def test_touch_sensor(self):
self.deviceClientSocketMock.send_command.return_value = 'ev3-ports:in1'
self.clientSocketMock.send_command.return_value = True
sensor = TouchSensor(INPUT_1)
val = sensor.value()
self.assertEqual(val, 1)
self.assertTrue(isinstance(val, int))
self.assertEqual(len(self.clientSocketMock.mock_calls), 1)
fn_name, args, kwargs = self.clientSocketMock.mock_calls[0]
self.assertEqual(fn_name, 'send_command')
self.assertDictEqual(args[0].serialize(),
{'type': 'DataRequest', 'address': 'ev3-ports:in1'})
val2 = sensor.value()
self.assertEqual(len(self.clientSocketMock.mock_calls), 1)
self.assertEqual(val, val2)
from ev3dev2.sensor.lego import TouchSensor
from ev3dev2.sensor.lego import Sensor
from ev3dev2.sensor import INPUT_1, INPUT_2
from ev3dev2.display import Display
lcd = Display()
# Connect Pixy camera
pixy = Sensor()
# Connect TouchSensor
ts = TouchSensor(address=INPUT_1)
# Set mode
pixy.mode = 'ALL'
while not ts.value():
lcd.clear()
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((dx, dy, xb, yb), fill='black')
lcd.update()
for i in range(0, 4):
print(pixy.value(i), file=stderr)
potencia_andar_Frente = -40
potencia_andar_navalhada = -90
potencia_andar_Tras = 40
potencia_garra_apanhar = 50
potencia_garra_largar = -50
potencia_esquerda_rodar_1 = -30
potencia_esquerda_rodar_2 = -12
potencia_direita_rodar_1 = 30
potencia_direita_rodar_2 = 12
distancia_detetar_zombie = 24
import time
#########################
# Testes #
#########################
while True:
sensorLuz.mode = 'COL-COLOR'
if sensorToque.value() == 1:
garra.on_for_rotations(SpeedPercent(potencia_garra_apanhar),
rotacoes_dar_navalhada)
time.sleep(3)
garra.on_for_rotations(SpeedPercent(potencia_garra_largar),
rotacoes_dar_navalhada)
#print(sensorLuz.color)
sensorSom.mode = sensorSom.modes[0]
print(sensorSom.distance_centimeters)
#print(sensorSom.distance_centimeters)
if i == 2:
SPOT = GOAL
i = i - 1
hasFoundSpot = False
straightLine = 0
goRight=True
bookTurns=5
while not hasFoundSpot:
currentColor = cl.value()
if currentColor != C_BLACK and currentColor != C_NO_COLOR and currentColor != C_WHITE and currentColor == SPOT:
hasFoundSpot = checkForSpot(SPOT)
straightLine = 0
elif hasBumpedBook() or isBookNearBy() or straightLine > 3000 or ts.value():
if bookTurns <= 5:
bookTurns = bookTurns + 1
turnRight()
RMC.on(-100)
LMC.on(-100)
sleep(1)
turnLeft()
else:
if backUpThenTurn(SPOT):
hasFoundSpot = True
straightLine = 0
elif isOnBlackLineOrTable(currentColor):
# Turn & go
#!/usr/bin/env python3
from ev3dev2.sensor.lego import ColorSensor, TouchSensor
from ev3dev2.led import Leds
from sys import stderr
from time import sleep
cl = ColorSensor()
ts = TouchSensor()
# Put the color sensor into COL-COLOR mode.
cl.mode = 'COL-COLOR'
colors = ('unknown', 'black', 'blue', 'green', 'yellow', 'red', 'white',
'brown')
while not ts.value(): # Stop program by pressing touch sensor button
print(colors[cl.value()], file=stderr)
#Sound.speak(colors[cl.value()]).wait()
sleep(1)
Sound.beep()
#!/usr/bin/env python3
import time
import sys
from ev3dev2.motor import LargeMotor, OUTPUT_A
from ev3dev2.sensor.lego import TouchSensor
from ev3dev2.sensor import INPUT_1
m = LargeMotor(OUTPUT_A)
t = TouchSensor(INPUT_1)
for i in range(10):
print(t.value(), file=sys.stderr)
print(t.value())
time.sleep(1)
m.on_to_position(10, 90)
time.sleep(2)
m.on_to_position(10, 180)
time.sleep(2)
m.on_to_position(10, 90)
time.sleep(2)
print('vse konchilos', file=sys.stderr)
