def line_follow(colour_sensor, speed, P_multiplier, D_multiplier, I_multiplier,
sample_time, distance):
global log
robot.reset()
last_error = 0
iteration = 0
p = 0
d = 0
i = 0
error = 0
total = (p + (i * I_multiplier) + d)
if log == True:
data = DataLog('total', 'p', 'i', 'd', 'error', 'last error')
while robot.distance() < distance:
error = threshold - colour_sensor.reflection()
p = error * P_multiplier
d = (error - last_error) / sample_time * D_multiplier
i = error * sample_time + i
total = (p + (i * I_multiplier) + d)
if log == True:
data.log(total, p, i * I_multiplier, d, error, last_error)
#this stays on the right side of the line
robot.drive(speed, total)
last_error = error
time.sleep(sample_time)
robot.stop()
leftmotor.hold()
rightmotor.hold()
watch = StopWatch()
# Create your objects here.
ev3 = EV3Brick()
# Initialize the color sensor.
left_sensor = ColorSensor(Port.S1)
# Place on black.
ev3.speaker.say("Place on black")
# Write the value of the left color sensor to the screen.
while True:
# print("Button pressed: " + str(ev3.buttons.pressed()))
if (Button.CENTER in ev3.buttons.pressed()):
# Check the value of reflected light
reflected_light = left_sensor.reflection()
colorValues.log('black', reflected_light)
ev3.speaker.say("Recorded black")
break
# Place on white.
ev3.speaker.say("Place on white")
while True:
if (Button.CENTER in ev3.buttons.pressed()):
# Check the value of reflected light
reflected_light = left_sensor.reflection()
colorValues.log('white', reflected_light)
ev3.speaker.say("Recorded white")
break
#!/usr/bin/env pybricks-micropython
from pybricks.parameters import Color
from pybricks.tools import DataLog
# Create a data log file called my_file.txt
data = DataLog('time', 'angle', name='my_file', timestamp=False, extension='txt')
# The log method uses the print() method to add a line of text.
# So, you can do much more than saving numbers. For example:
data.log('Temperature', 25)
data.log('Sunday', 'Monday', 'Tuesday')
data.log({'Kiwi': Color.GREEN}, {'Banana': Color.YELLOW})
# You can upload the file to your computer, but you can also print the data:
print(data)
platform_motor.run_angle(speed=rotation_speed,
rotation_angle=total_rotation,
then=Stop.HOLD,
wait=False)
wait(100)
# print('Platform Speed: {0}'.format(platform_motor.speed()))
# Log the time and the sensor readings 10 times
while platform_motor.speed() > 0:
rotation_angle = platform_motor.angle()
character_reflectivity = platform_color_sensor.reflection()
print("Angle: {0} degrees, Reflectivity: {1}%".format(
platform_motor.angle(),
platform_color_sensor.reflection()))
data.log(rotation_angle, character_reflectivity)
# Wait some time so the motor can move a bit
wait(log_interval)
# Play another beep sound.
ev3.speaker.beep(frequency=1000, duration=500)
break
else:
numbers = [
'ZERO', 'ONE', 'TWO', 'THREE', 'FOUR', 'FIVE', 'SIX', 'SEVEN', 'EIGHT',
'NINE'
]
number_dict = {i: val for i, val in enumerate(numbers)}
prediction = number_dict[int(args.predict)]
print(feedback)
if feedback != 0:
num_feedbacks += 1
wait(3000)
user.update_feedback_table(state, action, feedback)
if reward == 0 and is_done is False:
reward = -1 # penalty for each move
else:
print(move)
move -= 1 # does not count as a move
print(move)
if reward == 0 and is_done is False:
reward = -3 # penalty for trying to move out of bounds
ep_time = episode_stopwatch.time()
data.log(episode, curr_reward, ep_time, num_feedbacks, fam.agent_pos,
is_done, user.username)
print(state, action)
qtable.qtable[state][action] = (1 - learning) * qtable.qtable[state][action] + learning * \
(reward + discount * qtable.maxq(next_state))
state = next_state
curr_reward += reward
print(qtable.qtable)
if is_done:
fam.unload()
fam.say("Hooray!", color=Color.GREEN)
break
if not is_done:
fam.say("Let's try again.")
ep_time = episode_stopwatch.time()
data.log(episode, curr_reward, ep_time, num_feedbacks, fam.agent_pos,
from pybricks.hubs import EV3Brick
from pybricks.tools import wait, StopWatch, DataLog
from pybricks.parameters import Color, Port
from pybricks.ev3devices import Motor
from pybricks.iodevices import AnalogSensor, UARTDevice
# Initialize the EV3
ev3 = EV3Brick()
ev3.speaker.beep()
sense = AnalogSensor(Port.S1, False)
sense.voltage()
watch = StopWatch()
wheel = Motor(Port.A)
data = DataLog('output.txt', header='Time,Angle,Voltage')
# Turn on a red light
ev3.light.on(Color.RED)
ev3.speaker.say("About to take data")
wheel.run(500)
for i in range(10):
time = watch.time()
angle = wheel.angle()
light = sense.voltage() #This seems to give a EIO error sometimes.
data.log(time, angle, light)
wait(100)
# Turn the light off
ev3.light.off()
print(feedback)
if feedback != 0:
num_feedbacks += 1
wait(3000)
user.update_feedback_table(state, action, feedback)
if reward == 0 and is_done is False:
reward = -1 # penalty for each move
else:
print(move)
move -= 1 # does not count as a move
print(move)
if reward == 0 and is_done is False:
reward = -3 # penalty for trying to move out of bounds
ep_time = episode_stopwatch.time()
data.log(episode, curr_reward, ep_time, num_feedbacks, fam.agent_pos,
is_done, user.username, qtable.qtable)
print(state, action)
qtable.qtable[state][action] = (1 - learning) * qtable.qtable[state][action] + learning * \
(reward + discount * qtable.maxq(next_state))
state = next_state
curr_reward += reward
print(qtable.qtable)
if is_done:
fam.say("Hooray!")
break
if not is_done:
fam.say("Let's try again.")
ep_time = episode_stopwatch.time()
data.log(episode, curr_reward, ep_time, num_feedbacks, fam.agent_pos,
is_done)
robot.drive(DRIVE_SPEED, turn_rate)
last_deviation = deviation
else:
robot.stop()
end_time = watch.time()
# print("step: "+str(step))
# print("color: "+str(color))
# print("speed: "+str(DRIVE_SPEED))
# print("distance: "+str(distance))
# print("stopOrNot: "+str(stopping))
# print("stop time: "+str(stop_time))
# print("time: "+str(time))
# print("time difference: "+str(end_time-time))
# print("deviation: "+str(deviation))
# print("integral: "+str(integral))
# print("derivative: "+str(derivative))
# Store data log.
data.log(time, step, color, DRIVE_SPEED, distance, stopping, deviation,
integral, derivative, front_id, front_time, front_lane,
front_speed, front_distance)
# Keep time of each loop constant 200ms.
wait_time = 0
if (end_time - time) < 200:
wait_time = 200 - (end_time - time)
wait(wait_time)
# Create a data log file in the project folder on the EV3 Brick.
# * By default, the file name contains the current date and time, for example:
# log_2020_02_13_10_07_44_431260.csv
# * You can optionally specify the titles of your data columns. For example,
# if you want to record the motor angles at a given time, you could do:
data = DataLog('time', 'angle')
# Initialize a motor and make it move
wheel = Motor(Port.B)
wheel.run(500)
# Start a stopwatch to measure elapsed time
watch = StopWatch()
# Log the time and the motor angle 10 times
for i in range(10):
# Read angle and time
angle = wheel.angle()
time = watch.time()
# Each time you use the log() method, a new line with data is added to
# the file. You can add as many values as you like.
# In this example, we save the current time and motor angle:
data.log(time, angle)
# Wait some time so the motor can move a bit
wait(100)
# You can now upload your file to your computer
for i in range(Iteration):
speed = dist.distance()
car.drive(speed,0)
duration = timer.time()
car.stop()
return duration
def testMotor():
timer.reset()
for i in range(Iteration):
speed = dist.distance()
left.run(speed)
duration = timer.time()
left.stop()
return duration
for i in range(10):
base = testBase()
motor = testMotor()
print('%d %d' % (base,motor))
data.log(i,base,motor)
ev3.light.off()
elif step == 3:
turn_rate = -15
# Set the drive base speed and turn rate.
robot.drive(DRIVE_SPEED, turn_rate)
last_deviation = deviation
else:
robot.stop()
end_time = watch.time()
# print("step: "+str(step))
# print("color: "+str(color))
# print("speed: "+str(DRIVE_SPEED))
# print("distance: "+str(distance))
# print("stopOrNot: "+str(stopping))
# print("stop time: "+str(stop_time))
# print("time: "+str(time))
# print("time difference: "+str(end_time-time))
# Store data log.
data.log(time, step, color, DRIVE_SPEED, distance, stopping, deviation, integral, derivative)
# Keep time of each loop constant 100ms.
wait_time = 0
if (end_time-time) < 100:
wait_time = 100-(end_time-time)
wait(wait_time)