class Gripp3r(IRBeaconRemoteControlledTank):
def __init__(self,
left_motor_port: str = OUTPUT_B,
right_motor_port: str = OUTPUT_C,
grip_motor_port: str = OUTPUT_A,
touch_sensor_port: str = INPUT_1,
ir_sensor_port: str = INPUT_4,
ir_beacon_channel: int = 1):
super().__init__(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.grip_motor = MediumMotor(address=grip_motor_port)
self.touch_sensor = TouchSensor(address=touch_sensor_port)
self.ir_sensor = InfraredSensor(address=ir_sensor_port)
self.ir_beacon_channel = ir_beacon_channel
self.beacon = RemoteControl(sensor=self.ir_sensor,
channel=ir_beacon_channel)
self.speaker = Sound()
def grip_or_release_by_ir_beacon(self, speed: float = 50):
while True:
if self.beacon.beacon:
if self.touch_sensor.is_pressed:
self.speaker.play(
wav_file='/home/robot/sound/Air release.wav')
self.grip_motor.run_timed(
speed_sp=500,
time_sp=1000,
stop_action=Motor.STOP_ACTION_BRAKE)
self.grip_motor.wait_while(Motor.STATE_RUNNING)
else:
self.speaker.play(
wav_file='/home/robot/sound/Airbrake.wav')
self.grip_motor.run_forever(speed_sp=-500)
while not self.touch_sensor.is_pressed:
pass
self.grip_motor.stop(stop_action=Motor.STOP_ACTION_BRAKE)
while self.beacon.beacon:
pass
def main(self, speed: float = 1000):
self.grip_motor.run_timed(speed_sp=-500,
time_sp=1000,
stop_action=Motor.STOP_ACTION_BRAKE)
self.grip_motor.wait_while(Motor.STATE_RUNNING)
Process(target=self.grip_or_release_by_ir_beacon, daemon=True).start()
self.keep_driving_by_ir_beacon(speed=speed)
class CuriosityRov3r(IRBeaconRemoteControlledTank):
def __init__(
self,
left_motor_port: str = OUTPUT_B, right_motor_port: str = OUTPUT_C,
medium_motor_port: str = OUTPUT_A,
touch_sensor_port: str = INPUT_1, color_sensor_port: str = INPUT_3,
ir_sensor_port: str = INPUT_4, ir_beacon_channel: int = 1):
super().__init__(
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 = MediumMotor(address=medium_motor_port)
self.touch_sensor = TouchSensor(address=touch_sensor_port)
self.color_sensor = ColorSensor(address=color_sensor_port)
self.ir_sensor = InfraredSensor(address=ir_sensor_port)
self.ir_beacon_channel = ir_beacon_channel
self.beacon = RemoteControl(sensor=self.ir_sensor,
channel=ir_beacon_channel)
self.dis = Screen()
self.noise = Sound()
def spin_fan(self, speed: float = 1000):
while True:
if self.color_sensor.reflected_light_intensity > 20:
self.medium_motor.run_forever(speed_sp=speed)
else:
self.medium_motor.stop(stop_action=Motor.STOP_ACTION_HOLD)
def say_when_touched(self):
while True:
if self.touch_sensor.is_pressed:
self.dis.image.paste(im=Image.open('/home/robot/image/Angry.bmp'))
self.dis.update()
self.noise.play(wav_file='/home/robot/sound/No.wav').wait()
self.medium_motor.run_timed(
speed_sp=-500,
time_sp=3000,
stop_action=Motor.STOP_ACTION_BRAKE)
self.medium_motor.wait_while(Motor.STATE_RUNNING)
def main(self, speed: float = 1000):
Thread(target=self.say_when_touched,
daemon=True).start()
Thread(target=self.spin_fan,
daemon=True).start()
self.keep_driving_by_ir_beacon(speed=speed)
class MarsRov3r(IRBeaconRemoteControlledTank):
def __init__(self,
left_motor_port: str = OUTPUT_B,
right_motor_port: str = OUTPUT_C,
grip_motor_port: str = OUTPUT_A,
touch_sensor_port: str = INPUT_1,
color_sensor_port: str = INPUT_3,
ir_sensor_port: str = INPUT_4,
ir_beacon_channel: int = 1):
super().__init__(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.grip_motor = MediumMotor(address=grip_motor_port)
self.touch_sensor = TouchSensor(address=touch_sensor_port)
self.color_sensor = ColorSensor(address=color_sensor_port)
self.ir_sensor = InfraredSensor(address=ir_sensor_port)
self.ir_beacon_channel = ir_beacon_channel
self.beacon = RemoteControl(sensor=self.ir_sensor,
channel=ir_beacon_channel)
self.speaker = Sound()
is_gripping = False
def grip_or_release_claw_by_ir_beacon(self):
while True:
if self.beacon.beacon:
if self.is_gripping:
self.grip_motor.run_timed(
speed_sp=1000,
time_sp=2000,
stop_action=Motor.STOP_ACTION_BRAKE)
self.grip_motor.wait_while(Motor.STATE_RUNNING)
self.speaker.play(
wav_file='/home/robot/sound/Air release.wav').wait()
self.is_gripping = False
else:
self.grip_motor.run_timed(
speed_sp=-1000,
time_sp=2000,
stop_action=Motor.STOP_ACTION_BRAKE)
self.grip_motor.wait_while(Motor.STATE_RUNNING)
self.speaker.play(
wav_file='/home/robot/sound/Airbrake.wav').wait()
self.is_gripping = True
while self.beacon.beacon:
pass
def main(self, speed: float = 1000):
self.grip_motor.run_timed(speed_sp=500,
time_sp=1000,
stop_action=Motor.STOP_ACTION_BRAKE)
self.grip_motor.wait_while(Motor.STATE_RUNNING)
Thread(target=self.grip_or_release_claw_by_ir_beacon,
daemon=True).start()
self.keep_driving_by_ir_beacon(speed=speed)
InfraredSensor, INPUT_4,
Sound
)
MEDIUM_MOTOR = MediumMotor(address=OUTPUT_A)
GO_MOTOR = LargeMotor(address=OUTPUT_B)
STING_MOTOR = LargeMotor(address=OUTPUT_D)
INFRARED_SENSOR = InfraredSensor(address=INPUT_4)
SPEAKER = Sound()
MEDIUM_MOTOR.run_timed(
speed_sp=500,
time_sp=1000,
stop_action=Motor.STOP_ACTION_HOLD)
MEDIUM_MOTOR.wait_while(Motor.STATE_RUNNING)
MEDIUM_MOTOR.run_timed(
speed_sp=-500,
time_sp=0.3 * 1000,
stop_action=Motor.STOP_ACTION_HOLD)
MEDIUM_MOTOR.wait_while(Motor.STATE_RUNNING)
STING_MOTOR.run_timed(
speed_sp=400,
time_sp=1000,
stop_action=Motor.STOP_ACTION_HOLD)
STING_MOTOR.wait_while(Motor.STATE_RUNNING)
# right backward
LEFT_MOTOR.run_forever(speed_sp=-speed)
RIGHT_MOTOR.run_forever(speed_sp=0)
else:
LEFT_MOTOR.stop(stop_action=Motor.STOP_ACTION_BRAKE)
RIGHT_MOTOR.stop(stop_action=Motor.STOP_ACTION_BRAKE)
while True:
drive_once_by_ir_beacon(speed=1000)
if BEACON_CONTROL.beacon:
if TOUCH_SENSOR.is_pressed:
MEDIUM_MOTOR.run_timed(
speed_sp=500,
time_sp=1000,
stop_action=Motor.STOP_ACTION_BRAKE)
MEDIUM_MOTOR.wait_while(Motor.STATE_RUNNING)
else:
MEDIUM_MOTOR.run_forever(speed_sp=-500)
while not TOUCH_SENSOR.is_pressed:
pass
MEDIUM_MOTOR.stop(stop_action=Motor.STOP_ACTION_BRAKE)
while BEACON_CONTROL.beacon:
pass
stop_action=Motor.STOP_ACTION_BRAKE)
CHEST_MOTOR.wait_while(Motor.STATE_RUNNING)
MEDIUM_MOTOR.run_forever(speed_sp=1000)
TAIL_MOTOR.run_forever(speed_sp=-1000)
CHEST_MOTOR.run_timed(speed_sp=-300,
time_sp=1000,
stop_action=Motor.STOP_ACTION_BRAKE)
CHEST_MOTOR.wait_while(Motor.STATE_RUNNING)
sleep(2)
MEDIUM_MOTOR.run_timed(speed_sp=-1000,
time_sp=1000,
stop_action=Motor.STOP_ACTION_HOLD)
MEDIUM_MOTOR.wait_while(Motor.STATE_RUNNING)
sleep(1)
else:
LIGHTS.set_color(group=Leds.LEFT, color=Leds.ORANGE, pct=1)
LIGHTS.set_color(group=Leds.RIGHT, color=Leds.ORANGE, pct=1)
TAIL_MOTOR.run_forever(speed_sp=1000)
MEDIUM_MOTOR.run_timed(speed_sp=randint(-30, 30),
time_sp=0.2 * 1000,
stop_action=Motor.STOP_ACTION_COAST)
class Gripp3r:
def __init__(self,
left_motor_port: str = OUTPUT_B,
right_motor_port: str = OUTPUT_C,
grip_motor_port: str = OUTPUT_A,
touch_sensor_port: str = INPUT_1,
ir_sensor_port: str = INPUT_4,
ir_beacon_channel: int = 1):
self.left_motor = LargeMotor(address=left_motor_port)
self.right_motor = LargeMotor(address=right_motor_port)
self.grip_motor = MediumMotor(address=grip_motor_port)
self.touch_sensor = TouchSensor(address=touch_sensor_port)
self.ir_sensor = InfraredSensor(address=ir_sensor_port)
self.ir_beacon_channel = ir_beacon_channel
self.beacon = RemoteControl(sensor=self.ir_sensor,
channel=ir_beacon_channel)
self.speaker = Sound()
def keep_driving_by_ir_beacon(self, speed: float = 1000):
while True:
if self.beacon.red_up and self.beacon.blue_up:
# go forward
self.left_motor.run_forever(speed_sp=speed)
self.right_motor.run_forever(speed_sp=speed)
elif self.beacon.red_down and self.beacon.blue_down:
# go backward
self.left_motor.run_forever(speed_sp=-speed)
self.right_motor.run_forever(speed_sp=-speed)
elif self.beacon.red_up and self.beacon.blue_down:
# turn around left
self.left_motor.run_forever(speed_sp=-speed)
self.right_motor.run_forever(speed_sp=speed)
elif self.beacon.red_down and self.beacon.blue_up:
# turn around right
self.left_motor.run_forever(speed_sp=speed)
self.right_motor.run_forever(speed_sp=-speed)
elif self.beacon.red_up:
# turn left
self.left_motor.run_forever(speed_sp=0)
self.right_motor.run_forever(speed_sp=speed)
elif self.beacon.blue_up:
# turn right
self.left_motor.run_forever(speed_sp=speed)
self.right_motor.run_forever(speed_sp=0)
elif self.beacon.red_down:
# left backward
self.left_motor.run_forever(speed_sp=0)
self.right_motor.run_forever(speed_sp=-speed)
elif self.beacon.blue_down:
# right backward
self.left_motor.run_forever(speed_sp=-speed)
self.right_motor.run_forever(speed_sp=0)
else:
self.left_motor.stop(stop_action=Motor.STOP_ACTION_BRAKE)
self.right_motor.stop(stop_action=Motor.STOP_ACTION_BRAKE)
def grip_or_release_by_ir_beacon(self, speed: float = 50):
while True:
if self.beacon.beacon:
if self.touch_sensor.is_pressed:
self.speaker.play(
wav_file='/home/robot/sound/Air release.wav')
self.grip_motor.run_timed(
speed_sp=500,
time_sp=1000,
stop_action=Motor.STOP_ACTION_BRAKE)
self.grip_motor.wait_while(Motor.STATE_RUNNING)
else:
self.speaker.play(
wav_file='/home/robot/sound/Airbrake.wav')
self.grip_motor.run_forever(speed_sp=-500)
while not self.touch_sensor.is_pressed:
pass
self.grip_motor.stop(stop_action=Motor.STOP_ACTION_BRAKE)
while self.beacon.beacon:
pass
def main(self, speed: float = 1000):
self.grip_motor.run_timed(speed_sp=-500,
time_sp=1000,
stop_action=Motor.STOP_ACTION_BRAKE)
self.grip_motor.wait_while(Motor.STATE_RUNNING)
Thread(target=self.grip_or_release_by_ir_beacon, daemon=True).start()
self.keep_driving_by_ir_beacon(speed=speed)
class Sweep3r(IRBeaconRemoteControlledTank):
def __init__(self,
right_motor_port: str = OUTPUT_C,
left_motor_port: str = OUTPUT_B,
medium_motor_port: str = OUTPUT_A,
touch_sensor_port: str = INPUT_1,
color_sensor_port: str = INPUT_3,
ir_sensor_port: str = INPUT_4,
ir_beacon_channel: int = 1):
super().__init__(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 = MediumMotor(address=medium_motor_port)
self.touch_sensor = TouchSensor(address=touch_sensor_port)
self.color_sensor = ColorSensor(address=color_sensor_port)
self.screen = Screen()
self.speaker = Sound()
self.ir_sensor = InfraredSensor(address=ir_sensor_port)
self.remote_control = RemoteControl(sensor=self.ir_sensor,
channel=ir_beacon_channel)
def drill(self):
while True:
if self.remote_control.beacon:
self.medium_motor.run_timed(
speed_sp=1000, # deg/s
time_sp=0.3 * 1000, # ms
stop_action=Motor.STOP_ACTION_HOLD)
self.medium_motor.wait_while(Motor.STATE_RUNNING)
def move_when_touched(self):
while True:
if self.touch_sensor.is_pressed:
self.right_motor.run_timed(time_sp=1000,
speed_sp=1000,
stop_action=Motor.STOP_ACTION_BRAKE)
self.right_motor.wait_while(Motor.STATE_RUNNING)
def move_when_see_smothing(self):
while True:
if self.color_sensor.reflected_light_intensity > 30:
self.left_motor.run_timed(time_sp=1000,
speed_sp=1000,
stop_action=Motor.STOP_ACTION_BRAKE)
self.left_motor.wait_while(Motor.STATE_RUNNING)
def main(
self,
speed: float = 1000 # degrees per second
):
self.screen.image.paste(
im=Image.open('/home/robot/image/Pinch middle.bmp'))
self.screen.update()
Process(target=self.move_when_touched, daemon=True).start()
Process(target=self.move_when_see_smothing, daemon=True).start()
Process(target=self.drill, daemon=True).start()
self.keep_driving_by_ir_beacon(speed=speed)
class R3ptar:
def __init__(self,
turn_motor_port: str = OUTPUT_A,
move_motor_port: str = OUTPUT_B,
scare_motor_port: str = OUTPUT_D,
touch_sensor_port: str = INPUT_1,
color_sensor_port: str = INPUT_3,
ir_sensor_port: str = INPUT_4,
ir_beacon_channel: int = 1):
self.turn_motor = MediumMotor(address=turn_motor_port)
self.move_motor = LargeMotor(address=move_motor_port)
self.scare_motor = LargeMotor(address=scare_motor_port)
self.touch_sensor = TouchSensor(address=touch_sensor_port)
self.color_sensor = ColorSensor(address=color_sensor_port)
self.ir_sensor = InfraredSensor(address=ir_sensor_port)
self.beacon = RemoteControl(sensor=self.ir_sensor,
channel=ir_beacon_channel)
self.noise = Sound()
def keep_driving_by_ir_beacon(self, speed: float = 1000):
while True:
if self.beacon.red_up and self.beacon.blue_up:
self.move_motor.run_forever(speed_sp=speed)
elif self.beacon.red_down and self.beacon.blue_down:
self.move_motor.run_forever(speed_sp=-speed)
elif self.beacon.red_up:
self.turn_motor.run_forever(speed_sp=-500)
self.move_motor.run_forever(speed_sp=speed)
elif self.beacon.blue_up:
self.turn_motor.run_forever(speed_sp=500)
self.move_motor.run_forever(speed_sp=speed)
elif self.beacon.red_down:
self.turn_motor.run_forever(speed_sp=-500)
self.move_motor.run_forever(speed_sp=-speed)
elif self.beacon.blue_down:
self.turn_motor.run_forever(speed_sp=500)
self.move_motor.run_forever(speed_sp=-speed)
else:
self.turn_motor.stop(stop_action=Motor.STOP_ACTION_HOLD)
self.move_motor.stop(stop_action=Motor.STOP_ACTION_COAST)
def bite_by_ir_beacon(self, speed: float = 1000):
while True:
if self.beacon.beacon:
self.noise.play(wav_file='/home/robot/sound/Snake hiss.wav')
self.scare_motor.run_timed(speed_sp=speed,
time_sp=1000,
stop_action=Motor.STOP_ACTION_BRAKE)
self.scare_motor.wait_while(Motor.STATE_RUNNING)
self.scare_motor.run_timed(speed_sp=-300,
time_sp=1000,
stop_action=Motor.STOP_ACTION_BRAKE)
self.scare_motor.wait_while(Motor.STATE_RUNNING)
while self.beacon.beacon:
pass
def run_away_if_chased(self):
while True:
if self.color_sensor.reflected_light_intensity > 30:
self.move_motor.run_timed(speed_sp=500,
time_sp=4000,
stop_action=Motor.STOP_ACTION_BRAKE)
self.move_motor.wait_while(Motor.STATE_RUNNING)
for i in range(2):
self.turn_motor.run_timed(
speed_sp=500,
time_sp=1000,
stop_action=Motor.STOP_ACTION_BRAKE)
self.turn_motor.wait_while(Motor.STATE_RUNNING)
self.turn_motor.run_timed(
speed_sp=-500,
time_sp=1000,
stop_action=Motor.STOP_ACTION_BRAKE)
self.turn_motor.wait_while(Motor.STATE_RUNNING)
def bite_if_touched(self):
while True:
if self.touch_sensor.is_pressed:
self.noise.play(wav_file='/home/robot/sound/Snake hiss.wav')
self.scare_motor.run_timed(speed_sp=1000,
time_sp=1000,
stop_action=Motor.STOP_ACTION_COAST)
self.scare_motor.wait_while(Motor.STATE_RUNNING)
self.scare_motor.run_timed(speed_sp=-300,
time_sp=1000,
stop_action=Motor.STOP_ACTION_COAST)
self.scare_motor.wait_while(Motor.STATE_RUNNING)
def main(self, speed: float = 1000):
Process(target=self.bite_by_ir_beacon, daemon=True).start()
Process(target=self.bite_if_touched, daemon=True).start()
Process(target=self.run_away_if_chased, daemon=True).start()
self.keep_driving_by_ir_beacon(speed=speed)
class Dinor3x(IRBeaconRemoteControlledTank):
"""
Challenges:
- Can you make DINOR3X remote controlled with the IR-Beacon?
- Can you attach a colorsensor to DINOR3X, and make it behave differently
depending on which color is in front of the sensor
(red = walk fast, white = walk slow, etc.)?
"""
# https://sites.google.com/site/ev3python/learn_ev3_python/using-motors
MEDIUM_MOTOR_POWER_FACTOR = 1.4
def __init__(self,
left_motor_port: str = OUTPUT_B,
right_motor_port: str = OUTPUT_C,
jaw_motor_port: str = OUTPUT_A,
touch_sensor_port: str = INPUT_1,
ir_sensor_port: str = INPUT_4,
ir_beacon_channel: int = 1):
super().__init__(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.jaw_motor = MediumMotor(address=jaw_motor_port)
self.touch_sensor = TouchSensor(address=touch_sensor_port)
self.ir_sensor = InfraredSensor(address=ir_sensor_port)
self.beacon = RemoteControl(sensor=self.ir_sensor,
channel=ir_beacon_channel)
self.button = Button()
self.speaker = Sound()
def calibrate_legs(self):
self.left_motor.run_forever(speed_sp=100)
self.right_motor.run_forever(speed_sp=200)
while self.touch_sensor.is_pressed:
pass
self.left_motor.stop(stop_action=Motor.STOP_ACTION_BRAKE)
self.right_motor.stop(stop_action=Motor.STOP_ACTION_BRAKE)
self.left_motor.run_forever(speed_sp=400)
while not self.touch_sensor.is_pressed:
pass
self.left_motor.stop(stop_action=Motor.STOP_ACTION_BRAKE)
self.left_motor.run_to_rel_pos(position_sp=-0.2 * 360,
speed_sp=500,
stop_action=Motor.STOP_ACTION_BRAKE)
self.left_motor.wait_while(Motor.STATE_RUNNING)
self.right_motor.run_forever(speed_sp=400)
while not self.touch_sensor.is_pressed:
pass
self.right_motor.stop(stop_action=Motor.STOP_ACTION_BRAKE)
self.right_motor.run_to_rel_pos(position_sp=-0.2 * 360,
speed_sp=500,
stop_action=Motor.STOP_ACTION_BRAKE)
self.right_motor.wait_while(Motor.STATE_RUNNING)
self.left_motor.reset()
self.right_motor.reset()
def close_mouth(self):
self.jaw_motor.run_forever(speed_sp=self.MEDIUM_MOTOR_POWER_FACTOR *
200)
sleep(1)
self.jaw_motor.stop(stop_action=Motor.STOP_ACTION_BRAKE)
def roar(self):
self.speaker.play(wav_file='/home/robot/sound/T-rex roar.wav')
self.jaw_motor.run_to_rel_pos(position_sp=-60,
speed_sp=self.MEDIUM_MOTOR_POWER_FACTOR *
400,
stop_action=Motor.STOP_ACTION_BRAKE)
self.jaw_motor.wait_while(Motor.STATE_RUNNING)
# FIXME: jaw keeps opening wider and wider and doesn't close
for i in range(12):
self.jaw_motor.run_timed(speed_sp=-self.MEDIUM_MOTOR_POWER_FACTOR *
400,
time_sp=0.05 * 1000,
stop_action=Motor.STOP_ACTION_BRAKE)
self.jaw_motor.wait_while(Motor.STATE_RUNNING)
self.jaw_motor.run_timed(speed_sp=self.MEDIUM_MOTOR_POWER_FACTOR *
400,
time_sp=0.05 * 1000,
stop_action=Motor.STOP_ACTION_BRAKE)
self.jaw_motor.wait_while(Motor.STATE_RUNNING)
self.jaw_motor.run_forever(speed_sp=self.MEDIUM_MOTOR_POWER_FACTOR *
200)
sleep(0.5)
def walk_until_blocked(self):
self.left_motor.run_forever(speed_sp=-400)
self.right_motor.run_forever(speed_sp=-400)
while self.ir_sensor.proximity >= 25:
pass
self.left_motor.stop(stop_action=Motor.STOP_ACTION_BRAKE)
self.right_motor.stop(stop_action=Motor.STOP_ACTION_BRAKE)
def run_away(self):
self.left_motor.run_to_rel_pos(speed_sp=750,
position_sp=3 * 360,
stop_action=Motor.STOP_ACTION_BRAKE)
self.right_motor.run_to_rel_pos(speed_sp=750,
position_sp=3 * 360,
stop_action=Motor.STOP_ACTION_BRAKE)
self.left_motor.wait_while(Motor.STATE_RUNNING)
self.right_motor.wait_while(Motor.STATE_RUNNING)
def jump(self):
"""
Dinor3x Mission 02 Challenge: make it jump
"""
...
# TRANSLATED FROM EV3-G MY BLOCKS
# -------------------------------
def leg_adjust(self,
cyclic_degrees: float,
speed: float = 1000,
leg_offset_percent: float = 0,
mirrored_adjust: bool = False,
brake: bool = True):
...
def leg_to_pos(self,
speed: float = 1000,
left_position: float = 0,
right_position: float = 0):
self.left_motor.stop(stop_action=Motor.STOP_ACTION_BRAKE)
self.right_motor.stop(stop_action=Motor.STOP_ACTION_BRAKE)
self.left_motor.run_to_rel_pos(
speed_sp=speed,
position_sp=left_position - cyclic_position_offset(
rotation_sensor=self.left_motor.position, cyclic_degrees=360),
stop_action=Motor.STOP_ACTION_BRAKE)
self.left_motor.wait_while(Motor.STATE_RUNNING)
self.right_motor.run_to_rel_pos(
speed_sp=speed,
position_sp=right_position - cyclic_position_offset(
rotation_sensor=self.right_motor.position, cyclic_degrees=360),
stop_action=Motor.STOP_ACTION_BRAKE)
self.right_motor.wait_while(Motor.STATE_RUNNING)
def turn(self, speed: float = 1000, n_steps: int = 1):
...
def walk(self, speed: float = 1000):
...
def walk_steps(self, speed: float = 1000, n_steps: int = 1):
...
class Spik3r:
def __init__(self,
sting_motor_port: str = OUTPUT_D,
go_motor_port: str = OUTPUT_B,
claw_motor_port: str = OUTPUT_A,
touch_sensor_port: str = INPUT_1,
color_sensor_port: str = INPUT_3,
ir_sensor_port: str = INPUT_4,
ir_beacon_channel: int = 1):
self.sting_motor = LargeMotor(address=sting_motor_port)
self.go_motor = LargeMotor(address=go_motor_port)
self.claw_motor = MediumMotor(address=claw_motor_port)
self.ir_sensor = InfraredSensor(address=ir_sensor_port)
self.ir_beacon_channel = ir_beacon_channel
self.beacon = RemoteControl(sensor=self.ir_sensor,
channel=self.ir_beacon_channel)
self.touch_sensor = TouchSensor(address=touch_sensor_port)
self.color_sensor = ColorSensor(address=color_sensor_port)
self.dis = Screen()
self.speaker = Sound()
def sting_by_ir_beacon(self):
while True:
if self.beacon.beacon:
self.sting_motor.run_to_rel_pos(
speed_sp=750,
position=-220,
stop_action=Motor.STOP_ACTION_HOLD)
self.sting_motor.wait_while(Motor.STATE_RUNNING)
self.speaker.play(
wav_file='/home/robot/sound/Blip 3.wav').wait()
self.sting_motor.run_timed(speed_sp=-1000,
time_sp=1000,
stop_action=Motor.STOP_ACTION_HOLD)
self.sting_motor.wait_while(Motor.STATE_RUNNING)
self.sting_motor.run_timed(speed_sp=1000,
time_sp=1000,
stop_action=Motor.STOP_ACTION_HOLD)
self.sting_motor.wait_while(Motor.STATE_RUNNING)
while self.beacon.beacon:
pass
def be_noisy_to_people(self):
while True:
if self.color_sensor.reflected_light_intensity > 30:
for i in range(4):
self.speaker.play_song(
(('D4', 'e3'), ('D4', 'e3'), ('D4', 'e3'), ('G4', 'h'),
('D5', 'h'), ('C5', 'e3'), ('B4', 'e3'), ('A4', 'e3'),
('G5', 'h'), ('D5', 'q'), ('C5', 'e3'), ('B4', 'e3'),
('A4', 'e3'), ('G5', 'h'), ('D5', 'q'), ('C5', 'e3'),
('B4', 'e3'), ('C5', 'e3'), ('A4', 'h.')))
def pinch_if_touched(self):
while True:
if self.touch_sensor.is_pressed:
self.claw_motor.run_timed(speed_sp=500,
time_sp=1000,
stop_action=Motor.STOP_ACTION_HOLD)
self.claw_motor.wait_while(Motor.STATE_RUNNING)
self.claw_motor.run_timed(speed_sp=-500,
time_sp=0.3 * 1000,
stop_action=Motor.STOP_ACTION_HOLD)
self.claw_motor.wait_while(Motor.STATE_RUNNING)
def keep_driving_by_ir_beacon(self):
while True:
if self.beacon.red_up and self.beacon.blue_up:
self.go_motor.run_forever(speed_sp=910)
elif self.beacon.blue_up:
self.go_motor.run_forever(speed_sp=-1000)
else:
self.go_motor.stop(stop_action=Motor.STOP_ACTION_HOLD)
def main(self):
self.dis.image.paste(im=Image.open('/home/robot/image/Evil.bmp'))
self.dis.update()
# FIXME: ValueError: invalid literal for int() with base 10: '' or '9\n9'
# when multiple threads access the same Sensor
Thread(target=self.pinch_if_touched, daemon=True).start()
Thread(target=self.be_noisy_to_people, daemon=True).start()
Thread(target=self.sting_by_ir_beacon, daemon=True).start()
self.keep_driving_by_ir_beacon()
from PIL import Image
from time import sleep
MEDIUM_MOTOR = MediumMotor(address=OUTPUT_A)
LEFT_MOTOR = LargeMotor(address=OUTPUT_B)
RIGHT_MOTOR = LargeMotor(address=OUTPUT_C)
IR_SENSOR = InfraredSensor(address=INPUT_4)
SCREEN = Screen()
SPEAKER = Sound()
MEDIUM_MOTOR.run_timed(
speed_sp=-200, # deg/s
time_sp=1000, # ms
stop_action=Motor.STOP_ACTION_HOLD)
MEDIUM_MOTOR.wait_while(Motor.STATE_RUNNING)
while True:
if IR_SENSOR.proximity < 25:
SCREEN.image.paste(im=Image.open('/home/robot/image/Pinch right.bmp'))
SCREEN.update()
LEFT_MOTOR.run_to_rel_pos(
speed_sp=750, # degrees/second
position_sp=-1000, # degrees
stop_action=Motor.STOP_ACTION_HOLD)
RIGHT_MOTOR.run_to_rel_pos(
speed_sp=750, # degrees/second
#!/usr/bin/env python3
from ev3dev.ev3 import(
Motor, LargeMotor, MediumMotor, OUTPUT_A, OUTPUT_B
)
LARGE_MOTOR = LargeMotor(address=OUTPUT_B)
MEDIUM_MOTOR = MediumMotor(address=OUTPUT_A)
LARGE_MOTOR.run_forever(speed_sp=1000)
for i in range(3):
MEDIUM_MOTOR.run_timed(
speed_sp=100,
time_sp=1000,
stop_action=Motor.STOP_ACTION_COAST)
MEDIUM_MOTOR.wait_while(Motor.STATE_RUNNING)
MEDIUM_MOTOR.run_timed(
speed_sp=-100,
time_sp=1000,
stop_action=Motor.STOP_ACTION_COAST)
MEDIUM_MOTOR.wait_while(Motor.STATE_RUNNING)