def doLifter():
"""Test code for operating lifter"""
lifter = MediumMotor()
lifter.reset()
lifter.run_to_rel_pos(position_sp=60, speed_sp=100, stop_action='hold')
lifter.wait_while('running')
sleep(1)
lifter.run_to_rel_pos(position_sp=-60, speed_sp=100, stop_action='hold')
lifter.wait_while('running')
class TrashBot(MoveTank):
"""
To enable the medium motor toggle the beacon button on the EV3 remote.
"""
CLAW_DEGREES_OPEN = 225
CLAW_DEGREES_CLOSE = 920
CLAW_SPEED_PCT = 50
def __init__(self,
left_motor_port=OUTPUT_B,
right_motor_port=OUTPUT_C,
medium_motor_port=OUTPUT_A):
MoveTank.__init__(self, left_motor_port, right_motor_port)
self.set_polarity(MediumMotor.POLARITY_NORMAL)
self.medium_motor = MediumMotor(medium_motor_port)
self.sound = Sound()
#self.ts = TouchSensor()
#self.shutdown_event = Event()
def signal_term_handler(self, signal, frame):
log.info('Caught SIGTERM')
self.shutdown_robot()
def signal_int_handler(self, signal, frame):
log.info('Caught SIGINT')
self.shutdown_robot()
def move(self):
print('Move')
self.on(SpeedPercent(80), SpeedPercent(80))
def rotate_left(self):
print('Left')
self.on_for_rotations(SpeedPercent(50), SpeedPercent(70), 2)
def rotate_right(self):
print('Right')
self.on_for_rotations(SpeedPercent(70), SpeedPercent(50), 2)
def throw_trah(self):
print('Throw')
self.medium_motor.run_to_rel_pos(speed_sp=400, position_sp=75)
def reset_throw(self):
print('Reset')
self.medium_motor.run_to_rel_pos(speed_sp=400, position_sp=-75)
def say(self):
self.sou == ("speech.wav")
#!/usr/bin/env python3
# So program can be run from Brickman
from ev3dev2.ev3 import *
from time import sleep
from ev3dev2.motor import MediumMotor, OUTPUT_C, SpeedPercent, MoveTank
from ev3dev2.sensor import INPUT_1
from ev3dev2.sensor.lego import TouchSensor
from ev3dev2.led import Leds
m = MediumMotor(OUTPUT_C)
while (True):
m.run_to_rel_pos(position_sp=1000, speed_sp=900, stop_action="hold")
txt = "exit"
if robot.button('backspace'):
break
elif robot.button('up'):
#run_swing()
robot.forward(-20, 36)
robot.forward(20, 36)
elif robot.button('down'):
#run_tree()
robot.forward(-20, 60)
robot.forward(20, 60)
elif robot.button('left'):
robot.forward(-20, 55)
robot.left_degrees(10, 70)
robot.forward(-10, 8)
robot.forward(10, 5)
robot.forward(-10, 6)
elif robot.button('right'):
#run_test2()
#robot.forward(-30, 100)
#robot.right_degrees(30, 180)
#robot.forward(-50, 110)
motorD = MediumMotor(OUTPUT_D)
motorD.run_to_rel_pos(position_sp=50, speed_sp=50)
#motorD.run_to_rel_pos(position_sp=-360, speed_sp=50, stop_action="coast")
print(txt)
robot.flash()
