def run():
conn = Connection(3)
msg = messages.GetBatteryLevel()
conn.send(msg)
resp = conn.receive()
print('received response: %s' % type(resp))
print('battery voltage is %d mV.' % resp.millivolts)
def run():
conn = Connection(5)
conn.send(SetOutputState(OutputPort.b))
conn.send(SetOutputState(OutputPort.c))
regulation_params = dict(
use_regulation=True,
regulation_mode=RegulationMode.motor_sync,
turn_ratio=100,
)
run_params = dict(
run_state=RunState.running,
set_power=75,
motor_on=True,
)
all_params = dict(regulation_params)
all_params.update(run_params)
reg_cmd = SetOutputState(OutputPort.b, **all_params)
conn.send(reg_cmd)
time.sleep(2)
run_cmd = SetOutputState(OutputPort.c, **all_params)
run_cmd.turn_ratio = 5
conn.send(run_cmd)
time.sleep(5)
stop_cmd = SetOutputState(OutputPort.b)
conn.send(stop_cmd)
stop_cmd = SetOutputState(OutputPort.c)
conn.send(stop_cmd)
def runSorter():
conn = Connection('/dev/rfcomm0')
port = enum.InputPort(1)
print(conn)
conn.send(
messages.SetInputMode(
port,
messages.SensorType.switch,
messages.SensorMode.boolean,
))
#print(', '.join(field[:4] for field in messages.InputValues.fields))
#querySorter(conn,port)
#cycle_motor_a(conn)
conn.close()
def __init__(self, options):
self.conn = Connection(options.port)
if options.scale_a:
self.scale_a = options.scale_a
if options.scale_b:
self.scale_b = options.scale_b
if options.scale_c:
self.scale_c = options.scale_c
try:
self.input = Joystick.enumerate_devices()[0]
except IndexError:
raise RuntimeError("Could not find any joystick controllers.")
# keep track of the state of the controller (initial state
# assumes all values are zero).
self.controller_state = defaultdict(lambda: 0)
# register the joystick on_axis event
self.input.event(self.on_axis)
import time
import sys
from jaraco.nxt import Connection, messages
from jaraco.nxt.routine import get_port
from jaraco.nxt.messages import RegulationMode, RunState
from jaraco.nxt import _enum as enum
conn = Connection("/dev/tty.NXT-DevB")
right_port = enum.InputPort(1)
left_port = enum.InputPort(2)
light_port = left_port
motor_port_a = get_port('a', messages.OutputPort)
motor_port_b = get_port('b', messages.OutputPort)
conn.send(
messages.SetInputMode(light_port, messages.SensorType.light_active,
messages.SensorMode.raw))
Blue_Reading = 540
Gray_Reading = 580
def moveMotor(conn, port, power, time):
cmd = messages.SetOutputState(port,
motor_on=True,
set_power=power,
run_state=messages.RunState.running)
conn.send(cmd)
time.sleep(time)
cmd = messages.SetOutputState(port, motor_on=False)
conn.send(cmd)
motor_on=True,
regulation_mode=RegulationMode.motor_sync,
run_state=RunState.running,
set_power=power_mul * 75, # slower is more accurate
tacho_limit=quarter_turn_ticks,
turn_ratio=100, # turn right
),
]
list(map(connection.send, cmds))
# leave the bot time to start turning
time.sleep(1)
# Check for the end of rotation
wait_for_motor(connection, OutputPort.b)
# give it a little time to correct its mistakes (hey synchronisation
# mode :-)
time.sleep(2)
# apparently we've stopped!
# then release the motors
initialize()
if __name__ == '__main__':
connection = Connection(port)
initialize()
run()
def run():
conn = Connection('COM4')
cycle_motor_a(conn)
conn.close()
def run():
conn = Connection('COM4')
cycle_motor(conn, 'b')
conn.close()
