def slide(robot):
robot.stop()
motor_b, motor_c = Motor(Port.B,
positive_direction=Direction.CLOCKWISE), Motor(
Port.C,
positive_direction=Direction.CLOCKWISE)
robot = DriveBase(motor_b, motor_c, wheel_diameter=94.2, axle_track=95)
robot.straight(220)
wait(500)
# robot.stop()
while gyro.angle() < 265:
robot.drive(-100, 80)
dead_stop()
motor_a.run_angle(1500, -1000, then=Stop.HOLD, wait=False)
robot.straight(515)
dead_stop()
robot.turn(125) # 105
robot.stop()
motor_b, motor_c = Motor(
Port.B, positive_direction=Direction.COUNTERCLOCKWISE), Motor(
Port.C, positive_direction=Direction.COUNTERCLOCKWISE)
robot = DriveBase(motor_b, motor_c, wheel_diameter=94.2, axle_track=95)
robot.straight(200)
robot.turn(70)
robot.turn(-60)
LineFollow(100, 1.05, robot, 50)
robot.straight(250)
def GreenMission(): # Green Run (Boccia Frame, Boccia Share, and Dance Mission)
#!/usr/bin/env pybricks-micropython
from pybricks.hubs import EV3Brick
from pybricks.ev3devices import (Motor, TouchSensor, ColorSensor,
InfraredSensor, UltrasonicSensor, GyroSensor)
from pybricks.parameters import Port, Stop, Direction, Button, Color
from pybricks.tools import wait, StopWatch, DataLog
from pybricks.robotics import DriveBase
from pybricks.media.ev3dev import SoundFile, ImageFile
# This program requires LEGO EV3 MicroPython v2.0 or higher.
# Click "Open user guide" on the EV3 extension tab for more information.
# Create your objects here.
ev3 = EV3Brick()
left_motor = Motor(Port.C)
right_motor = Motor(Port.B)
medium_motor = Motor(Port.A)
front_largeMotor = Motor(Port.D)
wheel_diameter = 56
axle_track = 114.3
robot = DriveBase(left_motor, right_motor, wheel_diameter, axle_track)
## Write your code here:
robot.settings(300) # Speed Change
## The robot goes straight until the Boccia Mission's target.
robot.straight(1050)
## The robot moves the large motor down to drop the cubes into the target.
front_largeMotor.run_angle(80, 110, then=Stop.HOLD, wait=True)
## BOCCIA SHARE !!!
robot.straight(-220)
robot.turn(-100)
robot.straight(135)
front_largeMotor.run_angle(-80, 105, then=Stop.HOLD, wait=True)
robot.straight(-60)
robot.turn(-100)
robot.straight(-80)
# This is the DANCE Mission!
robot.turn(-100)
robot.turn(100)
robot.turn(-100)
robot.turn(100)
robot.turn(-100)
robot.turn(100)
robot.turn(-100)
robot.turn(100)
robot.stop(Stop.BRAKE)
def BlackMission(): # Black Run (Innovatice Architecture, Health Units, Hopscotch, Bringing Slide Figures back HOME)
#!/usr/bin/env pybricks-micropython
from pybricks.hubs import EV3Brick
from pybricks.ev3devices import (Motor, TouchSensor, ColorSensor,
InfraredSensor, UltrasonicSensor, GyroSensor)
from pybricks.parameters import Port, Stop, Direction, Button, Color
from pybricks.tools import wait, StopWatch, DataLog
from pybricks.robotics import DriveBase
from pybricks.media.ev3dev import SoundFile, ImageFile
# This program requires LEGO EV3 MicroPython v2.0 or higher.
# Click "Open user guide" on the EV3 extension tab for more information.
# define your variables
ev3 = EV3Brick()
left_motor = Motor(Port.C)
right_motor = Motor(Port.B)
medium_motor = Motor(Port.A)
large_motor = Motor(Port.D)
wheel_diameter = 56
axle_track = 115
line_sensor = ColorSensor(Port.S2)
line_sensor1 = ColorSensor(Port.S3)
robot = DriveBase(left_motor, right_motor, wheel_diameter, axle_track)
robot.settings(140) # To change the SPEED
# Pushing our innovative architecture and the health units.
robot.straight(350)
robot.straight(-97)
robot.turn(-40)
robot.straight(40)
# Dropping the cube into hopscotch area and returning back to base.
large_motor.run_angle(30,50,then=Stop.HOLD, wait=True)
ev3.speaker.beep(15)
large_motor.run_angle(60,-180,then=Stop.HOLD, wait=False)
robot.turn(30)
robot.straight(-300)
# (In base) Wait block for attachment change.
wait(6000)
# Bringing slide figures to base.
robot.stop(Stop.BRAKE)
robot.settings(240) # Speed change
ev3.speaker.beep(20)
robot.straight(390)
ev3.speaker.beep(300)
large_motor.run_angle(60,130)
robot.straight(-90)
large_motor.run_angle(60,40,then=Stop.HOLD, wait=True)
robot.straight(-500)
large_motor.run_angle(60,-100,then=Stop.HOLD, wait=True)
robot.stop(Stop.BRAKE)
def return_home():
# Initialize two motors and a drive base
left = Motor(Port.B)
right = Motor(Port.C)
robot = DriveBase(left, right, 56, 114)
# Initialize a sensor
sensor = UltrasonicSensor(Port.S4)
# Drive forward until an object is detected
robot.drive(100, 0)
while sensor.distance() > 500:
wait(10)
robot.stop()
def BlackMission():
#!/usr/bin/env pybricks-micropython
from pybricks.hubs import EV3Brick
from pybricks.ev3devices import (Motor, TouchSensor, ColorSensor,
InfraredSensor, UltrasonicSensor, GyroSensor)
from pybricks.parameters import Port, Stop, Direction, Button, Color
from pybricks.tools import wait, StopWatch, DataLog
from pybricks.robotics import DriveBase
from pybricks.media.ev3dev import SoundFile, ImageFile
# This program requires LEGO EV3 MicroPython v2.0 or higher.
# Click "Open user guide" on the EV3 extension tab for more information.
#define your variables
ev3 = EV3Brick()
left_motor = Motor(Port.C)
right_motor = Motor(Port.B)
medium_motor = Motor(Port.A)
large_motor = Motor(Port.D)
wheel_diameter = 56
axle_track = 115
line_sensor = ColorSensor(Port.S2)
line_sensor1 = ColorSensor(Port.S3)
robot = DriveBase(left_motor, right_motor, wheel_diameter, axle_track)
robot.settings(140)
robot.straight(350)
robot.straight(-97)
robot.turn(-40)
large_motor.run_angle(30,50,then=Stop.HOLD, wait=True)
ev3.speaker.beep(15)
large_motor.run_angle(60,-180,then=Stop.HOLD, wait=False)
robot.straight(-300)
wait(10000)
robot.stop(Stop.BRAKE)
robot.settings(240)
ev3.speaker.beep(20)
robot.straight(390)
ev3.speaker.beep(300)
large_motor.run_angle(60,130)
robot.straight(-90)
large_motor.run_angle(60,40,then=Stop.HOLD, wait=True)
robot.straight(-500)
# test straight after beep and see if it works...
robot.stop(Stop.BRAKE)
def RedMission(): # Red Run (Bench Mission (including backrest removal))
#!/usr/bin/env pybricks-micropython
from pybricks.hubs import EV3Brick
from pybricks.ev3devices import (Motor, TouchSensor, ColorSensor,
InfraredSensor, UltrasonicSensor, GyroSensor)
from pybricks.parameters import Port, Stop, Direction, Button, Color
from pybricks.tools import wait, StopWatch, DataLog
from pybricks.robotics import DriveBase
from pybricks.media.ev3dev import SoundFile, ImageFile
# This program requires LEGO EV3 MicroPython v2.0 or higher.
# Click "Open user guide" on the EV3 extension tab for more information.
# Create your objects here.
ev3 = EV3Brick()
left_motor = Motor(Port.C)
right_motor = Motor(Port.B)
wheel_diameter = 56
axle_track = 115
robot = DriveBase(left_motor, right_motor, wheel_diameter, axle_track)
Medium_Motor = Motor(Port.A)
Large_Motor = Motor(Port.D)
leftcolorsensor = ColorSensor(Port.S3)
rightcolorsensor = ColorSensor(Port.S2)
robot.settings(300) # Speed change
# Starts off from base and approaches the bench model.
robot.straight(200)
robot.turn(-115)
# Removes backrest and flattens the bench.
Medium_Motor.run_angle(300, 135, then=Stop.HOLD, wait=True)
robot.stop(Stop.BRAKE)
robot.settings(500)
robot.turn(-60)
# Returns to base.
robot.straight(400)
Large_Motor.run_angle(80, 95, then=Stop.HOLD, wait=True)
robot.stop(Stop.BRAKE)
class Driver():
def __init__(self, leftMotor, rightMotor, diameter, axle):
self.driver = DriveBase(leftMotor, rightMotor, diameter, axle)
self.x = 0
self.y = 0
self.speed = 0
self.steering = 0
def drive(self, speed, steering):
self.speed = speed
self.steering = steering
if self.speed == 0:
self.driver.stop()
else:
self.driver.drive(self.speed, self.steering)
def init_robot():
#####Initialization###########################################################################
logging.info("####################################")
logging.info("Initializing the robot.")
#Define Global Variables
global Left_Motor
global Right_Motor
global Med_Motor_1
global Med_Motor_2
global Right_Color_Sensor
global Left_Color_Sensor
global Gyro
global Touch_Sensor
global Robot
global Max_Speed
global Target_Reflection
Target_Reflection = 35
#initialize Motors
Left_Motor = Motor(Port.C)
Right_Motor = Motor(Port.D)
Med_Motor_1 = Motor(Port.A)
Med_Motor_2 = Motor(Port.B)
#Left_Motor.set_run_settings(1000, 100)
#Right_Motor.set_run_settings(1000, 100)
#Initialize Sensors
Left_Color_Sensor = ColorSensor(Port.S2)
Right_Color_Sensor = ColorSensor(Port.S3)
#Set Wheel Diameters and Axle Length
WheelDiameter = 55 #42 # diameter of the wheel in mm
AxleLength = 128 #112 # distance between the middle of the two wheels in mm
#####The drivebase function helps to drive the robot. This is initialization of the drivebase
Robot = DriveBase(Left_Motor, Right_Motor, WheelDiameter, AxleLength)
Max_Speed = 70
Robot.stop(0)
brick.sound.file('/home/robot/FLL2019/boing_spring.wav')
logging.info("Initializing complete.")
logging.info("####################################")
def Treadmill(robot):
moveTank(-300, 95, -130)
robot.turn(105)
robot.stop()
motor_b, motor_c = Motor(
Port.B, positive_direction=Direction.COUNTERCLOCKWISE), Motor(
Port.C, positive_direction=Direction.COUNTERCLOCKWISE)
robot = DriveBase(motor_b, motor_c, wheel_diameter=94.2, axle_track=95)
LineFollow(70, 1.05, robot, 200)
robot.turn(28)
robot.straight(180)
robot.turn(-28)
motor_d.run_time(-500, 1000, then=Stop.COAST, wait=False)
robot.straight(70)
wait(1000)
motor_d.run_time(-200, 10000, then=Stop.COAST, wait=True)
robot.stop()
def GreenMission(): # Green Run (Boccia Frame, Boccia Share, and Dance Mission)
# RIGHT BUTTON
#!/usr/bin/env pybricks-micropython
from pybricks.hubs import EV3Brick
from pybricks.ev3devices import (Motor, TouchSensor, ColorSensor,
InfraredSensor, UltrasonicSensor, GyroSensor)
from pybricks.parameters import Port, Stop, Direction, Button, Color
from pybricks.tools import wait, StopWatch, DataLog
from pybricks.robotics import DriveBase
from pybricks.media.ev3dev import SoundFile, ImageFile
# This program requires LEGO EV3 MicroPython v2.0 or higher.
# Click "Open user guide" on the EV3 extension tab for more information.
# Create your objects here.
ev3 = EV3Brick()
left_motor = Motor(Port.C)
right_motor = Motor(Port.B)
medium_motor = Motor(Port.A)
front_largeMotor = Motor(Port.D)
wheel_diameter = 56
axle_track = 114.3
robot = DriveBase(left_motor, right_motor, wheel_diameter, axle_track)
robot.settings(300)
robot.straight(1050)
front_largeMotor.run_angle(80, 110, then=Stop.HOLD, wait=True)
front_largeMotor.run_angle(80, -110, then=Stop.HOLD, wait=False)
robot.straight(-1100)
wait(7000)
robot.straight(380)
front_largeMotor.run_angle(60,90)
robot.straight(-150)
front_largeMotor.run_angle(60,40,then=Stop.HOLD, wait=True)
robot.straight(-500)
front_largeMotor.run_angle(60,-130,then=Stop.HOLD, wait=True)
ev3.speaker.beep(7000)
robot.stop(Stop.BRAKE)
def BlackMission(
): # Black Run (Innovatice Architecture, Health Units, Hopscotch, Bringing Slide Figures back HOME)
#!/usr/bin/env pybricks-micropython
from pybricks.hubs import EV3Brick
from pybricks.ev3devices import (Motor, TouchSensor, ColorSensor,
InfraredSensor, UltrasonicSensor,
GyroSensor)
from pybricks.parameters import Port, Stop, Direction, Button, Color
from pybricks.tools import wait, StopWatch, DataLog
from pybricks.robotics import DriveBase
from pybricks.media.ev3dev import SoundFile, ImageFile
# This program requires LEGO EV3 MicroPython v2.0 or higher.
# Click "Open user guide" on the EV3 extension tab for more information.
# define your variables
ev3 = EV3Brick()
left_motor = Motor(Port.C)
right_motor = Motor(Port.B)
medium_motor = Motor(Port.A)
large_motor = Motor(Port.D)
wheel_diameter = 56
axle_track = 115
line_sensor = ColorSensor(Port.S2)
line_sensor1 = ColorSensor(Port.S3)
robot = DriveBase(left_motor, right_motor, wheel_diameter, axle_track)
robot.settings(500) # To change the SPEED
# Pushing our innovative architecture and the health units.
robot.straight(-350)
robot.straight(50)
robot.turn(-15)
robot.straight(-70)
robot.turn(-206)
robot.straight(15)
large_motor.run_angle(60, 80, then=Stop.HOLD, wait=True)
robot.stop(Stop.BRAKE)
robot.straight(-340)
robot.stop(Stop.BRAKE)
def erstes():
ev3.speaker.beep()
m_r = Motor(Port.C, Direction.COUNTERCLOCKWISE)
m_l = Motor(Port.B, Direction.COUNTERCLOCKWISE)
db = DriveBase(m_l, m_r, wheel_diameter=30, axle_track=140)
db.straight(distance=50)
db.turn(90)
db.straight(distance=-50)
# play some sound and get angry
#im = Image('./Angry.bmp')
im = ImageFile.ANGRY
ev3.screen.load_image(im)
ev3.speaker.play_file(SoundFile.CAT_PURR)
# drive up to a distance of 100 mm
db.drive(speed=10, turn_rate=0) # start driving
while abs(db.distance()) < 100:
time.sleep(0.1) # wait 100 msec before querying distance again
db.stop()
class Ev3rstorm(EV3Brick):
WHEEL_DIAMETER = 26 # milimeters
AXLE_TRACK = 102 # milimeters
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 drive_once_by_ir_beacon(
self,
speed: float = 1000, # mm/s
turn_rate: float = 90 # rotational speed deg/s
):
ir_beacon_button_pressed = set(
self.ir_sensor.buttons(channel=self.ir_beacon_channel))
# forward
if ir_beacon_button_pressed == {Button.LEFT_UP, Button.RIGHT_UP}:
self.drive_base.drive(speed=speed, turn_rate=0)
# backward
elif ir_beacon_button_pressed == {Button.LEFT_DOWN, Button.RIGHT_DOWN}:
self.drive_base.drive(speed=-speed, turn_rate=0)
# turn left on the spot
elif ir_beacon_button_pressed == {Button.LEFT_UP, Button.RIGHT_DOWN}:
self.drive_base.drive(speed=0, turn_rate=-turn_rate)
# turn right on the spot
elif ir_beacon_button_pressed == {Button.RIGHT_UP, Button.LEFT_DOWN}:
self.drive_base.drive(speed=0, turn_rate=turn_rate)
# turn left forward
elif ir_beacon_button_pressed == {Button.LEFT_UP}:
self.drive_base.drive(speed=speed, turn_rate=-turn_rate)
# turn right forward
elif ir_beacon_button_pressed == {Button.RIGHT_UP}:
self.drive_base.drive(speed=speed, turn_rate=turn_rate)
# turn left backward
elif ir_beacon_button_pressed == {Button.LEFT_DOWN}:
self.drive_base.drive(speed=-speed, turn_rate=turn_rate)
# turn right backward
elif ir_beacon_button_pressed == {Button.RIGHT_DOWN}:
self.drive_base.drive(speed=-speed, turn_rate=-turn_rate)
# otherwise stop
else:
self.drive_base.stop()
def keep_driving_by_ir_beacon(
self,
speed: float = 1000, # mm/s
turn_rate: float = 90 # rotational speed deg/s
):
while True:
self.drive_once_by_ir_beacon(speed=speed, turn_rate=turn_rate)
def dance_whenever_ir_beacon_pressed(self):
while True:
while Button.BEACON in self.ir_sensor.buttons(
channel=self.ir_beacon_channel):
self.drive_base.turn(angle=randint(-360, 360))
def keep_detecting_objects_by_ir_sensor(self):
while True:
if self.ir_sensor.distance() < 25:
self.light.on(color=Color.RED)
self.speaker.play_file(file=SoundFile.OBJECT)
self.speaker.play_file(file=SoundFile.DETECTED)
self.speaker.play_file(file=SoundFile.ERROR_ALARM)
else:
self.light.off()
def blast_bazooka_whenever_touched(self):
MEDIUM_MOTOR_N_ROTATIONS_PER_BLAST = 3
MEDIUM_MOTOR_ROTATIONAL_DEGREES_PER_BLAST = MEDIUM_MOTOR_N_ROTATIONS_PER_BLAST * 360
while True:
if self.touch_sensor.pressed():
if self.color_sensor.ambient() < 5: # 15 not dark enough
self.speaker.play_file(file=SoundFile.UP)
self.bazooka_blast_motor.run_angle(
speed=2 *
MEDIUM_MOTOR_ROTATIONAL_DEGREES_PER_BLAST, # shoot quickly in half a second
rotation_angle=
-MEDIUM_MOTOR_ROTATIONAL_DEGREES_PER_BLAST,
then=Stop.HOLD,
wait=True)
self.speaker.play_file(file=SoundFile.LAUGHING_1)
else:
self.speaker.play_file(file=SoundFile.DOWN)
self.bazooka_blast_motor.run_angle(
speed=2 *
MEDIUM_MOTOR_ROTATIONAL_DEGREES_PER_BLAST, # shoot quickly in half a second
rotation_angle=
MEDIUM_MOTOR_ROTATIONAL_DEGREES_PER_BLAST,
then=Stop.HOLD,
wait=True)
self.speaker.play_file(file=SoundFile.LAUGHING_2)
def main(
self,
driving_speed: float = 1000 # mm/s
):
self.screen.load_image(ImageFile.TARGET)
# FIXME: following thread seems to fail to run
Thread(target=self.dance_whenever_ir_beacon_pressed).start()
# DON'T use IR Sensor in 2 different modes in the same program / loop
# - https://github.com/pybricks/support/issues/62
# - https://github.com/ev3dev/ev3dev/issues/1401
# Thread(target=self.keep_detecting_objects_by_ir_sensor).start()
Thread(target=self.blast_bazooka_whenever_touched).start()
self.keep_driving_by_ir_beacon(speed=driving_speed)
def YellowMission():
#!/usr/bin/env pybricks-micropython
from pybricks.hubs import EV3Brick
from pybricks.ev3devices import (Motor, TouchSensor, ColorSensor,
InfraredSensor, UltrasonicSensor,
GyroSensor)
from pybricks.parameters import Port, Stop, Direction, Button, Color
from pybricks.tools import wait, StopWatch, DataLog
from pybricks.robotics import DriveBase
from pybricks.media.ev3dev import SoundFile, ImageFile
# This program requires LEGO EV3 MicroPython v2.0 or higher.
# Click "Open user guide" on the EV3 extension tab for more information.
# Create your objects here.
ev3 = EV3Brick()
left_motor = Motor(Port.C)
right_motor = Motor(Port.B)
medium_motor = Motor(Port.A)
front_largeMotor = Motor(Port.D)
wheel_diameter = 56
axle_track = 115
robot = DriveBase(left_motor, right_motor, wheel_diameter, axle_track)
# Initialize the color sensor.
line_sensor = ColorSensor(Port.S2)
line_sensor2 = ColorSensor(Port.S3)
robot.straight(110)
# Calculate the light threshold. Choose values based on your measurements.
BLACK = 9
WHITE = 85
threshold = (BLACK + WHITE) / 2
# Set the drive speed at 100 millimeters per second.
DRIVE_SPEED = 100
# Set the gain of the proportional line controller. This means that for every
# percentage point of light deviating from the threshold, we set the turn
# rate of the drivebase to 1.2 degrees per second.
# For example, if the light value deviates from the threshold by 10, the robot
# steers at 10*1.2 = 12 degrees per second.
PROPORTIONAL_GAIN = 1.2
runWhile = True
# Start following the line endlessly.
while runWhile:
# Calculate the deviation from the threshold.
deviation = line_sensor.reflection() - threshold
# Calculate the turn rate.
turn_rate = PROPORTIONAL_GAIN * deviation
# Set the drive base speed and turn rate.
robot.drive(DRIVE_SPEED, turn_rate)
if robot.distance() == 800:
runWhile = False
robot.stop(Stop.BRAKE)
robot.drive(100, 0)
if line_sensor2 and cl.Color() == Color.BLACK:
robot.stop(Stop.BRAKE)
# robot stops after finishing up line following code
robot.stop(Stop.BRAKE)
# robot turns after finishing up line following code
robot.turn(-103.5)
# robot goes straight as it heads towards the mission
robot.straight(138)
# robot turns right for 90 degrees
robot.turn(80)
# robot goes straight towards the mission to line the attachment to the wheel
robot.straight(97)
# large motor attachment goes down to trap the wheel in
front_largeMotor.run_angle(60, 162)
# robot moves backwards to bring wheel outside of the large circle
robot.straight(-115)
# large motor releases the trapped tire
front_largeMotor.run_angle(60, -148)
# robot moves straight to get closer the wheel
robot.straight(38)
# robot turns so the wheel can get into the smaller target
robot.turn(-40)
robot.stop(Stop.BRAKE)
# robot goes backwards to leave the target and the wheel inside of it
robot.straight(-110)
# robot turns towards the weight machine
robot.turn(-30)
# going straight from row machine to weight machine
robot.straight(505)
# stopping for accuracy.
robot.stop(Stop.BRAKE)
# turning towards the weight machine.
robot.turn(30)
# robot goes straight to get closer to the weight machine
robot.straight(145)
# large motor going down to complete mission (weight machine).
front_largeMotor.run_angle(120, 130)
# going backwards away from the weight machine
robot.straight(-120)
# large motor goes back up
# front_largeMotor.run_angle(50, -100)
## The robot is turning away from the Weight Machine and towards the Boccia.
robot.turn(-127)
## The robot is moving straight towards the Boccia Mission.
robot.straight(290)
# the robot turns right to turn the aim boccia with the yellow axle on the bottom of the bot.
robot.turn(60)
# robot.straight(-10)
# robot.turn(15)
# front_largeMotor.run_angle(50, 60)
# robot.straight(55)
# the large motor goes up to push the yellow cube down into the target area.
front_largeMotor.run_angle(50, -50)
robot.straight(-100)
robot.turn(-45)
robot.straight(900)
robot.turn(25)
robot.straight(700)
def RedMission1():
#!/usr/bin/env pybricks-micropython
from pybricks.hubs import EV3Brick
from pybricks.ev3devices import (Motor, TouchSensor, ColorSensor,
InfraredSensor, UltrasonicSensor,
GyroSensor)
from pybricks.parameters import Port, Stop, Direction, Button, Color
from pybricks.tools import wait, StopWatch, DataLog
from pybricks.robotics import DriveBase
from pybricks.media.ev3dev import SoundFile, ImageFile
# This program requires LEGO EV3 MicroPython v2.0 or higher.
# Click "Open user guide" on the EV3 extension tab for more information.
# Create your objects here.
ev3 = EV3Brick()
left_motor = Motor(Port.C)
right_motor = Motor(Port.B)
wheel_diameter = 56
axle_track = 115
robot = DriveBase(left_motor, right_motor, wheel_diameter, axle_track)
Medium_Motor = Motor(Port.A)
Large_Motor = Motor(Port.D)
leftcolorsensor = ColorSensor(Port.S3)
rightcolorsensor = ColorSensor(Port.S2)
#####
BLACK = 9
WHITE = 85
threshold = (BLACK + WHITE) / 2
######
robot.straight(320)
robot.turn(110)
while True:
robot.drive(90, 0)
if leftcolorsensor.reflection() <= 9:
robot.stop(Stop.BRAKE)
break
robot.turn(-110)
robot.straight(200)
# Calculate the light threshold. Choose values based on your measurements.
BLACK = 6
WHITE = 85
threshold = (BLACK + WHITE) / 2
# Set the drive speed at 100 millimeters per second.
DRIVE_SPEED = 110
# Set the gain of the proportional line controller. This means that for every
# percentage point of light deviating from the threshold, we set the turn
# rate of the drivebase to 1.2 degrees per second.
# For example, if the light value deviates from the threshold by 10, the robot
# steers at 10*1.2 = 12 degrees per second.
PROPORTIONAL_GAIN = 1.2
runWhile = True
# Start following the line endlessly.
while runWhile:
# Calculate the deviation from the threshold.
deviation = rightcolorsensor.reflection() - threshold
# Calculate the turn rate.
turn_rate = PROPORTIONAL_GAIN * deviation
# Set the drive base speed and turn rate.
robot.drive(DRIVE_SPEED, turn_rate)
if robot.distance() == 1000:
runWhile = False
# robot stops after finishing up line following code
robot.stop(Stop.BRAKE)
robot.straight(-40)
robot.turn(-50)
robot.straight(145)
Large_Motor.run_angle(50, 90, then=Stop.HOLD, wait=True)
#robot continues run, to do Boccia mission
while True:
robot.drive(-80, 0)
if leftcolorsensor.reflection() <= 10:
robot.stop(Stop.BRAKE)
break
robot.straight(80)
robot.turn(60)
robot.straight(100)
Large_Motor.run_angle(-50, 150, then=Stop.HOLD, wait=True)
robot.straight(-40)
Large_Motor.run_angle(50, 150, then=Stop.HOLD, wait=True)
robot.straight(-40)
while True:
robot.drive(-80, 0)
if leftcolorsensor.reflection() <= 9:
robot.stop(Stop.BRAKE)
break
robot.straight(40)
robot.turn(-85)
robot.straight(340)
robot.turn(165)
robot.straight(55)
Large_Motor.run_angle(-50, 150, then=Stop.HOLD, wait=True)
robot.straight(20)
Medium_Motor.run_angle(150, 250, then=Stop.HOLD, wait=True)
robot.turn(70)
Medium_Motor.run_angle(-150, 250, then=Stop.HOLD, wait=True)
robot.turn(-20)
robot.straight(-35)
Medium_Motor.run_angle(150, 250, then=Stop.HOLD, wait=True)
robot.turn(30)
robot.straight(-130)
def BlueMission():
#!/usr/bin/env pybricks-micropython
from pybricks.hubs import EV3Brick
from pybricks.ev3devices import (Motor, TouchSensor, ColorSensor,
InfraredSensor, UltrasonicSensor,
GyroSensor)
from pybricks.parameters import Port, Stop, Direction, Button, Color
from pybricks.tools import wait, StopWatch, DataLog
from pybricks.robotics import DriveBase
from pybricks.media.ev3dev import SoundFile, ImageFile
# This program requires LEGO EV3 MicroPython v2.0 or higher.
# Click "Open user guide" on the EV3 extension tab for more information.
#define your variables
ev3 = EV3Brick()
left_motor = Motor(Port.C)
right_motor = Motor(Port.B)
medium_motor = Motor(Port.A)
large_motor = Motor(Port.D)
wheel_diameter = 56
axle_track = 115
line_sensor = ColorSensor(Port.S2)
line_sensor1 = ColorSensor(Port.S3)
robot = DriveBase(left_motor, right_motor, wheel_diameter, axle_track)
#go front towards the step counter
robot.straight(650)
robot.stop(Stop.BRAKE)
wait(20)
#makes the robot go slower
robot.settings(40)
#slowly pushes the step counter by going back and front 2 times
robot.straight(140)
robot.stop(Stop.BRAKE)
robot.straight(-45)
robot.stop(Stop.BRAKE)
robot.straight(120)
robot.stop(Stop.BRAKE)
robot.settings(100)
robot.straight(-30)
robot.stop(Stop.BRAKE)
#the robot then turns and goes backwards
robot.turn(45)
robot.straight(-100)
# the robot then goes back until the right color sensor detects back
while True:
robot.drive(-30, 0)
if line_sensor.color() == Color.BLACK:
robot.stop(Stop.BRAKE)
break
#the large motor attatchment comes down at the same time the robot takes a turn towards the black line underneath the pull up bar
large_motor.run_angle(50, 170, then=Stop.HOLD, wait=False)
left_motor.run_angle(50, -300, then=Stop.HOLD, wait=True)
#the robot then goes straight towards that line
robot.straight(120)
robot.stop(Stop.BRAKE)
#robot continues to go forwards until the left color sensor detects black
while True:
robot.drive(30, 0)
if line_sensor.color() == Color.BLACK:
robot.stop(Stop.BRAKE)
break
right_motor.run_angle(50, 150, then=Stop.HOLD, wait=True)
#the robot then turns with the right motor until it detects black
while True:
right_motor.run(85)
if line_sensor.color() == Color.BLACK:
robot.stop(Stop.BRAKE)
break
#follows the line underneath the pull up bar until the leftsensor detects black
BLACK = 9
WHITE = 85
threshold = (BLACK + WHITE) / 2
# Set the drive speed at 100 millimeters per second.
DRIVE_SPEED = 100
# Set the gain of the proportional line controller. This means that for every
PROPORTIONAL_GAIN = 1.2
runWhile = True
robot.reset()
while True:
# Calculate the deviation from the threshold.
deviation = line_sensor.reflection() - threshold
# Calculate the turn rate.
turn_rate = PROPORTIONAL_GAIN * deviation
# Set the drive base speed and turn rate.
robot.drive(DRIVE_SPEED, turn_rate)
wait(10)
print(line_sensor.color())
if line_sensor1.color() == Color.BLACK:
robot.stop(Stop.BRAKE)
break
#the robot then turns towards the boccia aim and moves straight to push it towards the target and finishes the misison
robot.straight(100) #after line following, it goes straight for 100 mm
robot.turn(50)
robot.straight(100)
robot.straight(-30)
large_motor.run_angle(100, -65)
robot.straight(-60)
#the robot then takes a turn (at the same time bringing the attatchment down) towards the slide mission and completes the mission
large_motor.run_angle(50, 80, then=Stop.HOLD, wait=False)
robot.turn(-195)
robot.straight(165)
large_motor.run_angle(300, -120, then=Stop.HOLD, wait=True)
robot.straight(-30)
large_motor.run_angle(200, 120, then=Stop.HOLD, wait=True)
## The robot moves straight towards the mission, getting ready to attempt to push the slide figures off once more. (In case it didn't work before.)
robot.straight(30)
large_motor.run_angle(300, -120, then=Stop.HOLD, wait=True)
robot.straight(-50)
'''
def BlackandGreen():
#!/usr/bin/env pybricks-micropython
from pybricks.hubs import EV3Brick
from pybricks.ev3devices import (Motor, TouchSensor, ColorSensor,
InfraredSensor, UltrasonicSensor,
GyroSensor)
from pybricks.parameters import Port, Stop, Direction, Button, Color
from pybricks.tools import wait, StopWatch, DataLog
from pybricks.robotics import DriveBase
from pybricks.media.ev3dev import SoundFile, ImageFile
# This program requires LEGO EV3 MicroPython v2.0 or higher.
# Click "Open user guide" on the EV3 extension tab for more information.
#define your variables
ev3 = EV3Brick()
left_motor = Motor(Port.C)
right_motor = Motor(Port.B)
medium_motor = Motor(Port.A)
large_motor = Motor(Port.D)
wheel_diameter = 56
axle_track = 115
line_sensor = ColorSensor(Port.S2)
line_sensor1 = ColorSensor(Port.S3)
robot = DriveBase(left_motor, right_motor, wheel_diameter, axle_track)
#follows the line underneath the pull up bar until the leftsensor detects black
BLACK = 9
WHITE = 85
threshold = (BLACK + WHITE) / 2
# Set the drive speed at 100 millimeters per second.
DRIVE_SPEED = 100
# Set the gain of the proportional line controller. This means that for every
PROPORTIONAL_GAIN = 1.2
runWhile = True
#goes straight to get ready for line following then resets the distance
robot.straight(250)
robot.reset()
#starts to follow the line towards the replay logo
while True:
# Calculate the deviation from the threshold.
deviation = line_sensor.reflection() - threshold
# Calculate the turn rate.
turn_rate = PROPORTIONAL_GAIN * deviation
# Set the drive base speed and turn rate.
robot.drive(DRIVE_SPEED, turn_rate)
wait(10)
print(robot.distance())
if (robot.distance() >= 450):
robot.stop(Stop.BRAKE)
break
#the robot pushes the phone into the replay logo and moves back to get ready to drop the health units into the replay logo
robot.straight(-75)
robot.stop(Stop.BRAKE)
#the robot then turns so it is going to be perfectly into the replay logo
robot.turn(-35)
#the robot drops the health units
large_motor.run_angle(100, 150)
#then turns to an angle to go back to base
robot.turn(50)
robot.straight(-1000)
wait(50)
#!/usr/bin/env pybricks-micropython
from pybricks.hubs import EV3Brick
from pybricks.ev3devices import (Motor, TouchSensor, ColorSensor,
InfraredSensor, UltrasonicSensor,
GyroSensor)
from pybricks.parameters import Port, Stop, Direction, Button, Color
from pybricks.tools import wait, StopWatch, DataLog
from pybricks.robotics import DriveBase
from pybricks.media.ev3dev import SoundFile, ImageFile
# This program requires LEGO EV3 MicroPython v2.0 or higher.
# Click "Open user guide" on the EV3 extension tab for more information.
# Create your objects here.
ev3 = EV3Brick()
left_motor = Motor(Port.C)
right_motor = Motor(Port.B)
medium_motor = Motor(Port.A)
front_largeMotor = Motor(Port.D)
wheel_diameter = 56
axle_track = 114.3
robot = DriveBase(left_motor, right_motor, wheel_diameter, axle_track)
## Write your code here:
## The robot goes straight until the Boccia Mission's target.
robot.straight(1060)
## The robot moves the large motor down to drop the cubes in the target.
front_largeMotor.run_angle(80, 70, then=Stop.HOLD, wait=True)
front_largeMotor.run_angle(-80, 70, then=Stop.HOLD, wait=True)
## Dance Mission
## The robot moves backwards to reach the Dance Floor so it can Dance as the last mission.
robot.straight(-185)
robot.turn(-70)
robot.straight(138)
## The following code is all the dance moves we do for the Dance Mission.
robot.turn(160)
robot.turn(-160)
robot.straight(60)
front_largeMotor.run_target(500, 60)
front_largeMotor.run_target(500, -40)
robot.straight(-60)
robot.turn(260)
robot.turn(-260)
robot.turn(100)
robot.straight(40)
robot.turn(100)
front_largeMotor.run_angle(500, 30)
while x < 2:
print("Side 1")
robot.drive_time(500, 0, 2000)
motorA.run(250)
motorC.run(-250)
gs.reset_angle(0)
while gs.angle() >= -75:
wait(50)
print("Gyro Angle :", gs.angle())
if gs.angle() <= -75:
robot.stop(Stop.BRAKE)
robot.stop(Stop.BRAKE)
robot.drive_time(500, 0, 3500)
print("side 2")
motorA.run(250)
motorC.run(-250)
gs.reset_angle(0)
while gs.angle() <= 75 or gs.angle() >= -75:
wait(50)
print("Gyro Angle :", gs.angle())
wait(200) ## turn back then turn some more
onMat = color.reflection()
#onMat = color.color()
ford.drive(-15, 0)
go = 'false'
while go != 'true':
go = get_from_system_link('Start19', ROGERS)
print(go)
#send_to_system_link('Start19', "BOOLEAN", 'true', ROGERS)
#wait(1000)
#go = get_from_system_link('Start19', ROGERS)
#print(go)
dinoFlag4 = get_from_system_link('dino4', STRONG)
print('dinoFlag is', dinoFlag4)
while dinoFlag4 == '0':
driveCar()
wait(100)
dinoFlag4 = get_from_system_link('dino4', STRONG)
print('dinoFlag is', dinoFlag4)
if touch.pressed() == True:
dinoFlag4 = '1'
ford.stop()
print("DONE!")
send_to_system_link('Start20', 'BOOLEAN', 'true', ROGERS)
send_to_system_link('Start19', 'BOOLEAN', 'false', ROGERS)
def RedMission(): # Red Run (Bench Mission (including backrest removal))
# UP BUTTON
#!/usr/bin/env pybricks-micropython
from pybricks.hubs import EV3Brick
from pybricks.ev3devices import (Motor, TouchSensor, ColorSensor,
InfraredSensor, UltrasonicSensor, GyroSensor)
from pybricks.parameters import Port, Stop, Direction, Button, Color
from pybricks.tools import wait, StopWatch, DataLog
from pybricks.robotics import DriveBase
from pybricks.media.ev3dev import SoundFile, ImageFile
# This program requires LEGO EV3 MicroPython v2.0 or higher.
# Click "Open user guide" on the EV3 extension tab for more information.
# Create your objects here.
ev3 = EV3Brick()
left_motor = Motor(Port.C)
right_motor = Motor(Port.B)
wheel_diameter = 56
axle_track = 115
robot = DriveBase(left_motor, right_motor, wheel_diameter, axle_track)
Medium_Motor = Motor(Port.A)
Large_Motor = Motor(Port.D)
leftcolorsensor = ColorSensor(Port.S3)
rightcolorsensor = ColorSensor(Port.S2)
robot.settings(500)
robot.straight(290)
robot.stop(Stop.BRAKE)
robot.settings(700,400,700,400)
robot.turn(110)
robot.stop(Stop.BRAKE)
while True:
robot.drive(200,0)
if leftcolorsensor.color() == Color.BLACK:
robot.stop(Stop.BRAKE)
break
robot.stop(Stop.BRAKE)
ev3.speaker.beep(3)
robot.turn(-110)
robot.straight(80)
BLACK = 9
WHITE = 85
threshold = (BLACK + WHITE) / 2
# Set the drive speed at 100 millimeters per second.
DRIVE_SPEED = 100
# Set the gain of the proportional line controller. This means that for every
PROPORTIONAL_GAIN = 1.2
runWhile = True
robot.reset()
ev3.speaker.beep()
while True:
# Calculate the deviation from the threshold.
deviation = rightcolorsensor.reflection() - threshold
# Calculate the turn rate.
turn_rate = PROPORTIONAL_GAIN * deviation
# Set the drive base speed and turn rate.
robot.drive(DRIVE_SPEED, turn_rate)
wait(10)
print(rightcolorsensor.color())
if robot.distance() >= 100:
robot.stop(Stop.BRAKE)
break
robot.stop(Stop.BRAKE)
BLACK = 9
WHITE = 85
threshold = (BLACK + WHITE) / 2
# Set the drive speed at 100 millimeters per second.
DRIVE_SPEED = 100
# Set the gain of the proportional line controller. This means that for every
PROPORTIONAL_GAIN = 1.2
runWhile = True
robot.reset()
while True:
# Calculate the deviation from the threshold.
deviation = rightcolorsensor.reflection() - threshold
# Calculate the turn rate.
turn_rate = PROPORTIONAL_GAIN * deviation
# Set the drive base speed and turn rate.
robot.drive(DRIVE_SPEED, turn_rate)
wait(10)
print(rightcolorsensor.color())
if leftcolorsensor.color() == Color.BLACK:
robot.stop(Stop.BRAKE)
break
robot.turn(-25)
robot.straight(230)
Large_Motor.run_angle(50,100,then = Stop.HOLD, wait = True)
robot.straight(-60)
robot.turn(35)
robot.straight(-10)
Large_Motor.run_angle(50,-50,then = Stop.HOLD, wait = True)
robot.straight(-85)
robot.turn(-85)
robot.straight(500)
robot.turn(-20)
robot.straight(250)
Large_Motor.run_angle(50,-70,then = Stop.HOLD, wait = False)
robot.turn(110)
robot.stop(Stop.BRAKE)
wheel_diameter=26,
axle_track=115)
DRIVE_BASE.settings(
straight_speed=750, # milimeters per second
straight_acceleration=750,
turn_rate=90, # degrees per second
turn_acceleration=90)
IR_SENSOR = InfraredSensor(port=Port.S4)
MEDIUM_MOTOR.run_time(speed=-500, time=1000, then=Stop.COAST, wait=True)
while IR_SENSOR.distance() >= 25:
DRIVE_BASE.drive(speed=750, turn_rate=0)
DRIVE_BASE.stop()
EV3_BRICK.speaker.play_file(file=SoundFile.AIRBRAKE)
MEDIUM_MOTOR.run_time(speed=500, time=1000, then=Stop.COAST, wait=True)
DRIVE_BASE.turn(angle=180)
while IR_SENSOR.distance() >= 25:
DRIVE_BASE.drive(speed=750, turn_rate=0)
DRIVE_BASE.stop()
MEDIUM_MOTOR.run(speed=-500)
EV3_BRICK.speaker.play_file(file=SoundFile.AIR_RELEASE)
class Bobb3e:
WHEEL_DIAMETER = 24 # milimeters
AXLE_TRACK = 100 # milimeters
def __init__(self,
left_motor_port: str = Port.B,
right_motor_port: str = Port.C,
lift_motor_port: str = Port.A,
ir_sensor_port: str = Port.S4,
ir_beacon_channel: int = 1):
self.ev3_brick = EV3Brick()
left_motor = Motor(port=left_motor_port,
positive_direction=Direction.COUNTERCLOCKWISE)
right_motor = Motor(port=right_motor_port,
positive_direction=Direction.COUNTERCLOCKWISE)
self.drive_base = DriveBase(left_motor=left_motor,
right_motor=right_motor,
wheel_diameter=self.WHEEL_DIAMETER,
axle_track=self.AXLE_TRACK)
self.lift_motor = Motor(port=lift_motor_port,
positive_direction=Direction.CLOCKWISE)
self.ir_sensor = InfraredSensor(port=ir_sensor_port)
self.ir_beacon_channel = ir_beacon_channel
self.reversing = False
def drive_or_operate_forks_by_ir_beacon(
self,
driving_speed: float = 1000, # mm/s
turn_rate: float = 90 # rotational speed deg/s
):
"""
Read the commands from the remote control and convert them into actions
such as go forward, lift and turn.
"""
while True:
ir_beacon_button_pressed = \
set(self.ir_sensor.buttons(channel=self.ir_beacon_channel))
# lower the forks
if ir_beacon_button_pressed == {Button.LEFT_UP, Button.LEFT_DOWN}:
self.reversing = False
self.drive_base.stop()
self.lift_motor.run(speed=100)
# raise the forks
elif ir_beacon_button_pressed == \
{Button.RIGHT_UP, Button.RIGHT_DOWN}:
self.reversing = False
self.drive_base.stop()
self.lift_motor.run(speed=-100)
# forward
elif ir_beacon_button_pressed == {Button.LEFT_UP, Button.RIGHT_UP}:
self.reversing = False
self.drive_base.drive(speed=driving_speed, turn_rate=0)
self.lift_motor.hold()
# backward
elif ir_beacon_button_pressed == \
{Button.LEFT_DOWN, Button.RIGHT_DOWN}:
self.reversing = True
self.drive_base.drive(speed=-driving_speed, turn_rate=0)
self.lift_motor.hold()
# turn left on the spot
elif ir_beacon_button_pressed == \
{Button.LEFT_UP, Button.RIGHT_DOWN}:
self.reversing = False
self.drive_base.drive(speed=0, turn_rate=-turn_rate)
self.lift_motor.hold()
# turn right on the spot
elif ir_beacon_button_pressed == \
{Button.RIGHT_UP, Button.LEFT_DOWN}:
self.reversing = False
self.drive_base.drive(speed=0, turn_rate=turn_rate)
self.lift_motor.hold()
# turn left forward
elif ir_beacon_button_pressed == {Button.LEFT_UP}:
self.reversing = False
self.drive_base.drive(speed=driving_speed,
turn_rate=-turn_rate)
self.lift_motor.hold()
# turn right forward
elif ir_beacon_button_pressed == {Button.RIGHT_UP}:
self.reversing = False
self.drive_base.drive(speed=driving_speed, turn_rate=turn_rate)
self.lift_motor.hold()
# turn left backward
elif ir_beacon_button_pressed == {Button.LEFT_DOWN}:
self.reversing = True
self.drive_base.drive(speed=-driving_speed,
turn_rate=turn_rate)
self.lift_motor.hold()
# turn right backward
elif ir_beacon_button_pressed == {Button.RIGHT_DOWN}:
self.reversing = True
self.drive_base.drive(speed=-driving_speed,
turn_rate=-turn_rate)
self.lift_motor.hold()
# otherwise stop
else:
self.reversing = False
self.drive_base.stop()
self.lift_motor.hold()
wait(10)
def sound_alarm_whenever_reversing(self):
while True:
if self.reversing:
self.ev3_brick.speaker.play_file(file=SoundFile.BACKING_ALERT)
wait(10)
# Print ' 'Run.' ' near the middle of the screen
brick.display.text("Run.", (60, 50))
# Print ' 'You Better Run' ' a little bit underneath it
brick.display.text("You Better Run", (60, 70))
# Have the robot continue the loop for a certain number of times.
while i > 0:
# Spin Wings at full speed for 2 seconds
motor3.run(400)
# Have the robot drive at full speed until it senses something, and then stop right before it
while sensor.distance() > 150:
wait(10)
robot.drive(400, 0)
robot.stop(stop_type = Stop.BRAKE)
# Have the robot play a laughing sound when it runs into something
brick.sound.file(SoundFile.LAUGHING_1, 100)
robot.drive_time(-200, 0, 1000)
# Have the back wheel lift up
motor4.run_time(100, 500)
# Have the robot rotate
robot.drive_time(0, 360, 1000)
# Put the back wheel back on the ground
motor4.run_time(-100, 500)
#Have the robot stop going through that loop a certain number of times
i = i-1
#Lift up the back wheel
motor4.run_time(100, 500)
class Gripp3r(EV3Brick):
WHEEL_DIAMETER = 26
AXLE_TRACK = 115
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
def keep_driving_by_ir_beacon(
self,
channel: int = 1,
speed: float = 1000 # milimeters per second
):
while True:
ir_beacon_buttons_pressed = set(
self.ir_sensor.buttons(channel=channel))
# forward
if ir_beacon_buttons_pressed == {Button.LEFT_UP, Button.RIGHT_UP}:
self.drive_base.drive(
speed=speed,
turn_rate=0 # degrees per second
)
# backward
elif ir_beacon_buttons_pressed == {
Button.LEFT_DOWN, Button.RIGHT_DOWN
}:
self.drive_base.drive(
speed=-speed,
turn_rate=0 # degrees per second
)
# turn left on the spot
elif ir_beacon_buttons_pressed == {
Button.LEFT_UP, Button.RIGHT_DOWN
}:
self.drive_base.drive(
speed=0,
turn_rate=-90 # degrees per second
)
# turn right on the spot
elif ir_beacon_buttons_pressed == {
Button.LEFT_DOWN, Button.RIGHT_UP
}:
self.drive_base.drive(
speed=0,
turn_rate=90 # degrees per second
)
# turn left forward
elif ir_beacon_buttons_pressed == {Button.LEFT_UP}:
self.drive_base.drive(
speed=speed,
turn_rate=-90 # degrees per second
)
# turn right forward
elif ir_beacon_buttons_pressed == {Button.RIGHT_UP}:
self.drive_base.drive(
speed=speed,
turn_rate=90 # degrees per second
)
# turn left backward
elif ir_beacon_buttons_pressed == {Button.LEFT_DOWN}:
self.drive_base.drive(
speed=-speed,
turn_rate=90 # degrees per second
)
# turn right backward
elif ir_beacon_buttons_pressed == {Button.RIGHT_DOWN}:
self.drive_base.drive(
speed=-speed,
turn_rate=-90 # degrees per second
)
# otherwise stop
else:
self.drive_base.stop()
def grip_or_release_by_ir_beacon(self, speed: float = 500):
while True:
if Button.BEACON in self.ir_sensor.buttons(
channel=self.ir_beacon_channel):
if self.touch_sensor.pressed():
self.speaker.play_file(file=SoundFile.AIR_RELEASE)
self.grip_motor.run_time(speed=speed,
time=1000,
then=Stop.BRAKE,
wait=True)
else:
self.speaker.play_file(file=SoundFile.AIRBRAKE)
self.grip_motor.run(speed=-speed)
while not self.touch_sensor.pressed():
pass
self.grip_motor.stop()
while Button.BEACON in self.ir_sensor.buttons(
channel=self.ir_beacon_channel):
pass
def main(self, speed: float = 1000):
self.grip_motor.run_time(speed=-500,
time=1000,
then=Stop.BRAKE,
wait=True)
Thread(target=self.grip_or_release_by_ir_beacon).start()
self.keep_driving_by_ir_beacon(speed=speed)
def GreenMission():
#!/usr/bin/env pybricks-micropython
from pybricks.hubs import EV3Brick
from pybricks.ev3devices import (Motor, TouchSensor, ColorSensor,
InfraredSensor, UltrasonicSensor, GyroSensor)
from pybricks.parameters import Port, Stop, Direction, Button, Color
from pybricks.tools import wait, StopWatch, DataLog
from pybricks.robotics import DriveBase
from pybricks.media.ev3dev import SoundFile, ImageFile
# This program requires LEGO EV3 MicroPython v2.0 or higher.
# Click "Open user guide" on the EV3 extension tab for more information.
# Create your objects here.
ev3 = EV3Brick()
left_motor = Motor(Port.C)
right_motor = Motor(Port.B)
medium_motor = Motor(Port.A)
front_largeMotor = Motor(Port.D)
wheel_diameter = 56
axle_track = 114.3
robot = DriveBase(left_motor, right_motor, wheel_diameter, axle_track)
## Write your code here:
robot.settings(300)
## The robot goes straight until the Boccia Mission's target.
robot.straight(1050)
## The robot moves the large motor down to drop the cubes in the target.
front_largeMotor.run_angle(80, 110, then=Stop.HOLD, wait=True)
## BOCCIA SHARE !!!
robot.straight(-200)
robot.turn(-100)
robot.straight(130)
front_largeMotor.run_angle(-80, 105, then=Stop.HOLD, wait=True)
robot.straight(-30)
robot.turn(-100)
robot.straight(-80)
robot.turn(-100)
robot.turn(100)
robot.turn(-100)
robot.turn(100)
robot.turn(-100)
robot.turn(100)
robot.turn(-100)
robot.turn(100)
## Dance Mission
'''
#The robot moves backwards to reach the Dance Floor so it can Dance as the last mission.
robot.straight(-185)
robot.turn(-80)
robot.straight(110)
## The following code is all the dance moves we do for the Dance Mission.
robot.turn(-75)
robot.straight(50)
front_largeMotor.run_angle(60, 50)
robot.straight(40)
front_largeMotor.run_angle(60, -50)
robot.straight(-40)
front_largeMotor.run_angle(60, 50)
robot.straight(+30)
front_largeMotor.run_angle(60, -50)
robot.straight(-45)
robot.turn(-500)
robot.turn(500)
front_largeMotor.run_angle(60, 50)
robot.straight(92)
front_largeMotor.run_angle(60, -50)
robot.straight(-20)
robot.straight(35)
front_largeMotor.run_angle(60, -50)
robot.straight(-60)
robot.turn(100)
robot.turn(-80)
robot.turn(120)
robot.turn(-400)
large_motor.run_angle(20, -10)
robot.straight(-30)
robot.turn(-160)
robot.straight(60)
robot.straight(-60)
robot.turn(260)
robot.turn(-260)
robot.turn(100)
robot.straight(40)
robot.turn(100)
robot.straight(-25)
'''
robot.stop(Stop.BRAKE)
class Robot:
def __init__(self):
"""Class that represents the robot
"""
try:
self.state = "Port 1: Right Color"
self.right_color = ColorSensor(Port.S1)
self.state = "Port 2: Center Color"
self.center_color = ColorSensor(Port.S2)
self.state = "Port 3: Left Color"
self.left_color = ColorSensor(Port.S3)
self.state = "Port 4: Gyro"
self.gyro = GyroSensor(Port.S4, Direction.COUNTERCLOCKWISE)
self.state = "Port A: Left Motor"
self.left_motor = Motor(Port.A)
self.state = "Port B: Right Motor"
self.right_motor = Motor(Port.B)
self.state = "Port C: Linear Gear"
self.linear_attachment_motor = Motor(Port.C)
self.state = "Port D: Block Dropper"
self.dropper_attachment_motor = Motor(Port.D)
self.wheel_diameter = 55
self.axle_track = 123
self.drive_base = DriveBase(self.left_motor, self.right_motor,
self.wheel_diameter, self.axle_track)
self.state = "OK"
self.clock = StopWatch()
self.dance_clock = 0
self.sign = 1
except:
brick.screen.clear()
big_font = Font(size=18)
brick.screen.set_font(big_font)
brick.screen.draw_text(0, 20, "Error!")
brick.screen.draw_text(0, 40, self.state)
def display_sensor_values(self):
"""Displays sensor values
"""
gyro_value = "Gyro : {}".format(self.gyro.angle())
left_color_value = "Left Color : {}".format(
self.left_color.reflection())
right_color_value = "Right Color : {}".format(
self.right_color.reflection())
center_color_value = "Center Color : {}".format(
self.center_color.reflection())
big_font = Font(size=18)
brick.screen.set_font(big_font)
brick.screen.clear()
brick.screen.draw_text(0, 20, gyro_value)
brick.screen.draw_text(0, 40, left_color_value)
brick.screen.draw_text(0, 60, right_color_value)
brick.screen.draw_text(0, 80, center_color_value)
def is_ok(self):
"""Tells if all sensors are plugged in
:return: Checks the state of the sensors
:rtype: Boolean
"""
return self.state == "OK"
def beep(self, is_down=False):
"""Plays a series of beeps
:param is_down: Tells if to play series downwards, defaults to False
:type is_down: bool, optional
"""
beep_counts = range(1, 7) if not is_down else range(6, 0, -1)
for beep_count in beep_counts:
brick.speaker.beep(400 * beep_count, 100)
wait(20)
def drift_check(self):
brick.speaker.beep(1200, 500)
wait(100)
brick.speaker.beep(1200, 500)
drift = False
start_gyro = self.gyro.angle()
brick.screen.clear()
big_font = Font(size=18)
brick.screen.set_font(big_font)
brick.screen.draw_text(0, 20, "Checking Gyro drift...")
wait(2000)
if start_gyro != self.gyro.angle():
brick.screen.draw_text(0, 60, "Error!")
brick.screen.draw_text(0, 80, "Gyro drift")
drift = True
return drift
def print_sensor_values(self):
"""Display robot sensor values. For debugging only
"""
print("Gyro: ", self.gyro.angle())
print("Left Color: ", self.left_color.reflection())
print("Right Color: ", self.right_color.reflection())
print("Center Color: ", self.center_color.reflection())
def stop_motors(self):
""" Stops all motors
"""
self.left_motor.stop(Stop.BRAKE)
self.right_motor.stop(Stop.BRAKE)
self.linear_attachment_motor.stop(Stop.BRAKE)
def drive(self, pid, speed, target_angle, duration):
"""Drives the robot using a gyro to a specific angle
:param pid: Uses Pid instance with parameters set beforehand
:type pid: Class
:param speed: Speed of the robot
:type speed: Number
:param target_angle: Angle to drive the robot at
:type target_angle: Number
:param duration: Duration the function is run
:type duration: Number
"""
# Inititialize values
pid.reset()
while pid.clock.time() < duration:
# Calculatr error
actual_angle = self.gyro.angle()
error = (target_angle - actual_angle) % 360
error = error - (360 * int(error / 180))
# Calculate steering output
steering = pid.compute_steering(error)
# Drive the motors
self.drive_base.drive(speed, steering)
self.print_sensor_values
# Stop motors
self.drive_base.stop(Stop.BRAKE)
def drive_dead_reckon(self, speed, duration, steering=0):
self.drive_base.drive(speed, steering)
wait(duration)
self.drive_base.stop(Stop.BRAKE)
def turn(self, pid, target_angle, tolerance=1):
"""Turns the robot to a specific angle.
:param pid: Uses Pid instance with parameters set beforehand
:type pid: Number
:param target_angle: Angle the robot turns to
:type target_angle: Number
:param tolerance: How close to the target angle you want the robot to be
:type tolerance: Number
"""
# Inititialize values
pid.reset()
error = tolerance + 1
min_speed = 50
while abs(error) > tolerance:
# Calculate error
actual_angle = self.gyro.angle()
error = (target_angle - actual_angle) % 360
error = error - (360 * int(error / 180))
# Call Pid compute_steering
steering = pid.compute_steering(error) * -1
# Set speed using a min_speed
right_speed = max(min_speed, abs(steering))
if steering < 0:
right_speed = -1 * right_speed
left_speed = -1 * right_speed
# Run motors
self.left_motor.run(left_speed)
self.right_motor.run(right_speed)
# Stop motors
self.left_motor.stop()
self.right_motor.stop()
def follow_line(self, pid, speed, duration, which_sensor, which_edge):
"""Follows the line using a color sensor.
:param pid: Uses Pid instance with parameters set beforehand
:type pid: Pid
:param speed: Speed of the Robot
:type speed: Number
:param duration: Duration of the function
:type duration: Number
:param which_sensor: The sensor the robot uses to follow the line
:type which_sensor: LineSensor
:param which_edge: Which side the white is on relative to the robot
:type which_edge: LineEdge
"""
# Inititialize values
pid.reset()
while pid.clock.time() < duration:
# Selecting which sensor to use using an Enum
if which_sensor == LineSensor.RIGHT:
error = 50 - self.right_color.reflection()
if which_sensor == LineSensor.LEFT:
error = 50 - self.left_color.reflection()
if which_sensor == LineSensor.CENTER:
error = 50 - self.center_color.reflection()
# Selecting which edge of the line to use
if which_edge == LineEdge.RIGHT:
pass
else:
error = error * -1
# Calculate steering
steering = pid.compute_steering(error)
# Run motors
self.drive_base.drive(speed, steering)
self.drive_base.stop(Stop.BRAKE)
def stop_on_white(self,
pid,
speed,
target_angle,
which_sensor,
color_value=80):
""" Gyro drives until given color sensor is on white
:param pid: PID setting of drive
:type pid: Number
:param speed: The speed the robot moves at
:type speed: Number
:param target_angle: the angle the gyro drives at
:type target_angle:
:param which_sensor: Chooses which color sensor to use
:type which_sensor: Enum
:param color_value: The value of color that the robot stops at
:type color_value: Number
"""
# Inititialize values
sensor = 0
pid.reset()
target_angle = target_angle % 360
if which_sensor == LineSensor.LEFT:
sensor = self.left_color
elif which_sensor == LineSensor.RIGHT:
sensor = self.right_color
else:
sensor = self.center_color
while sensor.reflection() < color_value:
# Calculate error
actual_angle = self.gyro.angle()
error = (target_angle - actual_angle) % 360
error = error - (360 * int(error / 180))
# Calculate steering output
steering = pid.compute_steering(error)
# Drive the motors
self.drive_base.drive(speed, steering)
self.print_sensor_values
# Stop motors
self.drive_base.stop(Stop.BRAKE)
def stop_on_black(self,
pid,
speed,
target_angle,
which_sensor,
color_value=15):
""" Gyro drives until given color sensor is on black
:param pid: PID setting of drive
:type pid: Number
:param speed: The speed the robot moves at
:type speed: Number
:param target_angle: the angle the gyro drives at
:type target_angle:
:param which_sensor: Chooses which color sensor to use
:type which_sensor: Enum
:param color_value: The value of color that the robot stops at
:type color_value: Number
"""
# Inititialize values
sensor = 0
pid.reset()
target_angle = target_angle % 360
if which_sensor == LineSensor.LEFT:
sensor = self.left_color
elif which_sensor == LineSensor.RIGHT:
sensor = self.right_color
else:
sensor = self.center_color
while sensor.reflection() > color_value:
# Calculate error
actual_angle = self.gyro.angle()
error = (target_angle - actual_angle) % 360
error = error - (360 * int(error / 180))
# Calculate steering output
steering = pid.compute_steering(error)
# Drive the motors
self.drive_base.drive(speed, steering)
self.print_sensor_values
# Stop motors
self.drive_base.stop(Stop.BRAKE)
def align(self, speed, sensor1, sensor2):
"""Aligns using color sensors on black line
:param speed: The speed the robot moves at
:type speed: Number
:param sensor1: The first sensor the robot uses to align
:type sensor1: Enum
:param sensor2: The second sensor the robot uses to align
:type sensor2: Enum
"""
self.left_motor.run(speed)
self.right_motor.run(speed)
first_sensor = 0
second_sensor = 0
if sensor1 == LineSensor.LEFT:
first_sensor = self.left_color
elif sensor1 == LineSensor.RIGHT:
first_sensor = self.right_color
else:
first_sensor = self.center_color
if sensor2 == LineSensor.LEFT:
second_sensor = self.left_color
elif sensor2 == LineSensor.RIGHT:
second_sensor = self.right_color
else:
second_sensor = self.center_color
while True:
first = False
second = False
if first_sensor.reflection() <= 10:
self.left_motor.hold()
first = True
if second_sensor.reflection() <= 10:
self.right_motor.hold()
second = True
if first and second == True:
break
def reset_sensors(self, reset_angle=0):
"""Reset the robot's sensor values
:param reset_angle: inital angle for the gyro, defaults to 0
:type reset_angle: int, optional
"""
# Resets the gyro
self.gyro.reset_angle(reset_angle)
def run_linear(self, speed, time, wait=True):
"""Runs linear gear
:param speed: The speed the linear gear moves at
:type speed: Number
:param time: How long the linear gear runs for
:type time: Number
:param wait: Wait for action to complete before next step
:type wait: Boolean
"""
self.stop_motors()
self.linear_attachment_motor.run_time(speed, time, Stop.BRAKE, wait)
def move_linear(self, speed, rotations, wait=True):
"""Will calculate the ratio of the gears and then move the linear gear
to a specific angle
:param speed: The speed the linear gear moves at
:type speed: Number
:param rotations: How much the linear gear moves by in rotations
:type rotations: Number
:param wait: Wait for action to complete before next step
:type wait: Boolean
"""
self.stop_motors()
target_angle = rotations * 360
self.linear_attachment_motor.run_angle(speed, target_angle, Stop.BRAKE,
wait)
def run_dropper(self, speed, time, wait=True):
"""Runs block dropper
:param speed: The speed the yeeter moves at
:type speed: Number
:param time: How long the yeeter runs for
:type time: Number
:param wait: Wait for action to complete before next step
:type wait: Boolean
"""
self.stop_motors()
self.dropper_attachment_motor.run_time(speed, time, Stop.BRAKE, wait)
def move_dropper(self, speed, degrees, wait=True):
"""Will calculate the ratio of the gears and then move the block dropper
to a specific angle
:param speed: The speed the yeeter moves at
:type speed: Number
:param degrees: How much the yeeter moves by in degrees
:type degrees: Number
:param wait: Wait for action to complete before next step
:type wait: Boolean
"""
self.stop_motors()
self.dropper_attachment_motor.run_angle(speed, degrees, Stop.BRAKE,
wait)
def dance(self, speed, duration):
if self.dance_clock == 0:
self.dance_clock = self.clock.time()
self.left_motor.run(speed * self.sign * -1)
self.right_motor.run(speed * self.sign)
if self.clock.time() - self.dance_clock > duration:
self.sign *= -1
self.left_motor.run(speed * self.sign * -1)
self.right_motor.run(speed * self.sign)
self.dance_clock = self.clock.time()
return True
return False
def BlueMission(): # Blue Run (Step Counter, Pull-Up Bar, Boccia Aim, Slide, Health Unit - 1)
# DOWN BUTTON
#!/usr/bin/env pybricks-micropython
from pybricks.hubs import EV3Brick
from pybricks.ev3devices import (Motor, TouchSensor, ColorSensor,
InfraredSensor, UltrasonicSensor, GyroSensor)
from pybricks.parameters import Port, Stop, Direction, Button, Color
from pybricks.tools import wait, StopWatch, DataLog
from pybricks.robotics import DriveBase
from pybricks.media.ev3dev import SoundFile, ImageFile
# This program requires LEGO EV3 MicroPython v2.0 or higher.
# Click "Open user guide" on the EV3 extension tab for more information.
#define your variables
ev3 = EV3Brick()
left_motor = Motor(Port.C)
right_motor = Motor(Port.B)
medium_motor = Motor(Port.A)
large_motor = Motor(Port.D)
wheel_diameter = 56
axle_track = 115
line_sensor = ColorSensor(Port.S2)
line_sensor1 = ColorSensor(Port.S3)
robot = DriveBase(left_motor, right_motor, wheel_diameter, axle_track)
# Go towards the step counter mission from base
robot.settings(800) # Speed Change
robot.straight(650)
robot.stop(Stop.BRAKE)
wait(20)
# Slow the robot down to succesfully push the step counter.
robot.settings(200)
# Slowly pushes the step counter by going backward and forward a couple times to increase reliability.
robot.straight(230)
robot.straight(-20)
robot.straight(50)
robot.stop(Stop.BRAKE)
#robot.straight(-45)
#robot.stop(Stop.BRAKE)
#robot.straight(120)
#robot.stop(Stop.BRAKE)
robot.straight(-60)
robot.stop(Stop.BRAKE)
# The robot then turns and goes backwards until the right color sensor detects black.
#robot.settings(250,300,250,300)
robot.turn(45)
robot.straight(-100)
while True:
robot.drive(-100,0)
if line_sensor.color() == Color.BLACK:
robot.stop(Stop.BRAKE)
break
#The large motor attatchment comes down at the same time the robot takes a turn towards
#the black line underneath the pull up bar
left_motor.run_angle(50,-300,then=Stop.HOLD, wait=True)
# The robot then goes straight towards the line under the pull-up bar.
robot.straight(120)
robot.stop(Stop.BRAKE)
# Robot continues to go forwards until the left color sensor detects black.
while True:
robot.drive(115,0)
if line_sensor.color() == Color.BLACK:
robot.stop(Stop.BRAKE)
break
right_motor.run_angle(100,150,then=Stop.HOLD, wait=True)
# The robot turns using the right motor until it detects black.
while True:
right_motor.run(100)
if line_sensor.color() == Color.BLACK:
robot.stop(Stop.BRAKE)
break
robot.straight(-90)
large_motor.run_angle(100,150,then=Stop.HOLD, wait=True)
robot.stop(Stop.BRAKE)
robot.stop(Stop.BRAKE)
while True:
right_motor.run(40)
if line_sensor.color() == Color.BLACK:
robot.stop(Stop.BRAKE)
break
robot.stop(Stop.BRAKE)
ev3.speaker.beep()
BLACK = 9
WHITE = 85
threshold = (BLACK + WHITE) / 2
# Set the drive speed at 100 millimeters per second.
DRIVE_SPEED = 100
# Set the gain of the proportional line controller. This means that for every
PROPORTIONAL_GAIN = 1.2
runWhile = True
robot.reset()
ev3.speaker.beep()
while True:
# Calculate the deviation from the threshold.
deviation = line_sensor.reflection() - threshold
# Calculate the turn rate.
turn_rate = PROPORTIONAL_GAIN * deviation
# Set the drive base speed and turn rate.
robot.drive(DRIVE_SPEED, turn_rate)
wait(10)
print(line_sensor1.color())
if line_sensor1.color() == Color.BLACK:
robot.stop(Stop.BRAKE)
break
robot.stop(Stop.BRAKE)
robot.stop(Stop.BRAKE)
large_motor.run_angle(-150, 150, then=Stop.HOLD, wait=False)
robot.turn(20)
robot.stop(Stop.BRAKE)
robot.settings(800)
robot.straight(280)
ev3.speaker.beep(3)
while True:
robot.drive(-115,0)
if line_sensor.color() == Color.BLACK:
ev3.speaker.beep(10)
robot.stop(Stop.BRAKE)
break
robot.stop(Stop.BRAKE)
# robot.straight(-10)
robot.stop(Stop.BRAKE)
robot.turn(50)
# left_motor.run_angle(100, 150)
'''
large_motor.run_angle(30,-20,then=Stop.HOLD, wait=False)
robot.turn(10)
robot.stop(Stop.BRAKE)
large_motor.run_angle(100, -50, then=Stop.HOLD, wait=False)
robot.turn(90)
robot.stop(Stop.BRAKE)
'''
BLACK = 9
WHITE = 85
threshold = (BLACK + WHITE) / 2
# Set the drive speed at 100 millimeters per second.
DRIVE_SPEED = 100
# Set the gain of the proportional line controller. This means that for every
PROPORTIONAL_GAIN = 1.2
runWhile = True
robot.reset()
ev3.speaker.beep()
while True:
# Calculate the deviation from the threshold.
deviation = line_sensor.reflection() - threshold
# Calculate the turn rate.
turn_rate = PROPORTIONAL_GAIN * deviation
# Set the drive base speed and turn rate.
robot.drive(DRIVE_SPEED, turn_rate)
wait(10)
print(line_sensor.color())
if robot.distance() >= 500:
robot.stop(Stop.BRAKE)
break
ev3.speaker.beep(3)
while True:
robot.drive(40,0)
if line_sensor1.color() == Color.BLACK:
robot.stop(Stop.BRAKE)
break
robot.stop(Stop.BRAKE)
ev3.speaker.beep()
robot.straight(30)
robot.turn(-100)
robot.straight(70)
large_motor.run_angle(600,150,then=Stop.HOLD, wait=True)
while True:
robot.drive(-50, 0)
if line_sensor1.color() == Color.BLACK:
robot.stop(Stop.BRAKE)
break
robot.stop(Stop.BRAKE)
right_motor.run_angle(600,500,then=Stop.HOLD,wait=True)
robot.straight(20)
BLACK = 9
WHITE = 85
threshold = (BLACK + WHITE) / 2
# Set the drive speed at 100 millimeters per second.
DRIVE_SPEED = 100
# Set the gain of the proportional line controller. This means that for every
PROPORTIONAL_GAIN = 1.2
runWhile = True
robot.reset()
ev3.speaker.beep()
while True:
# Calculate the deviation from the threshold.
deviation = line_sensor1.reflection() - threshold
# Calculate the turn rate.
turn_rate = PROPORTIONAL_GAIN * deviation
# Set the drive base speed and turn rate.
robot.drive(DRIVE_SPEED, turn_rate)
wait(10)
print(line_sensor1.color())
if robot.distance() >= 580:
robot.stop(Stop.BRAKE)
break
robot.stop(Stop.BRAKE)
while True:
robot.drive(50, 0)
if line_sensor.color() == Color.BLACK:
robot.stop(Stop.BRAKE)
break
robot.stop(Stop.BRAKE)
ev3.speaker.beep(3)
robot.turn(-45)
robot.stop(Stop.BRAKE)
robot.straight(30)
large_motor.run_angle(1000,-150,then=Stop.HOLD, wait=True)
robot.straight(-40)
large_motor.run_angle(1000,150,then=Stop.HOLD, wait=True)
robot.straight(40)
large_motor.run_angle(1000,-150,then=Stop.HOLD, wait=True)
robot.straight(-115)
robot.turn(95)
robot.straight(420)
robot.turn(-100)
robot.turn(100)
robot.turn(-100)
robot.turn(100)
robot.turn(-100)
robot.turn(100)
robot.turn(-100)
robot.turn(100)
robot.turn(-100)
robot.turn(100)
robot.turn(-100)
robot.turn(100)
robot.turn(-100)
robot.turn(100)
robot.turn(-100)
robot.turn(100)
robot.turn(-100)
robot.turn(100)
robot.turn(-100)
robot.turn(100)
robot.turn(-100)
robot.turn(100)
robot.turn(-100)
robot.turn(100)
robot.turn(-100)
robot.turn(100)
robot.turn(-100)
robot.turn(100)
robot.turn(-100)
robot.turn(100)
robot.turn(-100)
robot.turn(100)
class Rac3Truck:
WHEEL_DIAMETER = 30 # milimeters
AXLE_TRACK = 120 # milimeters
def __init__(
self,
left_motor_port: str = Port.B, right_motor_port: str = Port.C,
polarity: str = 'inversed',
steer_motor_port: str = Port.A,
ir_sensor_port: str = Port.S4, ir_beacon_channel: int = 1):
if polarity == 'normal':
self.left_motor = Motor(port=left_motor_port,
positive_direction=Direction.CLOCKWISE)
self.right_motor = Motor(port=right_motor_port,
positive_direction=Direction.CLOCKWISE)
else:
self.left_motor = \
Motor(port=left_motor_port,
positive_direction=Direction.COUNTERCLOCKWISE)
self.right_motor = \
Motor(port=right_motor_port,
positive_direction=Direction.COUNTERCLOCKWISE)
self.driver = DriveBase(left_motor=self.left_motor,
right_motor=self.right_motor,
wheel_diameter=self.WHEEL_DIAMETER,
axle_track=self.AXLE_TRACK)
self.steer_motor = Motor(port=steer_motor_port,
positive_direction=Direction.CLOCKWISE)
self.ir_sensor = InfraredSensor(port=ir_sensor_port)
self.ir_beacon_channel = ir_beacon_channel
def reset(self):
self.steer_motor.run_time(
speed=300,
time=1500,
then=Stop.COAST,
wait=True)
self.steer_motor.run_angle(
speed=-500,
rotation_angle=120,
then=Stop.HOLD,
wait=True)
self.steer_motor.reset_angle(angle=0)
def steer_left(self):
if self.steer_motor.angle() > -65:
self.steer_motor.run_target(
speed=-200,
target_angle=-65,
then=Stop.HOLD,
wait=True)
else:
self.steer_motor.hold()
def steer_right(self):
if self.steer_motor.angle() < 65:
self.steer_motor.run_target(
speed=200,
target_angle=65,
then=Stop.HOLD,
wait=True)
else:
self.steer_motor.hold()
def steer_center(self):
if self.steer_motor.angle() < -7:
self.steer_motor.run_target(
speed=200,
target_angle=4,
then=Stop.HOLD,
wait=True)
elif self.steer_motor.angle() > 7:
self.steer_motor.run_target(
speed=-200,
target_angle=-4,
then=Stop.HOLD,
wait=True)
self.steer_motor.hold()
wait(100)
def drive_by_ir_beacon(self):
ir_beacon_button_pressed = \
set(self.ir_sensor.buttons(channel=self.ir_beacon_channel))
# forward
if ir_beacon_button_pressed == {Button.LEFT_UP, Button.RIGHT_UP}:
self.driver.drive(
speed=800,
turn_rate=0)
self.steer_center()
# backward
elif ir_beacon_button_pressed == {Button.LEFT_DOWN, Button.RIGHT_DOWN}:
self.driver.drive(
speed=-800,
turn_rate=0)
self.steer_center()
# turn left forward
elif ir_beacon_button_pressed == {Button.LEFT_UP}:
self.left_motor.run(speed=600)
self.right_motor.run(speed=1000)
self.steer_left()
# turn right forward
elif ir_beacon_button_pressed == {Button.RIGHT_UP}:
self.left_motor.run(speed=1000)
self.right_motor.run(speed=600)
self.steer_right()
# turn left backward
elif ir_beacon_button_pressed == {Button.LEFT_DOWN}:
self.left_motor.run(speed=-600)
self.right_motor.run(speed=-1000)
self.steer_left()
# turn right backward
elif ir_beacon_button_pressed == {Button.RIGHT_DOWN}:
self.left_motor.run(speed=-1000)
self.right_motor.run(speed=-600)
self.steer_right()
# otherwise stop
else:
self.driver.stop()
self.steer_center()
# Initialize the drive base. robot = DriveBase(left_motor, right_motor, wheel_diameter=55.5, axle_track=104) ev3.screen.draw_text(50, 60, "Pigeons!") ev3.speaker.beep() robot.settings(1000 ,250 ,150 ,100) robot.straight(950) robot.turn(87) robot.straight(400) robot.turn(90) robot.straight(780) ev3.speaker.beep() robot.turn(-93) robot.straight(350) robot.turn(-90) robot.straight(1500) robot.stop() robot.settings(1000 ,1000 ,1000000 ,100000) ev3.scren.draw_text(50, 60, "Pigeons!")
def BlueMission():
#!/usr/bin/env pybricks-micropython
from pybricks.hubs import EV3Brick
from pybricks.ev3devices import (Motor, TouchSensor, ColorSensor,
InfraredSensor, UltrasonicSensor, GyroSensor)
from pybricks.parameters import Port, Stop, Direction, Button, Color
from pybricks.tools import wait, StopWatch, DataLog
from pybricks.robotics import DriveBase
from pybricks.media.ev3dev import SoundFile, ImageFile
# This program requires LEGO EV3 MicroPython v2.0 or higher.
# Click "Open user guide" on the EV3 extension tab for more information.
#define your variables
ev3 = EV3Brick()
left_motor = Motor(Port.C)
right_motor = Motor(Port.B)
medium_motor = Motor(Port.A)
large_motor = Motor(Port.D)
wheel_diameter = 56
axle_track = 115
line_sensor = ColorSensor(Port.S2)
line_sensor1 = ColorSensor(Port.S3)
robot = DriveBase(left_motor, right_motor, wheel_diameter, axle_track)
#go front towards the step counter
robot.settings(250)
robot.straight(650)
robot.stop(Stop.BRAKE)
wait(20)
#makes the robot go slower
robot.settings(40)
#slowly pushes the step counter by going back and front 2 times
robot.straight(140)
robot.stop(Stop.BRAKE)
robot.straight(-45)
robot.stop(Stop.BRAKE)
robot.straight(120)
robot.stop(Stop.BRAKE)
robot.straight(-30)
robot.stop(Stop.BRAKE)
#the robot then turns and goes backwards
robot.settings(250,500,250,500)
robot.turn(45)
robot.straight(-100)
# the robot then goes back until the right color sensor detects back
while True:
robot.drive(-115,0)
if line_sensor.color() == Color.BLACK:
robot.stop(Stop.BRAKE)
break
#the large motor attatchment comes down at the same time the robot takes a turn towards the black line underneath the pull up bar
large_motor.run_angle(50,200,then=Stop.HOLD, wait=False)
left_motor.run_angle(50,-300,then=Stop.HOLD, wait=True)
#the robot then goes straight towards that line
robot.straight(120)
robot.stop(Stop.BRAKE)
#robot continues to go forwards until the left color sensor detects black
while True:
robot.drive(115,0)
if line_sensor.color() == Color.BLACK:
robot.stop(Stop.BRAKE)
break
right_motor.run_angle(50,150,then=Stop.HOLD, wait=True)
#the robot then turns with the right motor until it detects black
while True:
right_motor.run(85)
if line_sensor.color() == Color.BLACK:
robot.stop(Stop.BRAKE)
break
#follows the line underneath the pull up bar until the leftsensor detects black
#follows the line underneath the pull up bar until the leftsensor detects black
BLACK = 9
WHITE = 85
threshold = (BLACK + WHITE) / 2
# Set the drive speed at 100 millimeters per second.
DRIVE_SPEED = 100
# Set the gain of the proportional line controller. This means that for every
PROPORTIONAL_GAIN = 1.2
runWhile = True
robot.reset()
while True:
# Calculate the deviation from the threshold.
deviation = line_sensor.reflection() - threshold
# Calculate the turn rate.
turn_rate = PROPORTIONAL_GAIN * deviation
# Set the drive base speed and turn rate.
robot.drive(DRIVE_SPEED, turn_rate)
wait(10)
print(line_sensor1.color())
if line_sensor1.color() == Color.BLACK:
robot.stop(Stop.BRAKE)
break
#the robot then turns towards the boccia aim and moves straight to push it towards the target and finishes the misison
robot.turn(25)
robot.straight(250)
robot.straight(-50)
# this is importate kekekekee
large_motor.run_angle(75,-65)
robot.straight(-60)
while True:
robot.drive(-70,0)
if line_sensor.color() == Color.BLACK:
robot.stop(Stop.BRAKE)
ev3.speaker.beep()
break
while True:
left_motor.run(-50)
if line_sensor1.color() == Color.BLACK:
robot.stop(Stop.BRAKE)
ev3.speaker.beep()
break
left_motor.run_angle(50, -20)
right_motor.run_angle(50, 20)
robot.settings(200)
robot.straight(60)
robot.turn(-137)
#this is also importante jekeke
large_motor.run_angle(50,80)
robot.straight(143)
large_motor.run_angle(550, -120)
robot.straight(-40)
large_motor.run_angle(550, 120)
robot.straight(40)
large_motor.run_angle(550, -120)
large_motor.run_angle(300, 30, then=Stop.HOLD, wait=True)
#robot.straight(40)
large_motor.run_angle(300, -100, then=Stop.HOLD, wait=True)
#goes to collect the health unit near the basketball (goes back to base)
robot.straight(-200)
robot.turn(40)
robot.straight(556)
robot.straight(50)
robot.stop(Stop.BRAKE)
while True:
left_motor.run(50)
if line_sensor1.color() == Color.BLACK:
robot.stop(Stop.BRAKE)
ev3.speaker.beep()
break
robot.stop(Stop.BRAKE)
robot.reset()
# Calculate the light threshold. Choose values based on your measurements.
BLACK = 9
WHITE = 85
threshold = (BLACK + WHITE) / 2
# Set the drive speed at 100 millimeters per second.
DRIVE_SPEED = 100
# Set the gain of the proportional line controller. This means that for every
# percentage point of light deviating from the threshold, we set the turn
# rate of the drivebase to 1.2 degrees per second.
# For example, if the light value deviates from the threshold by 10, the robot
# steers at 10*1.2 = 12 degrees per second.
PROPORTIONAL_GAIN = 1.2
runWhile = True
# Start following the line endlessly.
while runWhile:
# Calculate the deviation from the threshold.
deviation = line_sensor1.reflection() - threshold
# Calculate the turn rate.
turn_rate = PROPORTIONAL_GAIN * deviation
# Set the drive base speed and turn rate.
robot.drive(DRIVE_SPEED, turn_rate)
if robot.distance() >= 210:
runWhile = False
break
robot.stop(Stop.BRAKE)
robot.turn(5.244312)
robot.straight(700)
#the robot then goes back until the right color sensor detects back
'''
while True:
if line_sensor1.color() == Color.BLACK:
robot.stop(Stop.BRAKE)
break
#robot.straight(980)
'''
robot.stop(Stop.BRAKE)
