m = MediumMotor(OUTPUT_A)
print("Press the touch sensor to change the LED color!")
while True:
if ts.is_pressed:
# leds.set_color("LEFT", "GREEN")
# leds.set_color("RIGHT", "GREEN")
sound.speak('du du is a good boy')
m.on_for_rotations(SpeedPercent(75), 5)
else:
leds.set_color("LEFT", "RED")
leds.set_color("RIGHT", "RED")
m.stop()
# don't let this loop use 100% CPU
sleep(0.01)
# multiple-motor-groups
# run 2 motors
tank_drive = MoveTank(OUTPUT_A, OUTPUT_B)
# drive in a turn for 5 rotations of the outer motor
# the first two parameters can be unit classes or percentages.
tank_drive.on_for_rotations(SpeedPercent(50), SpeedPercent(75), 10)
# drive in a different turn for 3 seconds
tank_drive.on_for_seconds(SpeedPercent(60), SpeedPercent(30), 3)
# right pad center value 128
# right pad center max left value 0
# right pad center max right value 255
# right pad center max top value 0
# right pad center max bottom value 255
rPadrTl = 2
rPadtTb = 5
sound = Sound()
mA = MediumMotor(OUTPUT_A)
mB = MediumMotor(OUTPUT_B)
# TODO: Add code here
# evdev takes care of polling the controller in a loop
for event in gamepad.read_loop():
if event.type == ecodes.EV_KEY:
if event.value == 1:
if event.code == yBtn:
print("Y")
sound.speak('Autobots, roll out!')
sound.play_file('autobot.wav')
elif event.code == bBtn:
print("B")
mA.run_forever(speed_sp=1000)
elif event.code == aBtn:
print("A")
mA.stop()
elif event.code == xBtn:
print("X")
class KitchenSinkGadget(AlexaGadget):
"""
Class that logs each directive received from the Echo device.
"""
def __init__(self):
super().__init__()
self.leds = Leds()
self.motorOne = LargeMotor(OUTPUT_C)
self.motorTwo = LargeMotor(OUTPUT_B)
self.motorThree = MediumMotor(OUTPUT_A)
#self.t1 = ""
#self.t2 = ""
#self.TouchIt = TouchSensor(INPUT_4)
#ts = TouchSensor()
def on_connected(self, device_addr):
"""
Gadget connected to the paired Echo device.
:param device_addr: the address of the device we connected to
"""
self.leds.set_color('LEFT','RED')
self.leds.set_color('RIGHT','RED')
threading.Thread(target=self.buttonListener).start()
def on_disconnected(self, device_addr):
"""
Gadget disconnected from the paired Echo device.
:param device_addr: the address of the device we disconnected from
"""
self.leds.set_color('LEFT','BLACK')
self.leds.set_color('RIGHT','BLACK')
def on_alexa_gadget_statelistener_stateupdate(self, directive):
"""
Alexa.Gadget.StateListener StateUpdate directive received.
For more info, visit:
https://developer.amazon.com/docs/alexa-gadgets-toolkit/alexa-gadget-statelistener-interface.html#StateUpdate-directive
:param directive: Protocol Buffer Message that was send by Echo device.
To get the specific state update name, the following code snippet can be used:
# Extract first available state (name & value) from directive payload
"""
if len(directive.payload.states) > 0:
state = directive.payload.states[0]
name = state.name
value = state.value
print('state name:{}, state value:{}'.format(name, value))
if name == "timers":
if value == "active":
print("Active hai timer abhi")
self.motorThree.on(20)
#self.motorOne.on_for_degrees(speed = 10, degrees= 90)
#self.motorTwo.on_for_degrees(10,-90)
elif value == "cleared":
print("Timer cleared here now")
self.motorThree.off()
#self.motorThree.on_to_position(10,0)
#for i in range(12,168):
#self.motorOne.on_to_position(2,0)
#self.motorTwo.on_to_position(2,0)
elif name == "wakeword":
actualPos = self.motorOne.position
print(actualPos)
#self.motorOne.on_to_position(10,0)
if value == "active":
self.leds.set_color('LEFT','GREEN')
self.leds.set_color('RIGHT','GREEN')
self.motorOne.on_to_position(10,-10,True,True)
self.motorOne.wait_until_not_moving()
self.motorOne.on_to_position(10,0,True,True)
self.motorOne.on_to_position(10,10,True,True)
self.motorOne.on_to_position(10,0,True,True)
elif value == "cleared":
self.leds.set_color('LEFT','BLACK')
self.leds.set_color('RIGHT','BLACK')
#self.motorOne.on_to_position(20,0)
elif name == "alarms":
if value == "active":
self.leds.set_color('LEFT','RED')
self.leds.set_color('RIGHT','RED')
self.motorThree.on(20)
elif value == "cleared":
self.motorThree.stop()
self.leds.set_color('LEFT','BLACK')
self.leds.set_color('RIGHT','BLACK')
elif name == "reminders":
if value == "active":
self.leds.set_color('LEFT','GREEN')
self.leds.set_color('RIGHT','GREEN')
#self.leds.set_color('UP','GREEN')
#self.leds.set_color('DOWN','GREEN')
moveUp = True
moveDown = True
counter = 0
for i in range(0,15):
#if moveUp:
self.motorTwo.on_to_position(10,-10,True,True)
self.motorThree.on_to_position(5,-20,True,True)
time.sleep(0.3)
self.motorTwo.on_to_position(10,70,True,True)
#moveUp = False
#moveDown = True
#elif moveDown:
# self.motorTwo.on_for_degrees(20,0,True,True)
# moveUp = True
# moveDown = False
elif value == "cleared":
self.leds.set_color('LEFT','BLACK')
self.leds.set_color('RIGHT','BLACK')
self.motorTwo.on_to_position(20,0)
self.motorThree.on_to_position(5,70,True,True)
#self.leds.set_color('UP','BLACK')
#self.leds.set_color('DOWN','BLACK')
def on_notifications_setindicator(self, directive):
"""
Notifications SetIndicator directive received.
For more info, visit:
https://developer.amazon.com/docs/alexa-gadgets-toolkit/notifications-interface.html#SetIndicator-directive
:param directive: Protocol Buffer Message that was send by Echo device.
"""
print("Notification Set Indicator")
def on_notifications_clearindicator(self, directive):
"""
Notifications ClearIndicator directive received.
For more info, visit:
https://developer.amazon.com/docs/alexa-gadgets-toolkit/notifications-interface.html#ClearIndicator-directive
:param directive: Protocol Buffer Message that was send by Echo device.
"""
print("Notification Cleared")
def on_alexa_gadget_musicdata_tempo(self, directive):
"""
Provides the music tempo of the song currently playing on the Echo device.
:param directive: the music data directive containing the beat per minute value
"""
tempo_data = directive.payload.tempoData
for tempo in tempo_data:
print("tempo value: {}".format(tempo.value))
if tempo.value > 0:
# dance pose
print(tempo.value)
#self.right_motor.run_timed(speed_sp=750, time_sp=2500)
#self.left_motor.run_timed(speed_sp=-750, time_sp=2500)
#self.hand_motor.run_timed(speed_sp=750, time_sp=2500)
self.leds.set_color("LEFT", "GREEN")
self.leds.set_color("RIGHT", "GREEN")
time.sleep(3)
# starts the dance loop
self.trigger_bpm = "on"
self.t1 = threading.Thread(target=self._dance_loop, args=(tempo.value,)).start()
self.t2 = threading.Thread(target=self.ledShuffler, args=(tempo.value,)).start()
elif tempo.value == 0:
# stops the dance loop
#print(dir(self.t1))
self.trigger_bpm = "off"
self.motorOne.on_to_position(5,0,True,True)
self.leds.set_color("LEFT", "BLACK")
self.leds.set_color("RIGHT", "BLACK")
def danceMoveTwo(self):
for i in range(0,2):
self.motorThree.on_for_rotations(15,1,True,False)
self.motorTwo.on_to_position(15,-30,True,True)
self.motorOne.on_to_position(5,0,True,True)
self.motorThree.on_for_rotations(15,1,True,False)
self.motorTwo.on_to_position(15,45,True,True)
self.motorOne.on_to_position(5,-60,True,True)
self.motorThree.on_for_rotations(15,1,True,True)
self.motorOne.on_to_position(5,0,True,True)
self.motorThree.on_for_rotations(15,1,True,True)
self.motorOne.on_to_position(5,60,True,True)
self.motorThree.on_for_rotations(15,1,True,True)
self.motorOne.on_to_position(5,0,True,True)
def danceMoveFive(self):
for i in range(0,4):
print("Move five part one")
print(self.motorTwo.position)
self.motorTwo.on_to_position(15,-30,True,False)
#self.motorTwo.wait_until_not_moving()
self.motorTwo.on_to_position(20,40,True,False)
self.motorOne.on_to_position(5,0,True,True)
self.motorOne.on_to_position(5,60,True,False)
#for i in range(0,4):
# print("Move five part two")
# print(self.motorThree.position)
# self.motorThree.on_to_position(15,70,True,True)
# self.motorOne.on_to_position(5,-60,True,True)
# self.motorThree.on_to_position(15,130,True,False)
# self.motorOne.on_to_position(5,-60,True,False)
def danceMoveSix(self):
for i in range(0,12):
if self.trigger_bpm != 'on':
return
moveUp = True
moveDown = True
if moveUp:
print("Move Six Part One")
print(self.motorThree.position)
#self.leds.set_color('LEFT','RED')
#self.leds.set_color('RIGHT','RED')
self.motorThree.on_to_position(10,0,True,True)
self.motorThree.on_to_position(10,70,True,False)
moveUp = False
moveDown = True
if moveDown:
print("Move Six Part Two")
#self.leds.set_color('LEFT','GREEN')
#self.leds.set_color('RIGHT','GREEN')
print(self.motorTwo.position)
self.motorTwo.on_to_position(15,-30,True,True)
self.motorTwo.on_to_position(15,45,True,False)
moveUp = True
moveDown = False
#self.motorTwo.on_to_position(20,-20,True,True)
#self.motorOne.on_to_position(5,60,True,False)
#self.motorTwo.on_to_position(20,20,True,True)
self.motorOne.on_to_position(5,60,True,True)
self.motorOne.on_to_position(1,0,True,True)
def moveSeven(self):
start = 0
for each in range(0,50):
if self.trigger_bpm != 'on':
return
start += 5
self.motorThree.on_to_position(1,start,True,True)
time.sleep(0.2)
def moveHands(self):
self.motorThree.on_to_position(15,30,True,False)
self.motorTwo.on_to_position(20,0,True,True)
self.motorThree.on_to_position(15,-30,True,False)
self.motorTwo.on_to_position(20,55,True,True)
def moveHands2(self):
self.motorThree.on_to_position(10,-120,True,False)
self.motorTwo.on_to_position(15,-10,True,True)
self.motorThree.on_to_position(10,-50,True,False)
self.motorTwo.on_to_position(15,45,True,True)
def danceMoveFour(self):
if self.trigger_bpm != 'on':
return
self.motorOne.on_to_position(8,0,True,True)
for i in range(0,4):
print("In move four part one")
self.moveHands()
self.motorOne.on_to_position(8,-40,True,True)
if self.trigger_bpm != 'on':
return
for i in range(0,4):
print("In move four part two")
self.moveHands()
self.motorOne.on_to_position(8,0,True,True)
if self.trigger_bpm != 'on':
return
for i in range(0,4):
print("In move four part three")
self.moveHands()
self.motorOne.on_to_position(8,40,True,True)
if self.trigger_bpm != 'on':
return
for i in range(0,4):
print("In move four part four")
self.moveHands2()
self.motorOne.on_to_position(8,0,True,True)
if self.trigger_bpm != 'on':
return
for i in range(0,4):
print("In move four part five")
self.moveHands2()
def danceMoveThree(self):
self.motorOne.on_to_position(5,0,True,False)
self.motorTwo.on_to_position(20,-30,True,True)
self.motorTwo.on_to_position(20,45,True,True)
self.motorTwo.on_to_position(20,-30,True,True)
self.motorTwo.on_to_position(20,45,True,True)
self.motorOne.on_to_position(5,-40,True,False)
self.motorTwo.on_to_position(20,-30,True,True)
self.motorTwo.on_to_position(20,45,True,True)
self.motorTwo.on_to_position(20,-30,True,True)
self.motorTwo.on_to_position(20,45,True,True)
self.motorOne.on_to_position(5,0,True,False)
self.motorTwo.on_to_position(20,-30,True,True)
self.motorTwo.on_to_position(20,45,True,True)
self.motorTwo.on_to_position(20,-30,True,True)
self.motorTwo.on_to_position(20,45,True,True)
self.motorOne.on_to_position(5,40,True,False)
self.motorTwo.on_to_position(20,-30,True,True)
self.motorTwo.on_to_position(20,45,True,True)
self.motorTwo.on_to_position(20,-30,True,True)
self.motorTwo.on_to_position(20,45,True,True)
def danceMoveOne(self):
self.motorTwo.on_to_position(20,-30,True,False)
self.motorOne.on_to_position(5,0,True,True)
self.motorTwo.on_to_position(20,45,True,False)
self.motorOne.on_to_position(5,-60,True,True)
self.motorTwo.on_to_position(20,-30,True,False)
self.motorOne.on_to_position(5,0,True,True)
self.motorTwo.on_to_position(20,45,True,False)
self.motorOne.on_to_position(5,60,True,True)
self.motorTwo.on_to_position(20,-30,True,False)
def buttonListener(self):
while True:
if ts.is_pressed:
print("Button Pressed")
self._send_event("buttonPress" ,{"pressed" : "pressedNow"})
else:
pass
time.sleep(0.2)
def ledShuffler(self,bpm):
color_list = ["GREEN", "RED", "AMBER", "YELLOW"]
led_color = random.choice(color_list)
while self.trigger_bpm == "on":
led_color = "BLACK" if led_color != "BLACK" else random.choice(color_list)
self.leds.set_color("LEFT", led_color)
self.leds.set_color("RIGHT", led_color)
milli_per_beat = min(1000, (round(60000 / bpm)) * 0.65)
time.sleep(milli_per_beat / 1000)
def _dance_loop(self, bpm):
"""
Perform motor movement in sync with the beat per minute value from tempo data.
:param bpm: beat per minute from AGT
"""
motor_speed = 400
milli_per_beat = min(1000, (round(60000 / bpm)) * 0.65)
print("Adjusted milli_per_beat: {}".format(milli_per_beat))
while self.trigger_bpm == "on":
# Alternate led color and motor direction
motor_speed = -motor_speed
#self.danceMoveFive()
#self.danceMoveSix()
#self.danceMoveOne()
#self.danceMoveTwo()
#self.danceMoveThree()
if self.trigger_bpm != "on":
break
self.danceMoveFour()
if self.trigger_bpm != "on":
break
self.danceMoveFive()
if self.trigger_bpm != "on":
break
self.danceMoveSix()
if self.trigger_bpm != "on":
break
self.moveSeven()
if self.trigger_bpm != "on":
break
#self.right_motor.run_timed(speed_sp=motor_speed, time_sp=150)
#self.left_motor.run_timed(speed_sp=-motor_speed, time_sp=150)
time.sleep(milli_per_beat / 1000)
print("Exiting BPM process.")
self.motorTwo.on_to_position(5,75,True,True)
self.motorThree.on_to_position(5,75,True,True)
self.motorOne.on_to_position(5,0,True,True)
def _send_event(self, name, payload):
"""
Sends a custom event to trigger a sentry action.
:param name: the name of the custom event
:param payload: the sentry JSON payload
"""
self.send_custom_event('Custom.Mindstorms.Gadget', name, payload)
def on_custom_mindstorms_gadget_control(self, directive):
"""
Handles the Custom.Mindstorms.Gadget control directive.
:param directive: the custom directive with the matching namespace and name
"""
print("Directive", directive)
try:
payload = json.loads(directive.payload.decode("utf-8"))
print("Control payload: {}".format(payload))
control_type = payload["type"]
print("Control Type",control_type)
if control_type == "dance":
print("Move command found")
self.danceMoveFive()
self._send_event("completion", {'danceMove' : 'completed'})
elif control_type == "rotate":
self.motorOne.on_to_position(5,190,True,True)
self.motorOne.on_to_position(5,-150,True,True)
self.motorTwo.on_to_position(10,-30,True,True)
self.motorThree.on_to_position(5,-20,True,True)
time.sleep(1)
#self.motorTwo.on_to_position(5,40,True,True)
#time.sleep(2)
#self.motorOne.on_to_position(5,0,True,True)
self._send_event("completion",{'startGame':'completed'})
elif control_type == "movefinger" :
time.sleep(1.4)
print("Delay 1.4")
self.motorTwo.on_to_position(15,-20,True,True)
self.motorTwo.on_to_position(15,40,True,True)
#while not ts.is_pressed:
# print("Touch Sensor is not pressed")
#self._send_event("completion",{'flying':'made'})
#self._send_event("completion",{'flying':'completed'})
elif control_type == "movefingeragain":
time.sleep(1.2)
print("Delay 1.2")
self.motorTwo.on_to_position(15,-20,True,True)
self.motorTwo.on_to_position(15,40,True,True)
elif control_type == "movefingerfirst":
time.sleep(0.3)
print("Delay 0.3")
self.motorTwo.on_to_position(15,-20,True,True)
self.motorTwo.on_to_position(15,40,True,True)
elif control_type == "chill":
self.motorOne.on_to_position(5,20,True,True)
self.motorTwo.on_to_position(5,55,True,True)
self.motorThree.on_to_position(5,40,True,True)
#self._send_event("completion",{'backtoPos':'completed'})
elif control_type == "rotatetwo":
self.motorOne.on_to_position(5,190,True,True)
self.motorOne.on_to_position(5,-150,True,True)
self.motorOne.on_to_position(5,20,True,True)
time.sleep(0.5)
self.motorTwo.on_to_position(10,-40,True,True)
self.motorThree.on_to_position(5,-30,True,True)
self._send_event("completion",{'playerturn':'completed'})
elif control_type == "startdance":
print("Robot should be dancing now")
time.sleep(4)
self.trigger_bpm = "on"
self.danceMoveFour()
self.danceMoveFive()
self._send_event("completion",{'dance' : 'statue'})
except KeyError:
print("Missing expected parameters: {}".format(directive))
def on_alerts_setalert(self, directive):
"""
Alerts SetAlert directive received.
For more info, visit:
https://developer.amazon.com/docs/alexa-gadgets-toolkit/alerts-interface.html#SetAlert-directive
:param directive: Protocol Buffer Message that was send by Echo device.
"""
print(directive.payload)
#for state in directive.payload.states:
if directive.payload.type == "TIMER":
timeToStart = directive.payload.scheduledTime
token = directive.payload.token
timeNow = datetime.now()
print(timeNow)
#for i in range(12,168):
self.motorTwo.on_to_position(25,120)
self.motorTwo.on_to_position(25,0)
#self.motorTwo.on_to_position(-1,i)
#time.sleep(1.935)
#print(i)
#print("Motor is holding")
#print(self.motorOne.is_holding)
#print("Motor is running")
#print(self.motorOne.is_running)
#print("Motor is stalled")
#print(self.motorOne.is_stalled)
print("Set Alert is done")
elif directive.payload.type == "ALARM":
timeToStart = directive.payload.scheduledTime
token = directive.payload.token
print(timeToStart)
print(token)
self.leds.set_color('LEFT','YELLOW')
self.leds.set_color('RIGHT','YELLOW')
elif directive.payload.type == "REMINDER":
self.leds.set_color('LEFT','AMBER')
self.leds.set_color('RIGHT','AMBER')
#self.leds.set_color('UP','AMBER')
#self.leds.set_color('DOWN','AMBER')
def on_alerts_deletealert(self, directive):
"""
Alerts DeleteAlert directive received.
For more info, visit:
https://developer.amazon.com/docs/alexa-gadgets-toolkit/alerts-interface.html#DeleteAlert-directive
:param directive: Protocol Buffer Message that was send by Echo device.
"""
print(directive.payload)
#for state in directive.payload.states:
# if state.value == "cleared":
# self.motorTwo.run_timed(speed_sp=1000,time_sp=1000)
print("Delete Alert")
class Robot:
def __init__(self):
self.sound = Sound()
self.direction_motor = MediumMotor(OUTPUT_D)
self.swing_motorL = LargeMotor(OUTPUT_A)
self.swing_motorC = LargeMotor(OUTPUT_B)
self.swing_motorR = LargeMotor(OUTPUT_C)
self.swing_motors = [
self.swing_motorL, self.swing_motorC, self.swing_motorR
]
self.touch_sensor = TouchSensor(INPUT_1)
self.console = Console(DEFAULT_FONT)
self.buttons = Button()
self.beeps_enabled = True
def beep(self, frequency=700, wait_for_comeplete=False):
if not self.beeps_enabled:
return
play_type = Sound.PLAY_WAIT_FOR_COMPLETE if wait_for_comeplete else Sound.PLAY_NO_WAIT_FOR_COMPLETE
self.sound.beep("-f %i" % frequency, play_type=play_type)
def calibrate_dir(self):
''' Calibrate direction motor '''
# Run motor with 25% power, and wait until it stops running
self.direction_motor.on(SpeedPercent(-10), block=False)
# while (not self.direction_motor.STATE_OVERLOADED):
# print(self.direction_motor.duty_cycle)
self.direction_motor.wait_until(self.direction_motor.STATE_OVERLOADED)
self.direction_motor.stop_action = Motor.STOP_ACTION_COAST
self.direction_motor.stop()
time.sleep(.5)
# Reset to straight
# self.direction_motor.on_for_seconds(SpeedPercent(10), .835, brake=True, block=True)
self.direction_motor.on_for_degrees(SpeedPercent(10),
127,
brake=True,
block=True)
self.direction_motor.reset()
print("Motor reset, position: " + str(self.direction_motor.position))
time.sleep(.5)
def calibrate_swing(self):
for m in self.swing_motors:
m.stop_action = m.STOP_ACTION_HOLD
m.on(SpeedPercent(6))
self.swing_motorC.wait_until(self.swing_motorC.STATE_OVERLOADED, 2000)
for m in self.swing_motors:
m.stop_action = m.STOP_ACTION_HOLD
m.on_for_degrees(SpeedPercent(5), -15, brake=True, block=False)
self.swing_motorC.wait_while('running')
for m in self.swing_motors:
m.reset()
m.stop_action = m.STOP_ACTION_HOLD
m.stop()
print("Ready Angle: %i" % self.swing_motorC.position)
def ready_swing(self, angle: int):
right_angle = -(angle / 3)
# adjust motors to target angle
for m in self.swing_motors:
m.stop_action = Motor.STOP_ACTION_HOLD
m.on_for_degrees(SpeedPercent(2),
right_angle,
brake=True,
block=False)
self.swing_motorC.wait_while('running')
for m in self.swing_motors:
m.stop_action = Motor.STOP_ACTION_HOLD
m.stop()
print("Swing Angle: %i" % self.swing_motorC.position)
def set_direction(self, direction):
print("Setting direction to: " + str(direction))
#direction = self.__aim_correction(direction)
self.direction_motor.on_for_degrees(SpeedPercent(10),
round(direction * 3))
print("Direction set to: " + str(self.direction_motor.position))
#
# def __aim_correction(self, direction):
# x = direction
# y = -0.00000000429085685725*x**6 + 0.00000004144345630728*x**5 + 0.00001219331494759860*x**4 + 0.00020702946527870400*x**3 + 0.00716486965517779000*x**2 + 1.29675836037884000000*x + 0.27064829453014400000
#
# return y
def shoot(self, power):
print("SHOOT, power: %i" % power)
for m in self.swing_motors:
m.duty_cycle_sp = -power
for m in self.swing_motors:
m.run_direct()
time.sleep(.5)
self.swing_motorC.wait_until_not_moving()
for m in self.swing_motors:
m.reset()
def wait_for_button(self):
self.touch_sensor.wait_for_bump()
def __set_display(self, str):
self.console.set_font(font=LARGER_FONT, reset_console=True)
self.console.text_at(str, column=1, row=1, reset_console=True)
def wait_for_power_select(self, power=0, angle=0, steps=1):
self.__set_display("Pow: %i\nAngle: %i" % (power, angle))
def left():
power -= steps
if power < 0:
power = 0
self.__set_display("Pow: %i\nAngle: %i" % (power, angle))
self.buttons.wait_for_released(buttons=['left'], timeout_ms=150)
def right():
power += steps
if power > 100:
power = 100
self.__set_display("Pow: %i\nAngle: %i" % (power, angle))
self.buttons.wait_for_released(buttons=['right'], timeout_ms=150)
def up():
angle += steps
if angle > 110:
angle = 110
self.__set_display("Pow: %i\nAngle: %i" % (power, angle))
self.buttons.wait_for_released(buttons=['up'], timeout_ms=150)
def down():
angle -= steps
if angle < 0:
angle = 0
self.__set_display("Pow: %i\nAngle: %i" % (power, angle))
self.buttons.wait_for_released(buttons=['down'], timeout_ms=150)
while not self.touch_sensor.is_pressed:
if self.buttons.left:
left()
elif self.buttons.right:
right()
elif self.buttons.up:
up()
elif self.buttons.down:
down()
self.console.set_font(font=DEFAULT_FONT, reset_console=True)
return (power, angle)
def select_connection_mode(self):
self.__set_display("Enable Connection\nLeft: True - Right: False")
enabled = True
while not self.touch_sensor.is_pressed:
if self.buttons.left:
enabled = True
self.buttons.wait_for_released(buttons=['left'])
break
elif self.buttons.right:
enabled = False
self.buttons.wait_for_released(buttons=['right'])
break
self.console.set_font(font=DEFAULT_FONT, reset_console=True)
return enabled
def print(self, string):
print(string)
part = conn.recv(8)
message.append(int.from_bytes(part, byteorder='big', signed=True))
#message.append(int.from_bytes(part, byteorder='big', signed=True))
handleMessage(message)
if len(part) == 0: break
#send to ev3
def send(*args):
#msg = len(args).to_bytes(1, byteorder='big')
msg = len(args).to_bytes(1, byteorder='big')
for a in args:
msg += (a).to_bytes(8, byteorder='big', signed=True)
# print(msg)
conn.send(msg)
print(conn, ' ', addr)
a = True
try:
reader()
except:
mid_motor.stop()
left_motor.stop()
right_motor.stop()
if( steps < 0 ):
steps = 0
elif(btn.check_buttons(buttons=['enter'])):
break
# update the steps on screen
lcd.text_pixels( str(steps), True, 80, 50, font='courB18')
lcd.update()
# btn.wait_for_released(buttons=['up','down', 'left', 'right','enter'])
log.info('Climbing ......')
while( steps > 0 ):
oneStep()
steps -= 1
# update the steps on screen
lcd.text_pixels( str(steps), True, 80, 50, font='courB18')
lcd.update()
# move forward & stop
mm_move.on(-90)
lm_move.on(-100)
sleep(0.5)
mm_move.stop()
lm_move.stop()
mySnd = Sound()
medMot.on_to_position(30, 0)
mySnd.speak("looking left and right")
medMot.on_to_position(10, 90)
time.sleep(0.5)
medMot.on_to_position(10, -90)
time.sleep(0.5)
medMot.on_to_position(10, 0)
mySnd.speak("spinning")
medMot.on_for_seconds(80, 1)
medMot.on_to_position(50, 0)
mySnd.speak("fixed turn")
for i in range(12):
medMot.on_for_degrees(30, 30)
time.sleep(1.0)
medMot.stop()
bttn = Button()
mySnd.speak("Turns until button pressed")
medMot.on(-20)
while True:
if bttn.enter == 1:
break
medMot.stop()
sound = Sound()
if eve3Init["name"] != "RA":
M1 = MediumMotor('outA') #largeMotor max RPM is 175
M2 = MediumMotor('outB')
M3 = MediumMotor('outC')
M4 = MediumMotor('outD')
else:
M1 = MediumMotor('outA')
M2 = MediumMotor('outB')
M3 = MediumMotor('outC')
motorList = ['off','off','off','off']
if M1.connected:
print('M1 is connected')
motorList[0] = 'on'
M1.stop()
else:
print('M1 is not connected')
if M2.connected:
print('M2 is connected')
motorList[1] = 'on'
M2.stop()
else:
print('M2 is not connected')
if M3.connected:
print('M3 is connected')
motorList[2] = 'on'
M3.stop()
else:
print('M3 is not connected')
if M4.connected:
bot = create_steering_tank()
koura = MediumMotor(OUTPUT_D) # our hand to grab 'em all
for event in gamepad.read_loop(): #this loops infinitely
# Read the analog stick values and move the robot
if event.type == 3:
if event.code == 1:
y = scale_stick(event.value)
if event.code == 0:
x = scale_stick(event.value) / 3.0
try:
bot.on(x, y, 100, 1)
except TypeError: # thanks to library bug a quick fix
bot.off()
# Listen to the trigger to start moving the hand
if event.type == 1 and event.value == 1:
if event.code == 312:
koura.on(-5)
if event.code == 313:
koura.on(5)
# Don't over do, so stop the engine on trigger release
if event.type == 1 and event.value == 0:
if event.code == 312:
koura.stop()
if event.code == 313:
koura.stop()
