def main():
start = timeit.default_timer()
print "Looking for brick"
b = nxt.find_one_brick()
print "found it"
l = nxt.Motor(b, nxt.PORT_B)
r = nxt.Motor(b, nxt.PORT_C)
m = nxt.SynchronizedMotors(l, r, 0)
#move forward
for i in range(3):
print "image:", i
m.turn(100, 14400)
#take_img()
time.sleep(2)
for i in range(3):
print "image:", i
m.turn(-100, 14400)
#take_img()
time.sleep(2)
stop = timeit.default_timer()
print "time taken:", stop - start
def connect(self):
self.log.info("Connecting ...")
try:
if self.address == None:
self.brick = nxt.find_one_brick().connect()
else:
self.brick = BlueSock(self.address).connect()
except nxt.locator.BrickNotFoundError:
raise RobotNotFoundError
except Exception as error:
raise RobotConnectionError(error)
self.leftWhell = Motor(self.brick, self.LEFT_WHEEL)
self.rightWhell = Motor(self.brick, self.RIGHT_WHEEL)
self.kicker = Motor(self.brick, self.KICKER)
self.log.info("Set up Motors")
try:
# self.kicker.turn(100, 100, brake=True)
self.log.debug(self.__read_motor_state(self.KICKER))
except Exception as error:
self.log.error("kicker reset error: " + str(error))
self.state = self.STATE_IDLE
self.__get_info()
self.log.info("Conected to {name}".format(name=self.name))
self.buzz()
def connect(self):
self.log.info("Connecting ...")
try:
if self.address == None:
self.brick = nxt.find_one_brick().connect()
else:
self.brick = BlueSock(self.address).connect()
except nxt.locator.BrickNotFoundError:
raise RobotNotFoundError
except Exception as error:
raise RobotConnectionError(error)
self.leftWhell = Motor(self.brick, self.LEFT_WHEEL)
self.rightWhell = Motor(self.brick, self.RIGHT_WHEEL)
self.kicker = Motor(self.brick, self.KICKER)
self.log.info("Set up Motors")
try:
#self.kicker.turn(100, 100, brake=True)
self.log.debug(self.__read_motor_state(self.KICKER))
except Exception as error:
self.log.error("kicker reset error: " + str(error))
self.state = self.STATE_IDLE
self.__get_info()
self.log.info("Conected to {name}".format(name=self.name))
self.buzz()
def main():
print "[+] Looking for joystick"
while True:
pygame.init()
pygame.display.init()
pygame.display.set_mode((1, 1))
if pygame.joystick.get_count() < 1:
time.sleep(1)
continue
break
js = pygame.joystick.Joystick(0)
js.init()
print "[+] Looking for nxt"
while True:
try:
n = nxt.find_one_brick(host="00:16:53:07:5D:9E")
except nxt.locator.BrickNotFoundError:
continue
break
n.play_tone(400, 345)
lmotor = nxt.motor.Motor(n, nxt.motor.PORT_A)
rmotor = nxt.motor.Motor(n, nxt.motor.PORT_C)
print "[+] Got it!"
l, r = 0, 0
while True:
for event in pygame.event.get():
l = js.get_axis(1)
r = js.get_axis(5)
update(lmotor, rmotor, -l, r)
def _run_find_brick(self):
try:
self.brick = nxt.find_one_brick(debug=True)
finally:
# kivy/android will crash here if we don't detach
print('detaching thread')
detach()
def _run_find_brick(self):
try:
self.brick = nxt.find_one_brick(debug=True)
finally:
# kivy/android will crash here if we don't detach
print('detaching thread')
detach()
def initBrick():
global b
global right
global left
b = nxt.find_one_brick()
right = nxt.Motor(b, nxt.PORT_C)
left = nxt.Motor(b, nxt.PORT_B)
def __init__(self, node_name="nxt_motion_control"):
self.node_name = node_name
rospy.init_node(self.node_name)
rospy.Subscriber('/cmd', Command, self.new_cmd_callback)
self.current_cmd = Command(0, 0)
self.brick = nxt.find_one_brick(debug = True)
self.motor_a = nxt.Motor(self.brick, nxt.PORT_A)
self.motor_b = nxt.Motor(self.brick, nxt.PORT_B)
def __init__(self, node_name="nxt_motion_control"):
self.node_name = node_name
rospy.init_node(self.node_name)
rospy.Subscriber('/cmd', Command, self.new_cmd_callback)
self.current_cmd = Command(0, 0)
self.brick = nxt.find_one_brick()
self.motor_a = nxt.Motor(self.brick, nxt.PORT_A)
self.motor_b = nxt.Motor(self.brick, nxt.PORT_B)
def __init__(self):
threading.Thread.__init__(self)
self.stopping = False
self.powerLeft = 0.0
self.powerRight = 0.0
self.miniTick = 0
self.motorPlan = []
self.brick = nxt.find_one_brick(method=nxt.locator.Method(bluetooth=False))
self.leftMotor=nxt.Motor(self.brick, nxt.PORT_C)
self.rightMotor=nxt.Motor(self.brick, nxt.PORT_A)
def __init__(self):
self.b = nxt.find_one_brick()
self.leftWheel = drive.Drive(self.b, nxt.PORT_B)
self.rightWheel = drive.Drive(self.b, nxt.PORT_C)
self.leftWheel.SetParam(1, 1, 1)
self.rightWheel.SetParam(1, 1, 1)
self.leftWheel.start()
self.rightWheel.start()
def initBrick():
global b
global r
global l
global m
global mls
global mrs
b = nxt.find_one_brick()
r = nxt.Motor(b, nxt.PORT_A)
l = nxt.Motor(b, nxt.PORT_B)
# create synchronized motors
m = nxt.SynchronizedMotors(r, l, 0)
mls = nxt.SynchronizedMotors(l, r, 20)
mrs = nxt.SynchronizedMotors(r, l, 20)
def connect(self):
print "Connecting ..."
try:
if self.address == None:
self.brick = nxt.find_one_brick().connect()
else:
self.brick = BlueSock(self.address).connect()
except nxt.locator.BrickNotFoundError:
raise RobotNotFoundError
except BluetoothError as error:
raise RobotConnectionError(error)
self.__get_info()
print "Conected to {name}".format(name=self.name)
def connect(self):
print "Connecting ..."
try:
if self.address == None:
self.brick = nxt.find_one_brick().connect()
else:
self.brick = BlueSock(self.address).connect()
except nxt.locator.BrickNotFoundError:
raise RobotNotFoundError
except BluetoothError as error:
raise RobotConnectionError(error)
self.__get_info()
print "Conected to {name}".format(name=self.name)
def __init__(self, brick_host=None):
self.cmd = Commander(brick_finder=lambda: nxt.find_one_brick(host=brick_host))
brick = self.cmd.brick
self.platform_motor = nxt.Motor(brick, self.PLATFORM_MOTOR_PORT)
self.hand_motor = nxt.Motor(brick, self.HAND_MOTOR_PORT)
self.color_sensor_motor = nxt.Motor(brick, self.COLOR_SENSOR_MOTOR_PORT)
self.color_sensor = nxt.Color20(brick, self.COLOR_SENSOR_PORT)
self.sonar = nxt.Ultrasonic(brick, self.SONAR_PORT)
self.motors = [self.hand_motor, self.platform_motor, self.color_sensor_motor]
self.idle_all()
self.reset_rotation_counts()
def __init__(self):
self.brick = nxt.find_one_brick()
#set up sensors
for p in range(4):
try:
s = self.brick.get_sensor(p)
if isinstance(s, nxt.sensor.hitechnic.Compass):
self.compass = s
elif isinstance(s, nxt.sensor.hitechnic.Accelerometer):
self.accel = s
elif isinstance(s, nxt.sensor.generic.Ultrasonic):
self.us = s
except:
# we assume the only other thing connected is a color sensor
self.color = nxt.sensor.Color20(self.brick, p)
#set up motors
self.m_left = nxt.Motor(self.brick, nxt.PORT_C)
self.m_right = nxt.Motor(self.brick, nxt.PORT_B)
def main():
# find a brick
brick = nxt.find_one_brick()
odometer = od.Odometry(brick, 100, 4)
# start thread
odometer.start()
time.sleep(1)
turn_right = lambda brick, power, distance: rotate(brick, LEFT_WHEEL, power,
distance)
turn_left = lambda brick, power, distance: rotate(brick, RIGHT_WHEEL, power,
distance)
#### Forward(brick, motorspeed, degree_amount) Rotate(brick, speed)
#### If rotate speed is positive than robot will turn left else robot will
####turn right
lijst = [Forward(brick, 65, 360), Rotate(brick, 65, 90)]
position = path(lijst)
odometer.join()
def main():
# find a brick
brick = nxt.find_one_brick()
# start thread
time.sleep(1)
turn_right = lambda brick, power, distance: rotate(brick, LEFT_WHEEL, power,
distance)
turn_left = lambda brick, power, distance: rotate(brick, RIGHT_WHEEL, power,
distance)
#### Forward(brick, motorspeed, degree_amount) Rotate(brick, speed)
#### If rotate speed is positive than robot will turn left else robot will
####turn right
#lijst = [Forward(brick, 100, 720), Rotate(brick, 100, 90), Forward(brick,
# 100, 720), Rotate(brick, -100, 90), Forward(brick, 100, 720)]
lijst = [Forward(brick, 100, 360)]
position = path(lijst, brick)
def init_nxt():
global nxt_b,nxt_mT,nxt_mG,nxt_mD,nxt_ultrason,nxt_both,nxt_leftboth,nxt_rightboth
# was 'find_one_brick' already called and stored in 'nxt_b' ?
if 'nxt_b' not in globals():
try:
nxt_b = nxt.find_one_brick()
except nxt.locator.BrickNotFoundError:
print("Attention: la brique du NxT n'a pas ete trouvee")
return False
nxt_mT = nxt.Motor(nxt_b, nxt_port_tourelle)
nxt_mG = nxt.Motor(nxt_b, nxt_port_moteur_gauche)
nxt_mD = nxt.Motor(nxt_b, nxt_port_moteur_droit)
nxt_ultrason = nxt.sensor.Ultrasonic(nxt_b,nxt_port_ultrason)
nxt_both = nxt.SynchronizedMotors(nxt_mG, nxt_mD, 0)
nxt_leftboth = nxt.SynchronizedMotors(nxt_mG, nxt_mD, 100)
nxt_rightboth = nxt.SynchronizedMotors(nxt_mD, nxt_mG, 100)
return True
def main():
if len(sys.argv) < 2:
print "usage: python rotate2.py foldername"
exit()
foldername = sys.argv[1]
start = timeit.default_timer()
print "Looking for brick"
b = nxt.find_one_brick()
print "found it"
l = nxt.Motor(b, nxt.PORT_B)
r = nxt.Motor(b, nxt.PORT_C)
m = nxt.SynchronizedMotors(l, r, 0)
for i in range(100):
print "image:",i
m.turn(80,75)
time.sleep(2)
take_img()
stop = timeit.default_timer()
print "time taken:", stop - start
execute_command("mkdir " + foldername)
execute_command("mv *.jpg " + foldername)
import nxt
import nxtConnect # has to be in search path
import time
brickName = "Team60"
useUSB = False
if useUSB:
brick = nxt.find_one_brick(name=brickName,
strict=True,
method=nxt.locator.Method(usb=True,
bluetooth=True))
else:
# the bluetooth function of the nxt library works too, but "wastes"
# time searching for devices.
brick = nxtConnect.btConnect(brickName)
print(brick.get_device_info()) # check what brick you connected to
from time import sleep
from nxt.motor import Motor, PORT_A, PORT_B, PORT_C
from nxt.sensor import Touch, PORT_4, PORT_3, PORT_2, Light, PORT_1, Ultrasonic
turningMotor = Motor(brick, PORT_B)
walkingMotor = Motor(brick, PORT_C)
armMotor = Motor(brick, PORT_A)
legPosition = Touch(brick, PORT_3)
touch = Touch(brick, PORT_1)
while True:
print(touch.get_input_values().calibrated_value)
# -*- coding: utf-8 -*-
"""
Telemetry
"""
import random
import nxt, thread, time
from math import *
import numpy as np
import matplotlib.pyplot as plt
robot = nxt.find_one_brick()
mA = nxt.Motor(robot, nxt.PORT_B)
mB = nxt.Motor(robot, nxt.PORT_C)
sonar = nxt.sensor.Ultrasonic(robot,nxt.PORT_1)
"""def new_box(x,y,c):
V = turtle.Turtle()
V.hideturtle(); V.penup()
V.setpos(x-c/2,y-c/2); V.setheading(0) ; V.pendown()
for i in range(4):
V.fd(c)
V.left(90)
return Polygon(Point(x-c/2,y-c/2),Point(x-c/2,y+c/2),Point(x+c/2,y+c/2),Point(x+c/2,y-c/2))
"""
def telemetry(T,boxelist):
a = radians(T.heading())
P1,P2 = Point(T.xcor(),T.ycor()) , Point(T.xcor()+cos(a),T.ycor()+sin(a))
P12 = P2 - P1
intr = [N(P12.dot(p-P1)) for r in boxelist for p in intersection(Line(P1,P2),r) ]
import nxt, thread, time
b = nxt.find_one_brick()
mx = nxt.Motor(b, nxt.PORT_B)
my = nxt.Motor(b, nxt.PORT_C)
motors = [mx, my]
def turnmotor(m, power, degrees):
m.turn(power, degrees)
instructions = (
[0, 0, 80, 1080],
[0, 1, 80, 1080],
[3, 0, 100, 1080],
[3, 1, 100, 1080],
[6, 0, 100, 1080],
[6, 1, -100, 1080],
[9, 0, 100, 2000],
[9, 1, 100, 2000],
)
length = 5
def runinstruction(i):
motorid, speed, degrees = i
#THIS IS THE IMPORTANT PART!
thread.start_new_thread(
turnmotor,
(motors[motorid], speed, degrees))
seconds = 0
while 1:
def __enter__(self):
self.brick = nxt.find_one_brick(method=nxt.locator.Method(bluetooth=False))
self.leftMotor=nxt.Motor(self.brick, nxt.PORT_C)
self.rightMotor=nxt.Motor(self.brick, nxt.PORT_A)
return self
def init_nxt():
return nxt.find_one_brick(name='NXT')
def __init__(self):
self.brick = find_one_brick()
self.motors = PortMap(self.motorPorts.keys(), self._motor_factory())
self.sensors = {}
import time
import nxt
FORWARD_SPEED = 50
TURN_SPEED = 50
LEFT = -1
RIGHT = 1
brick = nxt.find_one_brick()
motors = [nxt.Motor(brick, nxt.PORT_B),
nxt.Motor(brick, nxt.PORT_C)]
def stop(secs=0.2):
for motor in motors:
motor.idle()
if secs:
time.sleep(secs)
def forward(secs=0.2):
for motor in motors:
motor.run(FORWARD_SPEED, regulated=True)
if secs:
time.sleep(secs)
stop(0)
# -*- coding=utf8 -*-
'''
Created on 14.04.2011
@author: jskonst
'''
import thread, drive, time, nxt
b = nxt.find_one_brick()#name = 'MyNXT',debug=True)
drive1=drive.Drive(b, nxt.PORT_B)
drive2=drive.Drive(b, nxt.PORT_C)
drive1.SetParam(1,1,1)
drive2.SetParam(1,1,1)
drive1.start()
drive2.start()
drive1.stop()
drive2.stop()
while 1:
a=raw_input()
if a=="q":
drive1.stop()
drive2.stop()
drive1.join()
drive2.join()
break
else:
if a=="w":
print "Вперед"
drive1.stop()
drive2.stop()
drive1.join()
# -*- coding:utf8 -*-
import socket
import drive
import nxt
import json
import requests
import time
import test_sensors
host = "localhost"
port = 5678
b = nxt.find_one_brick(name='MyNXT')
drive1 = drive.Drive(b, nxt.PORT_B)
drive2 = drive.Drive(b, nxt.PORT_C)
drive1.SetParam(1, 1, 1)
drive2.SetParam(1, 1, 1)
drive1.start()
drive2.start()
drive1.stop()
drive2.stop()
def action(a, drive1, drive2):
StatusOfButton = nxt.Touch(b, nxt.PORT_3).get_sample()
if a == "q":
drive1.stop()
drive2.stop()
drive1.join()
drive2.join()
else:
# -*- coding=utf8 -*-
'''
Created on 14.04.2011
@author: jskonst
'''
import drive
import nxt
while 1:
b = nxt.find_one_brick(name='MyNXT')
drive1 = drive.Drive(b, nxt.PORT_B)
drive2 = drive.Drive(b, nxt.PORT_C)
drive1.SetParam(1, 1, 1)
drive2.SetParam(1, 1, 1)
drive1.start()
drive2.start()
drive1.stop()
drive2.stop()
a = raw_input()
if a == "q":
drive1.stop()
drive2.stop()
drive1.join()
drive2.join()
break
else:
if a == "w":
print "Вперед"
drive1.stop()
drive2.stop()
