def runIrController():
rc = InfraredSensor(INPUT_1)
leftMotor = LargeMotor(OUTPUT_D)
rightMotor = LargeMotor(OUTPUT_A)
rc.on_channel1_top_left = steer(leftMotor, 1)
rc.on_channel1_top_right = steer(rightMotor, 1)
rc.on_channel1_bottom_left = steer(leftMotor, -1)
rc.on_channel1_bottom_right = steer(rightMotor, -1)
while True:
rc.process()
sleep(0.01)
def remote_control_two_buttons():
steer_pair = MoveSteering(OUTPUT_B, OUTPUT_C)
medium_motor = MediumMotor()
ir = InfraredSensor()
# Set the remote to channel 1
def top_left_channel_1_action(state):
move()
def bottom_left_channel_1_action(state):
move()
def top_right_channel_1_action(state):
move()
def bottom_right_channel_1_action(state):
move()
def move():
buttons = ir.buttons_pressed() # a list
if len(buttons) == 1:
medium_motor.off()
if buttons == ['top_left']:
steer_pair.on(steering=0, speed=40)
elif buttons == ['bottom_left']:
steer_pair.on(steering=0, speed=-40)
elif buttons == ['top_right']:
steer_pair.on(steering=100, speed=30)
elif buttons == ['bottom_right']:
steer_pair.on(steering=-100, speed=30)
elif len(buttons) == 2:
steer_pair.off()
if buttons == ['top_left', 'top_right']:
medium_motor.on(speed_pct=10)
elif buttons == ['bottom_left', 'bottom_right']:
medium_motor.on(speed_pct=-10)
else: # len(buttons)==0
medium_motor.off()
steer_pair.off()
# Associate the event handlers with the functions defined above
ir.on_channel1_top_left = top_left_channel_1_action
ir.on_channel1_bottom_left = bottom_left_channel_1_action
ir.on_channel1_top_right = top_right_channel_1_action
ir.on_channel1_bottom_right = bottom_right_channel_1_action
return ir
def remote_control_one_button():
steer_pair = MoveSteering(OUTPUT_B, OUTPUT_C)
ir = InfraredSensor()
# Set the remote to channel 1
def top_left_channel_1_action(state):
if state: # state is True (pressed) or False
steer_pair.on(steering=0, speed=40)
else:
steer_pair.off()
def bottom_left_channel_1_action(state):
if state:
steer_pair.on(steering=0, speed=-40)
else:
steer_pair.off()
def top_right_channel_1_action(state):
if state:
steer_pair.on(steering=100, speed=30)
else:
steer_pair.off()
def bottom_right_channel_1_action(state):
if state:
steer_pair.on(steering=-100, speed=30)
else:
steer_pair.off()
# Associate the event handlers with the functions defined above
ir.on_channel1_top_left = top_left_channel_1_action
ir.on_channel1_bottom_left = bottom_left_channel_1_action
ir.on_channel1_top_right = top_right_channel_1_action
ir.on_channel1_bottom_right = bottom_right_channel_1_action
while True:
ir.process()
sleep(0.01)
def bottom_right_channel_2_action(state):
if state:
medium_motor.on(speed=-5)
else:
medium_motor.off()
def beacon_channel_1_action(state):
if state:
sys.exit()
else:
cont = False
# Associate the event handlers with the functions defined above
infra.on_channel1_top_left = top_left_channel_1_action
infra.on_channel1_bottom_left = bottom_left_channel_1_action
infra.on_channel1_top_right = top_right_channel_1_action
infra.on_channel1_bottom_right = bottom_right_channel_1_action
infra.on_channel2_top_left = top_left_channel_1_action
infra.on_channel2_bottom_left = bottom_left_channel_1_action
infra.on_channel2_top_right = top_right_channel_2_action
infra.on_channel2_bottom_right = bottom_right_channel_2_action
infra.on_channel1_beacon = beacon_channel_1_action
while cont:
infra.process()
sleep(0.01)
motor.run_forever(speed_sp=600*direction)
leds.set_color(led_group, 'GREEN')
else:
motor.stop(stop_action='brake')
leds.all_off()
return on_press
def steer(motor, direction):
def on_press(state):
if state:
motor.run_to_pos(direction)
else:
motor.set_pos(0)
return on_press
rc.on_channel1_top_left = roll(mC, 'LEFT', 1)
rc.on_channel1_top_left = roll(mD, 'RIGHT', 1)
rc.on_channel1_bottom_left = roll(mC, 'LEFT', -1)
rc.on_channel1_bottom_left = roll(mD, 'RIGHT', -1)
rc.on_channel1_top_right = steer(mA, 1)
rc.on_channel1_bottom_right = steer(mA, -1)
print("Robot Starting")
run = True
while run:
rc.process()
sleep(0.01)
from ev3dev2.motor import OUTPUT_A, OUTPUT_D, MoveTank
from ev3dev2.motor import SpeedDPS, SpeedRPM, SpeedRPS, SpeedDPM
from ev3dev2.sensor import INPUT_1, INPUT_2
from ev3dev2.sensor.lego import ColorSensor, InfraredSensor
mt = MoveTank(OUTPUT_A, OUTPUT_D)
irs = InfraredSensor(INPUT_2)
######## MANUAL CONTROLS (copy-paste it in main()) ##################################################
manual_controls = True
if manual_controls:
irs.on_channel1_top_left = turn_left
irs.on_channel1_top_right = turn_right
irs.on_channel1_bottom_left = reverse
irs.on_channel1_beacon = straight_forward
def turn_left(state):
while state:
mt.on(-50, 90)
mt.off()
def turn_right(state):
while state:
mt.on(90, -50)
mt.off()
def master_function():
cl = ColorSensor()
ts = TouchSensor()
ir = InfraredSensor()
sound = Sound()
steer_pair = MoveSteering(OUTPUT_B, OUTPUT_C)
medium_motor = MediumMotor()
pixy = Sensor(address=INPUT_2)
# assert pixy.connected, "Error while connecting Pixy camera to port 1"
# pixy.mode = 'SIG1'
# lcd = Sensor.Screen()
lcd = Display()
def top_left_channel_1_action(state):
move()
def bottom_left_channel_1_action(state):
move()
def top_right_channel_1_action(state):
move()
def bottom_right_channel_1_action(state):
move()
def move():
buttons = ir.buttons_pressed() # a list
if len(buttons) == 1:
medium_motor.off()
if buttons == ['top_left']:
steer_pair.on(steering=0, speed=40)
elif buttons == ['bottom_left']:
steer_pair.on(steering=0, speed=-40)
elif buttons == ['top_right']:
steer_pair.on(steering=100, speed=30)
elif buttons == ['bottom_right']:
steer_pair.on(steering=-100, speed=30)
elif len(buttons) == 2:
steer_pair.off()
if buttons == ['top_left', 'top_right']:
medium_motor.on(speed_pct=10)
elif buttons == ['bottom_left', 'bottom_right']:
medium_motor.on(speed_pct=-10)
else: # len(buttons)==0
medium_motor.off()
steer_pair.off()
# Associate the event handlers with the functions defined above
ir.on_channel1_top_left = top_left_channel_1_action
ir.on_channel1_bottom_left = bottom_left_channel_1_action
ir.on_channel1_top_right = top_right_channel_1_action
ir.on_channel1_bottom_right = bottom_right_channel_1_action
opts = '-a 200 -s 150 -p 70 -v'
speech_pause = 0
while not ts.is_pressed:
# rgb is a tuple containing three integers
ir.process()
red = cl.rgb[0]
green = cl.rgb[1]
blue = cl.rgb[2]
intensity = cl.reflected_light_intensity
print('{4} Red: {0}\tGreen: {1}\tBlue: {2}\tIntensity: {3}'.format(
str(red), str(green), str(blue), str(intensity), speech_pause),
file=stderr)
lcd.clear()
print(pixy.mode, file=stderr)
if pixy.value(0) != 0: # Object with SIG1 detected
x = pixy.value(1)
y = pixy.value(2)
w = pixy.value(3)
h = pixy.value(4)
dx = int(w / 2) # Half of the width of the rectangle
dy = int(h / 2) # Half of the height of the rectangle
xb = x + int(w / 2) # X-coordinate of bottom-right corner
yb = y - int(h / 2) # Y-coordinate of the bottom-right corner
lcd.draw.rectangle((xa, ya, xb, yb), fill='black')
lcd.update()
speech_pause += 1
if speech_pause == 200:
# try replacing with ir.distance(), ir.heading()
# or ir.heading_and_distance()
distance = ir.heading_and_distance()
if distance == None:
# distance() returns None if no beacon detected
str_en = 'Beacon off?'
else:
str_en = 'Beacon heading {0} and distance {1}'.format(
distance[0], distance[1])
sound.speak(str_en, espeak_opts=opts + 'en+f5')
print(str_en, file=stderr)
speech_pause = 0
str_en = 'Terminating program'
sound.speak(str_en, espeak_opts=opts + 'en+f5')
def on_press(state):
if state:
# Roll when button is pressed
motor.run_forever(speed_sp=600 * direction)
leds.set_color(led_group, 'GREEN')
else:
# Stop otherwise
motor.stop(stop_action='brake')
leds.all_off()
return on_press
# Assign event handler to each of the remote buttons
rc.on_channel1_top_left = roll(lmotor, 'LEFT', 1)
rc.on_channel1_bottom_left = roll(lmotor, 'LEFT', -1)
rc.on_channel1_top_right = roll(rmotor, 'RIGHT', 1)
rc.on_channel1_bottom_right = roll(rmotor, 'RIGHT', -1)
print("Robot Starting")
# Enter event processing loop
while not button.any():
rc.process()
# Backup when bumped an obstacle
if ts.is_pressed:
spkr.speak('Oops, excuse me!')
for motor in (lmotor, rmotor):
motor.stop(stop_action='brake')