def __init__(self):
# Initialize the EV3 brick.
self.ev3 = EV3Brick()
# Initialize the motors connected to the back legs.
self.left_leg_motor = Motor(Port.D, Direction.COUNTERCLOCKWISE)
self.right_leg_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE)
# Initialize the motor connected to the head.
# Worm gear moves 1 tooth per rotation. It is interfaced to a 24-tooth
# gear. The 24-tooth gear is connected to parallel 12-tooth gears via
# an axle. The 12-tooth gears interface with 36-tooth gears.
self.head_motor = Motor(Port.C,
Direction.COUNTERCLOCKWISE,
gears=[[1, 24], [12, 36]])
# Initialize the Color Sensor.
self.color_sensor = ColorSensor(Port.S4)
# Initialize the touch sensor.
self.touch_sensor = TouchSensor(Port.S1)
# This attribute is used by properties.
self._eyes = None
# These attributes are used by the playful behavior.
self.playful_timer = StopWatch()
self.playful_bark_interval = None
def __init__(self,
left_motor_port: Port = Port.C,
right_motor_port: Port = Port.B,
wiggle_motor_port: Port = Port.A,
polarity: str = 'inversed',
touch_sensor_port: Port = Port.S1,
color_sensor_port: Port = Port.S3,
ir_sensor_port: Port = Port.S4,
ir_beacon_channel: int = 1):
super().__init__(wheel_diameter=self.WHEEL_DIAMETER,
axle_track=self.AXLE_TRACK,
left_motor_port=left_motor_port,
right_motor_port=right_motor_port,
polarity=polarity,
ir_sensor_port=ir_sensor_port,
ir_beacon_channel=ir_beacon_channel)
self.ev3_brick = EV3Brick()
self.wiggle_motor = Motor(port=wiggle_motor_port,
positive_direction=Direction.CLOCKWISE)
self.touch_sensor = TouchSensor(port=touch_sensor_port)
self.color_sensor = ColorSensor(port=color_sensor_port)
def __init__(
self,
crushing_claw_motor_port: Port = Port.A,
moving_motor_port: Port = Port.B,
lightning_tail_motor_port: Port = Port.D,
touch_sensor_port: Port = Port.S1,
color_sensor_port: Port = Port.S3,
ir_sensor_port: Port = Port.S4,
ir_beacon_channel: int = 1):
self.ev3_brick = EV3Brick()
self.crushing_claw_motor = \
Motor(port=crushing_claw_motor_port,
positive_direction=Direction.CLOCKWISE)
self.moving_motor = \
Motor(port=moving_motor_port,
positive_direction=Direction.CLOCKWISE)
self.lightning_tail_motor = \
Motor(port=lightning_tail_motor_port,
positive_direction=Direction.CLOCKWISE)
self.ir_sensor = InfraredSensor(port=ir_sensor_port)
self.ir_beacon_channel = ir_beacon_channel
self.touch_sensor = TouchSensor(port=touch_sensor_port)
self.color_sensor = ColorSensor(port=color_sensor_port)
def __init__(
self,
left_track_motor_port: Port = Port.B,
right_track_motor_port: Port = Port.C,
gripping_motor_port: Port = Port.A,
touch_sensor_port: Port = Port.S1,
ir_sensor_port: Port = Port.S4,
ir_beacon_channel: int = 1):
super().__init__(
wheel_diameter=self.WHEEL_DIAMETER,
axle_track=self.AXLE_TRACK,
left_motor_port=left_track_motor_port,
right_motor_port=right_track_motor_port,
ir_sensor_port=ir_sensor_port,
ir_beacon_channel=ir_beacon_channel)
self.ev3_brick = EV3Brick()
self.gripping_motor = Motor(port=gripping_motor_port,
positive_direction=Direction.CLOCKWISE)
self.touch_sensor = TouchSensor(port=touch_sensor_port)
self.ir_sensor = InfraredSensor(port=ir_sensor_port)
self.ir_beacon_channel = ir_beacon_channel
def __init__(self,
left_foot_motor_port: Port = Port.B,
right_foot_motor_port: Port = Port.C,
bazooka_blast_motor_port: Port = Port.A,
touch_sensor_port: Port = Port.S1,
color_sensor_port: Port = Port.S3,
ir_sensor_port: Port = Port.S4,
ir_beacon_channel: int = 1):
self.drive_base = DriveBase(
left_motor=Motor(port=left_foot_motor_port,
positive_direction=Direction.CLOCKWISE),
right_motor=Motor(port=right_foot_motor_port,
positive_direction=Direction.CLOCKWISE),
wheel_diameter=self.WHEEL_DIAMETER,
axle_track=self.AXLE_TRACK)
self.bazooka_blast_motor = Motor(
port=bazooka_blast_motor_port,
positive_direction=Direction.CLOCKWISE)
self.touch_sensor = TouchSensor(port=touch_sensor_port)
self.color_sensor = ColorSensor(port=color_sensor_port)
self.ir_sensor = InfraredSensor(port=ir_sensor_port)
self.ir_beacon_channel = ir_beacon_channel
def __init__(self,
left_motor_port: Port = Port.B,
right_motor_port: Port = Port.C,
grip_motor_port: Port = Port.A,
touch_sensor_port: Port = Port.S1,
ir_sensor_port: Port = Port.S4,
ir_beacon_channel: int = 1):
self.drive_base = DriveBase(
left_motor=Motor(port=left_motor_port,
positive_direction=Direction.CLOCKWISE),
right_motor=Motor(port=right_motor_port,
positive_direction=Direction.CLOCKWISE),
wheel_diameter=self.WHEEL_DIAMETER,
axle_track=self.AXLE_TRACK)
self.drive_base.settings(
straight_speed=750, # milimeters per second
straight_acceleration=750,
turn_rate=90, # degrees per second
turn_acceleration=90)
self.grip_motor = Motor(port=grip_motor_port,
positive_direction=Direction.CLOCKWISE)
self.touch_sensor = TouchSensor(port=touch_sensor_port)
self.ir_sensor = InfraredSensor(port=ir_sensor_port)
self.ir_beacon_channel = ir_beacon_channel
class Gripp3r(RemoteControlledTank):
WHEEL_DIAMETER = 26 # milimeters
AXLE_TRACK = 115 # milimeters
def __init__(
self,
left_track_motor_port: Port = Port.B,
right_track_motor_port: Port = Port.C,
gripping_motor_port: Port = Port.A,
touch_sensor_port: Port = Port.S1,
ir_sensor_port: Port = Port.S4,
ir_beacon_channel: int = 1):
super().__init__(
wheel_diameter=self.WHEEL_DIAMETER,
axle_track=self.AXLE_TRACK,
left_motor_port=left_track_motor_port,
right_motor_port=right_track_motor_port,
ir_sensor_port=ir_sensor_port,
ir_beacon_channel=ir_beacon_channel)
self.ev3_brick = EV3Brick()
self.gripping_motor = Motor(port=gripping_motor_port,
positive_direction=Direction.CLOCKWISE)
self.touch_sensor = TouchSensor(port=touch_sensor_port)
self.ir_sensor = InfraredSensor(port=ir_sensor_port)
self.ir_beacon_channel = ir_beacon_channel
def grip_or_release_by_ir_beacon(self, speed: float = 500):
if Button.BEACON in \
self.ir_sensor.buttons(channel=self.ir_beacon_channel):
if self.touch_sensor.pressed():
self.ev3_brick.speaker.play_file(file=SoundFile.AIR_RELEASE)
self.gripping_motor.run_time(
speed=speed,
time=1000,
then=Stop.COAST,
wait=True)
else:
self.ev3_brick.speaker.play_file(file=SoundFile.AIRBRAKE)
self.gripping_motor.run(speed=-speed)
while not self.touch_sensor.pressed():
pass
self.gripping_motor.stop()
while Button.BEACON in \
self.ir_sensor.buttons(channel=self.ir_beacon_channel):
pass
def __init__(self):
# Initialize the EV3 brick.
self.ev3 = EV3Brick()
# Initialize the motors connected to the back legs.
self.left_leg_motor = Motor(Port.D, Direction.COUNTERCLOCKWISE)
self.right_leg_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE)
# Initialize the motor connected to the head.
# Worm gear moves 1 tooth per rotation. It is interfaced to a 24-tooth
# gear. The 24-tooth gear is connected to parallel 12-tooth gears via
# an axle. The 12-tooth gears interface with 36-tooth gears.
self.head_motor = Motor(Port.C,
Direction.COUNTERCLOCKWISE,
gears=[[1, 24], [12, 36]])
# Initialize the Color Sensor. It is used to detect the colors when
# feeding the puppy.
self.color_sensor = ColorSensor(Port.S4)
# Initialize the touch sensor. It is used to detect when someone pets
# the puppy.
self.touch_sensor = TouchSensor(Port.S1)
self.pet_count_timer = StopWatch()
self.feed_count_timer = StopWatch()
self.count_changed_timer = StopWatch()
# These attributes are initialized later in the reset() method.
self.pet_target = None
self.feed_target = None
self.pet_count = None
self.feed_count = None
# These attributes are used by properties.
self._behavior = None
self._behavior_changed = None
self._eyes = None
self._eyes_changed = None
# These attributes are used in the eyes update
self.eyes_timer_1 = StopWatch()
self.eyes_timer_1_end = 0
self.eyes_timer_2 = StopWatch()
self.eyes_timer_2_end = 0
self.eyes_closed = False
# These attributes are used by the playful behavior.
self.playful_timer = StopWatch()
self.playful_bark_interval = None
# These attributes are used in the update methods.
self.prev_petted = None
self.prev_color = None
def aua():
"""
i do not like being touched : auaaaa....
"""
beruehrung = TouchSensor(Port.S1)
ev3.screen.load_image(ImageFile.NEUTRAL)
while (beruehrung.pressed() == False):
time.sleep(0.1)
ev3.screen.load_image(ImageFile.KNOCKED_OUT)
ev3.speaker.play_file(SoundFile.BACKING_ALERT)
def __init__(self,
lever_motor_port: Port = Port.D,
touch_sensor_port: Port = Port.S1,
ir_sensor_port: Port = Port.S4):
self.ev3_brick = EV3Brick()
self.lever_motor = Motor(port=lever_motor_port,
positive_direction=Direction.CLOCKWISE)
self.touch_sensor = TouchSensor(port=touch_sensor_port)
self.ir_sensor = InfraredSensor(port=ir_sensor_port)
def __init__(self):
self.resetY_Sensor = TouchSensor(Port.S2)
self.chromoSensor = ColorSensor(Port.S1)
self.claw_Motor = Motor(Port.A)
self.y_Motor = Motor(Port.B)
self.x_Motor1 = Motor(Port.C)
self.x_Motor1.set_run_settings(200, 100)
self.x_Motor2 = Motor(Port.D)
self.x_Motor2.set_run_settings(200, 100)
self.xAxisMotors = DriveBase(self.x_Motor1, self.x_Motor2, 50, 100)
self.reset()
def aua_mit_auszeit(auszeit):
"""
you can make me angry by touching for as long as a duration of auszeit
"""
beruehrung = TouchSensor(Port.S1)
tic = time.time() # start time
while (time.time() - tic) < auszeit:
if beruehrung.pressed():
ev3.screen.load_image(ImageFile.KNOCKED_OUT)
ev3.speaker.play_file(SoundFile.BACKING_ALERT)
else:
ev3.screen.load_image(ImageFile.NEUTRAL)
time.sleep(0.1)
def __init__(
self,
left_leg_motor_port: Port = Port.B, right_leg_motor_port: Port = Port.C,
bazooka_blast_motor_port: Port = Port.A,
touch_sensor_port: Port = Port.S1, color_sensor_port: Port = Port.S3,
ir_sensor_port: Port = Port.S4, ir_beacon_channel: int = 1):
super().__init__(
wheel_diameter=self.WHEEL_DIAMETER, axle_track=self.AXLE_TRACK,
left_motor_port=left_leg_motor_port, right_motor_port=right_leg_motor_port,
ir_sensor_port=ir_sensor_port, ir_beacon_channel=ir_beacon_channel)
self.bazooka_blast_motor = Motor(port=bazooka_blast_motor_port,
positive_direction=Direction.CLOCKWISE)
self.touch_sensor = TouchSensor(port=touch_sensor_port)
self.color_sensor = ColorSensor(port=color_sensor_port)
class Rov3r(IRBeaconRemoteControlledTank, EV3Brick):
WHEEL_DIAMETER = 23
AXLE_TRACK = 65
def __init__(self,
left_motor_port: Port = Port.B,
right_motor_port: Port = Port.C,
gear_motor_port: Port = Port.A,
touch_sensor_port: Port = Port.S1,
color_sensor_port: Port = Port.S3,
ir_sensor_port: Port = Port.S4,
ir_beacon_channel: int = 1):
super().__init__(wheel_diameter=self.WHEEL_DIAMETER,
axle_track=self.AXLE_TRACK,
left_motor_port=left_motor_port,
right_motor_port=right_motor_port,
ir_sensor_port=ir_sensor_port,
ir_beacon_channel=ir_beacon_channel)
self.gear_motor = Motor(port=gear_motor_port,
positive_direction=Direction.CLOCKWISE)
self.touch_sensor = TouchSensor(port=touch_sensor_port)
self.color_sensor = ColorSensor(port=color_sensor_port)
self.ir_sensor = InfraredSensor(port=ir_sensor_port)
self.ir_beacon_channel = ir_beacon_channel
def spin_gears(self, speed: float = 1000):
while True:
if Button.BEACON in self.ir_sensor.buttons(
channel=self.ir_beacon_channel):
self.gear_motor.run(speed=1000)
else:
self.gear_motor.stop()
def change_screen_when_touched(self):
while True:
if self.touch_sensor.pressed():
self.screen.load_image(ImageFile.ANGRY)
else:
self.screen.load_image(ImageFile.FORWARD)
def make_noise_when_seeing_black(self):
while True:
if self.color_sensor.color == Color.BLACK:
self.speaker.play_file(file=SoundFile.OUCH)
def main(self):
self.speaker.play_file(file=SoundFile.YES)
Process(target=self.make_noise_when_seeing_black).start()
Process(target=self.spin_gears).start()
Process(target=self.change_screen_when_touched).start()
self.keep_driving_by_ir_beacon(speed=1000)
def __initSensors(self):
'''Sub-method for initializing Sensors.'''
self.logger.debug(self, "Starting sensor initialisation...")
try:
self.__gyro = GyroSensor(self.__conf2port[self.__config['gyroSensorPort']], Direction.CLOCKWISE if not self.__config['gyroInverted'] else Direction.COUNTERCLOCKWISE) if self.__config['gyroSensorPort'] != 0 else 0
self.logger.debug(self, 'Gyrosensor initialized sucessfully on port %s' % self.__config['gyroSensorPort'])
except Exception as exception:
self.__gyro = 0
self.logger.error(self, "Failed to initialize the Gyro-Sensor - Are u sure it's connected to Port %s?" % exception, exception)
try:
self.__rLight = ColorSensor(
self.__conf2port[self.__config['rightLightSensorPort']]) if self.__config['rightLightSensorPort'] != 0 else 0
self.logger.debug(self, 'Colorsensor initialized sucessfully on port %s' % self.__config['rightLightSensorPort'])
except Exception as exception:
self.logger.error(self, "Failed to initialize the right Color-Sensor - Are u sure it's connected to Port %s?" % exception, exception)
try:
self.__lLight = ColorSensor(
self.__conf2port[self.__config['leftLightSensorPort']]) if self.__config['leftLightSensorPort'] != 0 else 0
self.logger.debug(self, 'Colorsensor initialized sucessfully on port %s' % self.__config['leftLightSensorPort'])
except Exception as exception:
self.logger.error(self, "Failed to initialize the left Color-Sensor - Are u sure it's connected to Port %s?" % exception, exception)
try:
self.__touch = TouchSensor(self.__conf2port[self.__config['backTouchSensor']]) if self.__config['backTouchSensor'] != 0 else 0
self.logger.debug(self, 'Touchsensor initialized sucessfully on port %s' % self.__config['backTouchSensor'])
except Exception as exception:
self.logger.error(self, "Failed to initialize the Touch-Sensor - Are u sure it's connected to Port %s?" % exception, exception)
self.logger.debug(self, "Sensor initialisation done")
class EV3TouchSensor(EV3Sensor):
def __init__(self, port):
EV3Sensor.__init__(self, port)
self.sensor = TouchSensor(self.port)
def estDeclenchable(self):
return self.sensor.pressed()
def __init__(
self,
left_motor_port: str = Port.B, right_motor_port: str = Port.C,
middle_motor_port: str = Port.A,
touch_sensor_port: str = Port.S1, ir_sensor_port: str = Port.S4):
self.ev3_brick = EV3Brick()
self.left_motor = Motor(port=left_motor_port,
positive_direction=Direction.CLOCKWISE)
self.right_motor = Motor(port=right_motor_port,
positive_direction=Direction.CLOCKWISE)
self.middle_motor = Motor(port=middle_motor_port,
positive_direction=Direction.CLOCKWISE)
self.touch_sensor = TouchSensor(port=touch_sensor_port)
self.ir_sensor = InfraredSensor(port=ir_sensor_port)
class Sweep3r(IRBeaconRemoteControlledTank, EV3Brick):
WHEEL_DIAMETER = 40
AXLE_TRACK = 110
def __init__(
self,
left_foot_motor_port: Port = Port.B, right_foot_motor_port: Port = Port.C,
medium_motor_port: Port = Port.A,
touch_sensor_port: Port = Port.S1, color_sensor_port: Port = Port.S3,
ir_sensor_port: Port = Port.S4, ir_beacon_channel: int = 1):
super().__init__(
wheel_diameter=self.WHEEL_DIAMETER, axle_track=self.AXLE_TRACK,
left_motor_port=left_foot_motor_port, right_motor_port=right_foot_motor_port,
ir_sensor_port=ir_sensor_port, ir_beacon_channel=ir_beacon_channel)
self.medium_motor = Motor(port=medium_motor_port)
self.touch_sensor = TouchSensor(port=touch_sensor_port)
self.color_sensor = ColorSensor(port=color_sensor_port)
self.ir_sensor = InfraredSensor(port=ir_sensor_port)
self.ir_beacon_channel = ir_beacon_channel
def drill(self):
while True:
if Button.BEACON in self.ir_sensor.buttons(channel=self.ir_beacon_channel):
self.medium_motor.run_angle(
speed=1000,
rotation_angle=2 * 360,
then=Stop.HOLD,
wait=True)
def move_when_touched(self):
while True:
if self.touch_sensor.pressed():
self.drive_base.turn(angle=100)
def move_when_see_smothing(self):
while True:
if self.color_sensor.reflection() > 30:
self.drive_base.turn(angle=-100)
def main(self, speed: float = 1000):
self.screen.load_image(ImageFile.PINCHED_MIDDLE)
Process(target=self.move_when_touched).start()
Process(target=self.move_when_see_smothing).start()
Process(target=self.drill).start()
self.keep_driving_by_ir_beacon(speed=speed)
def __init__(
self,
left_motor_port: Port = Port.B, right_motor_port: Port = Port.C,
jaw_motor_port: Port = Port.A,
touch_sensor_port: Port = Port.S1,
ir_sensor_port: Port = Port.S4, ir_beacon_channel: int = 1):
self.left_motor = Motor(port=left_motor_port,
positive_direction=Direction.CLOCKWISE)
self.right_motor = Motor(port=right_motor_port,
positive_direction=Direction.CLOCKWISE)
self.jaw_motor = Motor(port=jaw_motor_port,
positive_direction=Direction.CLOCKWISE)
self.touch_sensor = TouchSensor(port=touch_sensor_port)
self.ir_sensor = InfraredSensor(port=ir_sensor_port)
self.ir_beacon_channel = ir_beacon_channel
def __init__(
self,
sting_motor_port: Port = Port.D, go_motor_port: Port = Port.B,
claw_motor_port: Port = Port.A,
touch_sensor_port: Port = Port.S1, color_sensor_port: Port = Port.S3,
ir_sensor_port: Port = Port.S4, ir_beacon_channel: int = 1):
self.sting_motor = Motor(port=sting_motor_port,
positive_direction=Direction.CLOCKWISE)
self.go_motor = Motor(port=go_motor_port,
positive_direction=Direction.CLOCKWISE)
self.claw_motor = Motor(port=claw_motor_port,
positive_direction=Direction.CLOCKWISE)
self.ir_sensor = InfraredSensor(port=ir_sensor_port)
self.ir_beacon_channel = ir_beacon_channel
self.touch_sensor = TouchSensor(port=touch_sensor_port)
self.color_sensor = ColorSensor(port=color_sensor_port)
def __init__(
self,
left_foot_motor_port: Port = Port.B, right_foot_motor_port: Port = Port.C,
medium_motor_port: Port = Port.A,
touch_sensor_port: Port = Port.S1, color_sensor_port: Port = Port.S3,
ir_sensor_port: Port = Port.S4, ir_beacon_channel: int = 1):
super().__init__(
wheel_diameter=self.WHEEL_DIAMETER, axle_track=self.AXLE_TRACK,
left_motor_port=left_foot_motor_port, right_motor_port=right_foot_motor_port,
ir_sensor_port=ir_sensor_port, ir_beacon_channel=ir_beacon_channel)
self.medium_motor = Motor(port=medium_motor_port)
self.touch_sensor = TouchSensor(port=touch_sensor_port)
self.color_sensor = ColorSensor(port=color_sensor_port)
self.ir_sensor = InfraredSensor(port=ir_sensor_port)
self.ir_beacon_channel = ir_beacon_channel
def __init__(
self,
turn_motor_port: Port = Port.A,
move_motor_port: Port = Port.B,
scare_motor_port: Port = Port.D,
touch_sensor_port: Port = Port.S1, color_sensor_port: Port = Port.S3,
ir_sensor_port: Port = Port.S4, ir_beacon_channel: int = 1):
self.turn_motor = Motor(port=turn_motor_port,
positive_direction=Direction.CLOCKWISE)
self.move_motor = Motor(port=move_motor_port,
positive_direction=Direction.CLOCKWISE)
self.scare_motor = Motor(port=scare_motor_port,
positive_direction=Direction.CLOCKWISE)
self.touch_sensor = TouchSensor(port=touch_sensor_port)
self.color_sensor = ColorSensor(port=color_sensor_port)
self.ir_sensor = InfraredSensor(port=ir_sensor_port)
self.ir_beacon_channel = ir_beacon_channel
def checkForTouch():
touchSensor = TouchSensor(Port.S3)
beepPlz()
t = 0
numberOfTouches = 0
while (t < 1000):
if ( touchSensor.pressed() ):
numberOfTouches += 1
beepPlz()
t += 1
pass
if (numberOfTouches == 0):
routineBlue()
elif (numberOfTouches < 5):
routineYellow()
elif (numberOfTouches < 10):
routineGreen()
else:
routineRed()
beepPlz()
class CuriosityRov3r(IRBeaconRemoteControlledTank, EV3Brick):
WHEEL_DIAMETER = 35 # milimeters
AXLE_TRACK = 130 # milimeters
def __init__(
self,
left_motor_port: Port = Port.B, right_motor_port: Port = Port.C,
medium_motor_port: Port = Port.A,
touch_sensor_port: Port = Port.S1, color_sensor_port: Port = Port.S3,
ir_sensor_port: Port = Port.S4, ir_beacon_channel: int = 1):
super().__init__(
wheel_diameter=self.WHEEL_DIAMETER, axle_track=self.AXLE_TRACK,
left_motor_port=left_motor_port, right_motor_port=right_motor_port,
ir_sensor_port=ir_sensor_port, ir_beacon_channel=ir_beacon_channel)
self.medium_motor = Motor(port=medium_motor_port,
positive_direction=Direction.CLOCKWISE)
self.touch_sensor = TouchSensor(port=touch_sensor_port)
self.color_sensor = ColorSensor(port=color_sensor_port)
self.ir_sensor = InfraredSensor(port=ir_sensor_port)
self.ir_beacon_channel = ir_beacon_channel
def spin_fan(self, speed: float = 1000):
while True:
if self.color_sensor.reflection() > 20:
self.medium_motor.run(speed=speed)
else:
self.medium_motor.stop()
def say_when_touched(self):
while True:
if self.touch_sensor.pressed():
self.screen.load_image(ImageFile.ANGRY)
self.speaker.play_file(file=SoundFile.NO)
self.medium_motor.run_time(
speed=-500,
time=3000,
then=Stop.HOLD,
wait=True)
def main(self, speed: float = 1000):
run_parallel(
self.say_when_touched,
self.spin_fan,
self.keep_driving_by_ir_beacon)
def __init__(self,
steering_motor_port: Port = Port.A,
driving_motor_port: Port = Port.B,
striking_motor_port: Port = Port.D,
touch_sensor_port: Port = Port.S1,
ir_sensor_port: Port = Port.S4,
ir_beacon_channel: int = 1):
self.ev3_brick = EV3Brick()
self.steering_motor = Motor(port=steering_motor_port,
positive_direction=Direction.CLOCKWISE)
self.driving_motor = Motor(port=driving_motor_port,
positive_direction=Direction.CLOCKWISE)
self.striking_motor = Motor(port=striking_motor_port,
positive_direction=Direction.CLOCKWISE)
self.touch_sensor = TouchSensor(port=touch_sensor_port)
self.ir_sensor = InfraredSensor(port=ir_sensor_port)
self.ir_beacon_channel = ir_beacon_channel
def __init__(self,
back_foot_motor_port: Port = Port.C,
front_foot_motor_port: Port = Port.B,
gear_motor_port: Port = Port.A,
touch_sensor_port: Port = Port.S1,
color_sensor_port: Port = Port.S3,
ir_sensor_port: Port = Port.S4,
ir_beacon_channel: int = 1):
self.front_foot_motor = Motor(port=front_foot_motor_port,
positive_direction=Direction.CLOCKWISE)
self.back_foot_motor = Motor(
port=back_foot_motor_port,
positive_direction=Direction.COUNTERCLOCKWISE)
self.gear_motor = Motor(port=gear_motor_port)
self.touch_sensor = TouchSensor(port=touch_sensor_port)
self.color_sensor = ColorSensor(port=color_sensor_port)
self.ir_sensor = InfraredSensor(port=ir_sensor_port)
self.ir_beacon_channel = ir_beacon_channel
def __init__(self,
b_motor_port: Port = Port.B,
c_motor_port: Port = Port.C,
grip_motor_port: Port = Port.A,
touch_sensor_port: Port = Port.S1,
ir_sensor_port: Port = Port.S4,
ir_beacon_channel: int = 1):
self.ev3_brick = EV3Brick()
self.b_motor = Motor(port=b_motor_port,
positive_direction=Direction.CLOCKWISE)
self.c_motor = Motor(port=c_motor_port,
positive_direction=Direction.CLOCKWISE)
self.grip_motor = Motor(port=grip_motor_port,
positive_direction=Direction.CLOCKWISE)
self.touch_sensor = TouchSensor(port=touch_sensor_port)
self.ir_sensor = InfraredSensor(port=ir_sensor_port)
self.ir_beacon_channel = ir_beacon_channel
def gameLoop(blocks_to_deliver):
global brick_state
leftMotor = Motor(Port.B)
rightMotor = Motor(Port.C)
wheels = DriveBase(Motor(Port.B), Motor(Port.C), 56, 114)
uSensor = UltrasonicSensor(Port.S4)
cSensor = ColorSensor(Port.S3)
gSensor = GyroSensor(Port.S2)
ts = TouchSensor(Port.S1)
while not ts.pressed():
# brick.sound.file(SoundFile.MOTOR_IDLE, 1000)
if blocks_delivered >= blocks_to_deliver:
brick_state = Status.WAIT
if brick_state == Status.WAIT:
return
elif brick_state == Status.SEARCHING:
print('STATE: SEARCHING')
t = threading.Thread(target=searchLuggage, args=(wheels, cSensor, gSensor))
t.start()
brick_state = Status.COMPUTING
elif brick_state == Status.CARRYING_LUGGAGE:
print('STATE: CARRYING_LUGGAGE')
t = threading.Thread(target=deliverLuggage, args=(wheels, cSensor, ))
t.start()
brick_state = Status.COMPUTING
elif brick_state == Status.PICKING_UP:
print('STATE: PICKING_UP')
t = threading.Thread(target=doLuggage, args=(wheels, cSensor, True, ))
t.start()
brick_state = Status.COMPUTING
elif brick_state == Status.DEPOSITING:
print('STATE: DEPOSITING')
t = threading.Thread(target=doLuggage, args=(wheels, cSensor,False, ))
t.start()
brick_state = Status.COMPUTING
def __init__(self):
# Sets up the brick
self.ev3 = EV3Brick()
# Identifies which motor is connected to which ports
self.left_leg_motor = Motor(Port.D, Direction.COUNTERCLOCKWISE)
self.right_leg_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE)
# Sets up the gear ratio (automatically translates it to the correct angle)
self.head_motor = Motor(Port.C,
Direction.COUNTERCLOCKWISE,
gears=[[1, 24], [12, 36]])
# Sets up touch sensor
self.touch_sensor = TouchSensor(Port.S1)
# Sets up constants for the eye
self.eyes_timer_1 = StopWatch()
self.eyes_timer_1_end = 0
self.eyes_timer_2 = StopWatch()
self.eyes_timer_2_end = 0
self.eyes_closed = False
class El3ctricGuitar:
NOTES = [1318, 1174, 987, 880, 783, 659, 587, 493, 440, 392, 329, 293]
N_NOTES = len(NOTES)
def __init__(self,
lever_motor_port: Port = Port.D,
touch_sensor_port: Port = Port.S1,
ir_sensor_port: Port = Port.S4):
self.ev3_brick = EV3Brick()
self.lever_motor = Motor(port=lever_motor_port,
positive_direction=Direction.CLOCKWISE)
self.touch_sensor = TouchSensor(port=touch_sensor_port)
self.ir_sensor = InfraredSensor(port=ir_sensor_port)
def start_up(self):
self.ev3_brick.screen.load_image(ImageFile.EV3)
self.ev3_brick.light.on(color=Color.ORANGE)
self.lever_motor.run_time(speed=50,
time=1000,
then=Stop.COAST,
wait=True)
self.lever_motor.run_angle(speed=50,
rotation_angle=-30,
then=Stop.BRAKE,
wait=True)
wait(100)
self.lever_motor.reset_angle(angle=0)
def play_note(self):
if not self.touch_sensor.pressed():
raw = sum(self.ir_sensor.distance() for _ in range(4)) / 4
self.ev3_brick.speaker.beep(
frequency=self.NOTES[min(int(raw / 5), self.N_NOTES - 1)] -
11 * self.lever_motor.angle(),
duration=100)
wait(1)
