")
# %% [markdown]
# # Put the AAT MS5 in motion
# %%
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)
motor_f.run_for_degrees(100)