def setup_hardware(self): # setup I/O connecting to EV3 self.motorR = ev3.LargeMotor('outA') self.motorL = ev3.LargeMotor('outD') self.csR = ev3.ColorSensor('in2') self.csM = ev3.ColorSensor('in3') self.csL = ev3.ColorSensor('in4') # mode set up (right and left senor only used for light intensity) self.csR.reflected_light_intensity self.csL.reflected_light_intensity self.port = ev3.LegoPort('outB') assert self.port.connected self.port.mode = 'dc-motor' time.sleep(5) self.grabberArms = ev3.DcMotor("outB") print("DcMotor connected") self.grabberLift = ev3.MediumMotor('outC') self.grabberLift.stop_action = 'brake' self.grabber_initialise() self.gy = ev3.GyroSensor('in1') self.reset_gyro() self.up_pos = self.grabberLift.position
def setup_hardware(self): # setup I/O connecting to EV3 self.motorR = ev3.LargeMotor('outA') self.motorL = ev3.LargeMotor('outD') self.csR = ev3.ColorSensor('in2') self.csM = ev3.ColorSensor('in3') self.csL = ev3.ColorSensor('in4') #TODO: implement using the DC motor if need #self.grabberArms = ev3.MediumMotor('outC') self.port = ev3.LegoPort('outB') assert self.port.connected self.port.mode = 'dc-motor' time.sleep(5) self.grabberArms = ev3.DcMotor("outB") print("DcMotor connected") self.grabberLift = ev3.MediumMotor('outC') self.gy = ev3.GyroSensor('in1') self.reset_gyro() self.base_pos = self.grabberLift.position
from ev3dev.ev3 import * from time import sleep import ev3dev.ev3 as ev3 p = ev3.LegoPort(ev3.INPUT_2) p.set_device = "lego-nxt-sound" q = ev3.LegoPort(ev3.INPUT_3) q.set_device = "lego-nxt-sound" sleep(1) sl = ev3.SoundSensor('in2') sr = ev3.SoundSensor('in3') assert sl.connected, "Connect a sound sensor to 2 sensor port" assert sr.connected, "Connect a sound sensor to 3 sensor port" sl.mode = 'DBA' sr.mode = 'DBA' ma = Motor('outA') mb = Motor('outB') mc = Motor('outC') md = Motor('outD') assert ma.connected, "Connect a motor to port A" assert mb.connected, "Connect a motor to port B" assert mc.connected, "Connect a motor to port C" assert md.connected, "Connect a motor to port D" while True: voll1 = sl.value() volr1 = sr.value() - 6 sleep(0.1) voll2 = sl.value()
from ev3dev.ev3 import * from time import sleep import ev3dev.ev3 as ev3 p = ev3.LegoPort(ev3.INPUT_1) p.set_device = "lego-nxt-sound" q = ev3.LegoPort(ev3.INPUT_2) q.set_device = "lego-nxt-sound" m = ev3.LegoPort(ev3.INPUT_3) m.set_device = "lego-nxt-sound" n = ev3.LegoPort(ev3.INPUT_4) n.set_device = "lego-nxt-sound" sleep(1) print('BBBBBBBBB') # s1 = ev3.SoundSensor('in1') s2 = ev3.SoundSensor('in2') s3 = ev3.SoundSensor('in3') s4 = ev3.SoundSensor('in4') assert s1.connected, "Connect a sound sensor to 1 sensor port" assert s2.connected, "Connect a sound sensor to 2 sensor port" assert s3.connected, "Connect a sound sensor to 3 sensor port" assert s4.connected, "Connect a sound sensor to 4 sensor port" s1.mode = 'DBA' s2.mode = 'DBA' s3.mode = 'DBA' s4.mode = 'DBA' print('AAAAAAAAAAAAAAAAAA')
print("Cup dispenser server starting...") import socketserver import ev3dev.ev3 as ev3 import time # DC motor p = ev3.LegoPort('outB') assert p.connected p.mode = 'dc-motor' time.sleep(1) # motors and sensors lift_motor = ev3.LargeMotor('outD') grab_motor = ev3.DcMotor('outB') lift_sensor = ev3.TouchSensor('in1') grab_sensor = ev3.TouchSensor('in2') lift_motor.stop_action = 'brake' class cup_dispenser: '''def __init__(self): self.initialise()''' # go to the initialisation spot def initialise(self): self.lift_down() self.grab_reset() self.grab_open() self.lift_up()
self.pub.publish( topic=MQTT_PENDULUM_STATE, #payload=self.angle + '|' + datetime.utcnow().strftime('%S.%f')[:-3] payload=msg_json, qos=0) # print("msg send - ", msg) # print("msg send - ", msg_json) else: time.sleep(0.0001) if __name__ == "__main__": while True: try: port = ev3.LegoPort("pistorms:BBS2") if port.mode != "i2c-thru": port.mode = "i2c-thru" break except Exception as e: print("I/O exception: {0}".format(str(e))) time.sleep(0.1) hta = HTAngle(1, 0x01) hta.reset() pub = mqtt.Client(client_id="pendulum_pub", transport="TCP") pub.username_pw_set(username="******", password="******") pub.connect(MQTT_SERVER, MQTT_PORT, 60) pendulum = Pendulum(pub, hta)
#!/usr/bin/python3 # sound_and_speak_xx.py by Yasushi Honda 2019 1/3 #------------------------------------------------ import ev3dev.ev3 as ev3 import time import random import datetime if __name__=='__main__': p=ev3.LegoPort(ev3.INPUT_4) p.set_device='lego-nxt-sound' ss = ev3.SoundSensor(ev3.INPUT_4) ts=ev3.TouchSensor(ev3.INPUT_3) sp=ev3.Sound() sp.speak('Hi. I can speak the current time.').wait() talk=[] talk.append('Yes. I can hear you, but speak more loudly.') leds = ev3.Leds() leds.set_color(ev3.Leds.LEFT, ev3.Leds.GREEN,pct=1.0) leds.set_color(ev3.Leds.RIGHT, ev3.Leds.YELLOW,pct=1.0) print('[[ Push touch sensor to stop.]]') #print('[[ snd ]]') while ts.value()==0: snd=967-ss.value() #print("\r %4d" % snd, end='')