async def on_start(vm, stack):
ms_hub.status_light.on("black")
rotate_hub_display_to_value("3")
blinking_frames = [hub.Image(frame) for frame in blinking_animation]
vm.system.display.show(blinking_frames,
clear=False,
delay=round(1000 / 8),
loop=True,
fade=1)
left_hand = Motor("B")
right_hand = Motor("F")
# Calibrate
left_hand.run_to_position(0)
right_hand.run_to_position(0)
vm.system.sound.play("/extra_files/Humming")
for i in range(2):
right_hand.run_for_degrees(-100, 50)
right_hand.run_for_degrees(100, 50)
left_hand.run_for_degrees(100, 50)
left_hand.run_for_degrees(-100, 50)
left_turn = MotorPair("B", "E")
right_turn = MotorPair("A", "F")
vm.system.sound.play("/extra_files/Humming")
for i in range(2):
right_turn.move(100, "degrees", steering=100, speed=50)
right_turn.move(-100, "degrees", steering=100, speed=50)
left_turn.move(100, "degrees", steering=-100, speed=50)
left_turn.move(-100, "degrees", steering=-100, speed=50)
wheels = MotorPair("A", "E")
wheels.move(14 * math.pi, "cm", steering=100, speed=80)
wheels.move(14 * math.pi, "cm", steering=-100, speed=80)
right_hand.run_to_position(270, direction="counterclockwise")
wait_for_seconds(1)
right_hand.run_for_seconds(1, 50)
await vm.system.sound.play_async("/extra_files/Tadaa")
wait_for_seconds(1)
right_hand.run_to_position(0, direction="counterclockwise")
class AutonomousCar:
def __init__(self, settings):
self.settings = settings
self.go_ahead = True
self.turn = False
self.turn_angle = 30
if bool(random.getrandbits(1)):
self.turn_angle *= -1
self.initiate_objects()
if settings['run_test']:
self.test_function()
else:
self.calibrate()
self.the_loop()
def initiate_objects(self):
self.hub = MSHub()
self.hub.status_light.on('orange')
self.motor_front = Motor(self.settings['motor_front_port'])
self.motor_rear = Motor(self.settings['motor_rear_port'])
self.dist_sens = DistanceSensor(self.settings['dist_sens_port'])
def calibrate(self):
self.motor_front.run_to_position(self.settings['motor_front_angle'])
def test_function(self):
self.hub.light_matrix.show_image('PACMAN')
sounds_and_colors = [(65, "blue"), (70, "azure"), (60, "cyan")]
for i in sounds_and_colors:
self.hub.speaker.beep(i[0], 0.3)
self.hub.status_light.on(i[1])
self.hub.light_matrix.off()
def end_turn(self):
self.turn = False
self.motor_front.run_for_degrees(self.turn_angle * -1)
def the_loop(self):
self.hub.light_matrix.write('GO')
self.hub.status_light.on('green')
loop_time_diff = 0
loop_start_time = time.time()
turn_time_diff = 0
turn_start_time = None
while loop_time_diff < self.settings['how_long_run']:
how_far = self.dist_sens.get_distance_cm()
rear_speed = self.settings.get('motor_rear_speed')
if self.turn:
self.hub.status_light.on('yellow')
turn_time_control = time.time()
turn_time_diff = turn_time_control - turn_start_time
if isinstance(
how_far, int
) and how_far <= self.settings['dist_threshold_low']:
self.go_ahead = False
self.end_turn()
elif turn_time_diff >= self.settings['turn_in_seconds']:
self.end_turn()
elif self.go_ahead:
self.hub.status_light.on('green')
rear_speed = rear_speed * -1
if isinstance(
how_far, int
) and how_far <= self.settings['dist_threshold_low']:
self.go_ahead = False
else:
self.hub.status_light.on('blue')
if isinstance(
how_far, int
) and how_far >= self.settings['dist_threshold_high']:
self.turn = True
turn_start_time = time.time()
self.motor_front.run_for_degrees(self.turn_angle)
self.go_ahead = True
self.motor_rear.start(rear_speed)
wait_for_seconds(0.25)
loop_time_control = time.time()
loop_time_diff = loop_time_control - loop_start_time
self.motor_rear.stop()
self.calibrate()
self.hub.light_matrix.write('STOP')
turret_generator.send(TURRET_ANGLE)
wait_for_seconds(0.01) # Small pause between steps.
return None
# %% [markdown]
# After we have defined the turret movement, we can now make the AAT MS5 patrol until it finds those pesky Republic supporters!
# %%
TURRET_ANGLE = 40
print("Initializing turret with angle " + str(TURRET_ANGLE) + "...")
motor_turret.set_default_speed(10)
motor_turret.run_for_degrees(-TURRET_ANGLE)
print("DONE!")
print("Starting patrolling...")
move_turret()
print("DONE!")
# %% [markdown]
# Once it finds an enemy (i.e, it detects an obstacle), it will stop and center the turret.
# %%
print("Enemy detected! Attack!")
motor_power.stop() # Stop the movement
motor_turret.run_to_position(0, speed=75) # Center the turret
# %% [markdown]
print("Configuring color sensor...")
color_sensor = ColorSensor('C')
print("DONE!")
# %% [markdown]
# # Hit ball
# %%
while (True):
print("Waiting for color confirmation...")
wait_until(color_sensor.get_color, equal_to, 'red')
print("DONE!")
print("Hitting ball...")
motor_left_arm.run_for_degrees(-235)
motor_left_arm.run_for_seconds(1)
hub.light_matrix.show_image('HAPPY')
motor_wheel.run_for_degrees(
880) # We can change this value to adjust for turn between shots.
hub.light_matrix.off()
print("DONE!")
# %% [markdown]
# Notice that since hitting the ball activity is inside an infinite loop,
# we will never reach the following line.
# %%
print("-" * 15 + " Execution ended " + "-" * 15 + "\n")
motor_b = Motor('B') # Left arm
motor_f = Motor('F') # Right arm
motor_b.run_to_position(0)
motor_f.run_to_position(0)
print("DONE!")
# %% [markdown]
# # Dance time!
# %%
print("Dancing steps 1...")
app.start_sound('Party Blower')
for ii in range(0, 2):
motor_f.run_for_degrees(-100)
motor_f.run_for_degrees(100)
motor_b.run_for_degrees(100)
motor_b.run_for_degrees(-100)
print("DONE!")
# %%
print("Dancing steps 2...")
app.start_sound('Party Blower')
motors_af = MotorPair('A', 'F')
motors_be = MotorPair('B', 'E')
distance_sensor = DistanceSensor('D')
distance_sensor.light_up_all()
print("DONE!")
# %% [markdown]
# # High five!
# %%
print("Waiting for high five intention...")
distance_sensor.wait_for_distance_closer_than(12, unit='cm')
distance_sensor.light_up_all(0)
print("DONE!")
# %%
print("Let's high five!")
motor_right_arm.run_for_degrees(-120)
timer = Timer()
def high_five_or_no_high_five():
# Original threshold of speed is -10.
# However, in my experience, -5 worked better.
return (motor_right_arm.get_speed() < -5) or (timer.now() > 5)
# Wait for either a high five or for the timer to go past 5 s.
wait_until(high_five_or_no_high_five)
# If the timer exceeded 5, it means that there was no high five.
if timer.now() > 5:
