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 MAIN():
global lastTagTime
print("Starting RFID reader...")
rfidReader.start()
sleep(4) # time for the RFID reader to start up
findLineNearby(robot)
while not brickButton.any() and not finishedExploration:
if (robot.getDistanceAhead() is None) or (robot.getDistanceAhead() >= 20):
#go ahead
robot.followLine(200)
else:
#shock prevention
print("Obstacle at distance ", robot.getDistanceAhead(), "! Waiting...") #IDEIA: este para, e o outro robo desvia
robot.stopMotors()
while robot.getDistanceAhead() < 20:
sleep(0.1)
print(" - clear to go...")
robot.followLine(200)
if (time() - lastTagTime > 3) and rfidReader.getCurrentTagId() is not None:
robot.stopMotors()
Sound.beep()
print("Tag detected - id", rfidReader.getCurrentTagId())
dbgSleep()
onNodeAction(rfidReader.getCurrentTagId())
robot.stopMotors()
rfidReader.stop()
return
def TEST2():
brickButton = Button()
rfidReader = RfidSerialThread("COM5" if (platform.system() == "Windows") else "/dev/ttyUSB0")
print("FOLLOWING LINES, DETECTING TAGS:")
rfidReader.start()
sleep(4)
robot.resetOrientation()
while not brickButton.any():
robot.followLine(200)
if rfidReader.getCurrentTagId() is not None:
robot.stopMotors()
print("TAG FOUND - id", rfidReader.getCurrentTagId())
Sound.beep()
sleep(1)
robot.runMotorsDistance(-5.7, 150)
sleep(4)
robot.runMotorsDistance(12.0, 150) #to go past the tag
if (robot.getDistanceAhead() is not None and robot.getDistanceAhead() < 20):
print("Obstacle! Dist =", robot.getDistanceAhead(), "Exiting...")
break
robot.stopMotors()
rfidReader.stop()
def virar(dir): m_left.stop() m_right.stop() pos0 = gyro.value() Sound.beep() if(dir == ESQUERDA): m_left.run_to_rel_pos(position_sp=-55, speed_sp=900, stop_action="hold") m_right.run_to_rel_pos(position_sp=-55, speed_sp=900, stop_action="hold") sleep(0.1) while gyro.value() > pos0 - 67: m_left.run_forever(speed_sp=250) m_right.run_forever(speed_sp=-500) m_left.stop() m_right.stop() elif(dir == DIREITA): m_left.run_to_rel_pos(position_sp=-55, speed_sp=900, stop_action="hold") m_right.run_to_rel_pos(position_sp=-55, speed_sp=900, stop_action="hold") sleep(0.1) while gyro.value() < pos0 + 67: m_left.run_forever(speed_sp=-500) m_right.run_forever(speed_sp=250) m_left.stop() m_right.stop() andarEmCm(2) sleep(0.5)
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)
def play(self, song):
"""Play the song"""
file_name = song.get('file_name')
with open(file_name) as data_file:
lyrics = data_file.read()
from ev3dev.ev3 import Sound
Sound.beep(lyrics).wait()
def play(self, song):
"""Play the song"""
from ev3dev.ev3 import Sound
file_name = song.get('file_name')
with open(file_name) as data_file:
lyrics = json.load(data_file)
Sound.tone(self.convert_lyrics(lyrics)).wait()
def update(self):
self.x += self.xv
self.y += self.yv
if self.x - self.radius <= racket_left.thickness + racket_left.distance_from_edge:
if self.y < racket_left.pos - racket_left.width / 2 or self.y > racket_left.pos + racket_left.width:
Sound.tone(250, 100).wait()
Sound.tone(500, 100).wait()
self.reset()
else:
self.xv = -self.xv
self.yv += 1 if self.y > racket_left.pos else -1
m1.run_timed(time_sp=20,
speed_sp=900 * self.yv /
abs(1 if self.yv == 0 else self.yv))
if self.x + self.radius >= screen_width - racket_left.thickness - racket_left.distance_from_edge:
if self.y < racket_right.pos - racket_right.width / 2 or self.y > racket_right.pos + racket_right.width:
Sound.tone(250, 100).wait()
Sound.tone(500, 100).wait()
self.reset()
else:
self.xv = -self.xv
self.yv += 1 if self.y > racket_right.pos else -1
m2.run_timed(time_sp=20,
speed_sp=900 * self.yv /
abs(1 if self.yv == 0 else self.yv))
if self.y + self.radius >= screen_height or self.y - self.radius <= 0:
self.yv = -self.yv
Sound.tone(2000, 5)
def __init__(self,
init_pose,
soc=None,
port_motor_rear=OUTPUT_A,
port_motor_steer=OUTPUT_B,
port_sensor_gyro='in1'):
# initialization of devices
self.__button_halt = Button()
self.__motor_rear = LargeMotor(port_motor_rear)
self.__motor_steer = LargeMotor(port_motor_steer)
self.__sensor_gyro = GyroSensor(port_sensor_gyro)
self.__velocity_controller = VelocityController(self,
0,
0,
adaptation=False)
self.s = soc
# NOTE: possible using other controllers. Change only here!
self.__trajectory_controller = ControllerWithLinearization()
self.__path_controller = PathController()
self.__localization = Localization(self, init_pose)
self.__robot_state = [0, 0, 0, 0, 0, 0] # x,y, dx,dy, theta,omega
self.reset()
Sound.speak('Ready').wait()
def __init__(self,
port_motor_rear=OUTPUT_A,
port_motor_steer=OUTPUT_B,
port_sensor_gyro='in1',
port_sensor_us_front='in2',
port_sensor_us_rear='in3'):
# initialization of devices
self.__button_halt = Button()
self.__motor_rear = LargeMotor(port_motor_rear)
self.__motor_steer = LargeMotor(port_motor_steer)
self.__sensor_gyro = GyroSensor(port_sensor_gyro)
self.__sensor_us_rear = UltrasonicSensor(port_sensor_us_rear)
self.__sensor_us_front = UltrasonicSensor(port_sensor_us_front)
self.__velocity_controller = VelocityController(self, 0, 0)
# NOTE: possible using other controllers. Change only here!
self.__trajectory_controller = ControllerWithLinearization()
self.__localization = Localization(self)
self.__robot_state = [0, 0, 0, 0, 0, 0] # x,y, dx,dy, theta,omega
self.reset()
Sound.speak('Initialization complete!').wait()
class Rov3r(RemoteControlledTank):
def __init__(self,
left_motor_port: str = OUTPUT_B,
right_motor_port: str = OUTPUT_C,
gear_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=left_motor_port,
right_motor=right_motor_port,
polarity=Motor.POLARITY_NORMAL)
self.gear_motor = MediumMotor(address=gear_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.speaker = Sound()
self.dis = Screen()
def spin_gears(self, speed: float = 1000):
while True:
if self.beacon.beacon:
self.gear_motor.run_forever(speed_sp=speed)
else:
self.gear_motor.stop(stop_action=Motor.STOP_ACTION_HOLD)
def change_screen_when_touched(self):
while True:
if self.touch_sensor.is_pressed:
self.dis.image.paste(
im=Image.open('/home/robot/image/Angry.bmp'))
else:
self.dis.image.paste(
im=Image.open('/home/robot/image/Fire.bmp'))
self.dis.update()
def make_noise_when_seeing_black(self):
while True:
if self.color_sensor.color == ColorSensor.COLOR_BLACK:
self.speaker.play(wav_file='/home/robot/sound/Ouch.wav').wait()
def main(self):
self.speaker.play(wav_file='/home/robot/sound/Yes.wav').wait()
Thread(target=self.make_noise_when_seeing_black, daemon=True).start()
Thread(target=self.spin_gears, daemon=True).start()
Thread(target=self.change_screen_when_touched, daemon=True).start()
super().main() # RemoteControlledTank.main()
class Ev3rstorm(IRBeaconRemoteControlledTank):
def __init__(self,
left_foot_motor_port: str = OUTPUT_B,
right_foot_motor_port: str = OUTPUT_C,
bazooka_blast_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_foot_motor_port,
right_motor_port=right_foot_motor_port,
ir_sensor_port=ir_sensor_port,
ir_beacon_channel=ir_beacon_channel)
self.bazooka_blast_motor = MediumMotor(
address=bazooka_blast_motor_port)
self.touch_sensor = TouchSensor(address=touch_sensor_port)
self.color_sensor = ColorSensor(address=color_sensor_port)
self.screen = Screen()
self.speaker = Sound()
def blast_bazooka_whenever_touched(self):
while True:
if self.touch_sensor.is_pressed:
if self.color_sensor.ambient_light_intensity < 5: # 15 not dark enough
self.speaker.play(
wav_file='/home/robot/sound/Up.wav').wait()
self.bazooka_blast_motor.run_to_rel_pos(
speed_sp=1000, # degrees per second
position_sp=-3 * 360, # degrees
stop_action=Motor.STOP_ACTION_HOLD)
else:
self.speaker.play(
wav_file='/home/robot/sound/Down.wav').wait()
self.bazooka_blast_motor.run_to_rel_pos(
speed_sp=1000, # degrees per second
position_sp=3 * 360, # degrees
stop_action=Motor.STOP_ACTION_HOLD)
while self.touch_sensor.is_pressed:
pass
def main(
self,
driving_speed: float = 1000 # degrees per second
):
self.screen.image.paste(im=Image.open('/home/robot/image/Target.bmp'))
self.screen.update()
Thread(target=self.blast_bazooka_whenever_touched, daemon=True).start()
self.keep_driving_by_ir_beacon(speed=driving_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)
def robot_die():
"""
Končaj s programom na robotu. Ustavi motorje.
"""
print('KONEC')
motor_left.stop(stop_action='brake')
motor_right.stop(stop_action='brake')
Sound.play_song((('D4', 'e'), ('C4', 'e'), ('A3', 'h')))
sys.exit(0)
class Ev3rstorm(RemoteControlledTank):
def __init__(
self,
left_foot_motor_port: str = OUTPUT_B, right_foot_motor_port: str = OUTPUT_C,
bazooka_blast_motor_port: str = OUTPUT_A,
touch_sensor_port: str = INPUT_1, color_sensor_port: str = INPUT_3):
super().__init__(
left_motor=left_foot_motor_port, right_motor=right_foot_motor_port,
polarity=Motor.POLARITY_NORMAL)
self.bazooka_blast_motor = MediumMotor(address=bazooka_blast_motor_port)
self.touch_sensor = TouchSensor(address=touch_sensor_port)
self.color_sensor = ColorSensor(address=color_sensor_port)
self.screen = Screen()
self.speaker = Sound()
def blast_bazooka_whenever_touched(self):
while True:
if self.touch_sensor.is_pressed:
if self.color_sensor.ambient_light_intensity < 5: # 15 not dark enough
self.speaker.play(wav_file='/home/robot/sound/Up.wav').wait()
self.bazooka_blast_motor.run_to_rel_pos(
speed_sp=1000, # degrees per second
position_sp=-3 * 360, # degrees
stop_action=Motor.STOP_ACTION_HOLD)
else:
self.speaker.play(wav_file='/home/robot/sound/Down.wav').wait()
self.bazooka_blast_motor.run_to_rel_pos(
speed_sp=1000, # degrees per second
position_sp=3 * 360, # degrees
stop_action=Motor.STOP_ACTION_HOLD)
while self.touch_sensor.is_pressed:
pass
def main(self):
self.screen.image.paste(im=Image.open('/home/robot/image/Target.bmp'))
self.screen.update()
Process(target=self.blast_bazooka_whenever_touched,
daemon=True).start()
super().main() # RemoteControlledTank.main()
def turnWheel(self, phi_desired):
""" Turns front wheels on the desired angle 'phi_desired' """
pid_phi = PID(100.0, 500.0, 5.0, 100, -100)
t = 0
clock = Clock()
while t < 1: # FIXME: seems that need steady state condition
t, dt = clock.getTandDT()
phi_current = self.__motor_steer.position
error_phi = radians(phi_desired - phi_current)
u_phi = pid_phi.getControl(error_phi, dt)
self.__motor_steer.run_direct(duty_cycle_sp=u_phi)
Sound.speak('Wheels were turned!')
def verificarSilverTap(dados):
if (dados['esquerdo']['silverTape']['refl'] - 10 < cl_left.value() < dados['esquerdo']['silverTape']['refl'] + 10 and
dados['direito']['silverTape']['refl'] - 10 < cl_right.value() < dados['direito']['silverTape']['refl'] + 10):
print("possivel silver tape")
cl_left.mode = 'RGB-RAW'
cl_right.mode = 'RGB-RAW'
if(dados['esquerdo']['silverTape']['rgb'] - 20 < cl_left.value() < dados['esquerdo']['silverTape']['rgb'] + 20 and
dados['direito']['silverTape']['rgb'] - 20 < cl_right.value() < dados['direito']['silverTape']['rgb'] + 20):
cl_left.mode = 'COL-REFLECT'
cl_right.mode = 'COL-REFLECT'
Sound.beep()
rotina3Piso(dados)
def all_green():
process = robot.scan(200)
g_count = 0
for i, j in process:
if i == Color.GREEN:
g_count += 1
if g_count == len(process):
Leds.set_color(Leds.RIGHT, Leds.GREEN)
Leds.set_color(Leds.LEFT, Leds.GREEN)
Sound.speak("good to go, all green").wait()
Leds.all_off()
return True
else:
return False
def __init__(
self,
left_foot_motor_port: str = OUTPUT_B, right_foot_motor_port: str = OUTPUT_C,
bazooka_blast_motor_port: str = OUTPUT_A,
touch_sensor_port: str = INPUT_1, color_sensor_port: str = INPUT_3):
super().__init__(
left_motor=left_foot_motor_port, right_motor=right_foot_motor_port,
polarity=Motor.POLARITY_NORMAL)
self.bazooka_blast_motor = MediumMotor(address=bazooka_blast_motor_port)
self.touch_sensor = TouchSensor(address=touch_sensor_port)
self.color_sensor = ColorSensor(address=color_sensor_port)
self.screen = Screen()
self.speaker = Sound()
def __init__(
self,
left_foot_motor_port: str = OUTPUT_B, right_foot_motor_port: str = OUTPUT_C,
bazooka_blast_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_foot_motor_port, right_motor_port=right_foot_motor_port,
ir_sensor_port=ir_sensor_port, ir_beacon_channel=ir_beacon_channel)
self.bazooka_blast_motor = MediumMotor(address=bazooka_blast_motor_port)
self.touch_sensor = TouchSensor(address=touch_sensor_port)
self.color_sensor = ColorSensor(address=color_sensor_port)
self.leds = Leds()
self.screen = Screen()
self.speaker = Sound()
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 __init__(
self,
left_foot_motor_port: str = OUTPUT_B, right_foot_motor_port: str = OUTPUT_C,
bazooka_blast_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.left_foot_motor = LargeMotor(address=left_foot_motor_port)
self.right_foot_motor = LargeMotor(address=right_foot_motor_port)
self.bazooka_blast_motor = MediumMotor(address=bazooka_blast_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.remote_control = RemoteControl(sensor=self.ir_sensor,
channel=ir_beacon_channel)
self.screen = Screen()
self.speaker = Sound()
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 FOLLOW_PATH(path):
global lastTagTime
print("Starting RFID reader...")
rfidReader.start()
sleep(4) # time for the RFID reader to start up
findLineNearby(robot)
nd = 0
lastNodeId = None # ATENCAO: precisa soltar do no anterior em direcao ao no que você deseja começar o caminho
while not brickButton.any() and not finishedExploration:
if (robot.getDistanceAhead() is None) or (robot.getDistanceAhead() >= 20):
#go ahead
robot.followLine(200)
else:
#shock prevention
print("Obstacle at distance ", robot.getDistanceAhead(), "! Waiting...") #IDEIA: este para, e o outro robo desvia
robot.stopMotors()
while robot.getDistanceAhead() < 20:
sleep(0.1)
print(" - clear to go...")
robot.followLine(200)
currentNodeId = rfidReader.getCurrentTagId()
if (time() - lastTagTime > 3) and currentNodeId is not None:
robot.stopMotors()
Sound.beep()
print("Tag detected - id", currentNodeId)
dbgSleep()
if lastNodeId is None:
lastNodeId = currentNodeId
else:
assert currentNodeId == path[nd]
nd = nd + 1
onNodeActionFollowPath(lastNodeId, currentNodeId, path[nd])
lastNodeId = currentNodeId
robot.stopMotors()
rfidReader.stop()
return
def virar(dir):
m_left.stop()
m_right.stop()
pos0 = gyro.value()
Sound.beep()
if (dir == DIREITA):
m_left.run_to_rel_pos(position_sp=-45,
speed_sp=900,
stop_action="hold")
m_right.run_to_rel_pos(position_sp=-45,
speed_sp=900,
stop_action="hold")
sleep(0.1)
print(pos0)
while gyro.value() > pos0 - 70:
print(gyro.value())
m_left.run_forever(speed_sp=-500)
m_right.run_forever(speed_sp=250)
m_left.stop()
m_right.stop()
elif (dir == ESQUERDA):
m_left.run_to_rel_pos(position_sp=-45,
speed_sp=900,
stop_action="hold")
m_right.run_to_rel_pos(position_sp=-45,
speed_sp=900,
stop_action="hold")
sleep(0.1)
print(pos0)
while gyro.value() < pos0 + 70:
print(gyro.value())
m_left.run_forever(speed_sp=250)
m_right.run_forever(speed_sp=-500)
m_left.stop()
m_right.stop()
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=left_motor_port,
right_motor=right_motor_port,
polarity=Motor.POLARITY_NORMAL)
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 __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 __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 __init__(self,
left_motor_port: str = OUTPUT_B,
right_motor_port: str = OUTPUT_C,
medium_motor_port: str = OUTPUT_A,
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.ir_sensor = InfraredSensor(address=ir_sensor_port)
self.remote_control = RemoteControl(sensor=self.ir_sensor,
channel=ir_beacon_channel)
self.screen = Screen()
self.speaker = Sound()
def playTone(hz, seconds, wait = False):
process = _Sound.tone([(hz, seconds * 1000)])
if wait:
process.wait()
def speak(text, wait = False):
process = _Sound.speak(text)
if wait:
process.wait()
def beep(duration=1000, freq=440):
"""
Potrobi s frekvenco `freq` za čas `duration`. Klic ne blokira.
"""
Sound.tone(freq, duration)
def playFile(filename, wait = False):
process = _Sound.play(filename)
if wait:
process.wait()
