def __init__(self):
brick = nxt.locator.find_one_brick()
self.brick = brick
self.left = Motor(brick, PORT_A)
self.right = Motor(brick, PORT_C)
self.light = Light(brick, PORT_4)
# self.ultrasonic = Ultrasonic(brick, PORT_4)
print "Connection established."
def initialize(self):
super(DrivarNxt, self).initialize()
self.m_block = nxt.locator.find_one_brick()
self.m_leftMotor = Motor(self.m_block, PORT_A)
self.m_rightMotor = Motor(self.m_block, PORT_C)
self.m_penMotor = Motor(self.m_block, PORT_B)
self.m_ultrasonicSensor = Ultrasonic(self.m_block, PORT_4)
self.m_lightSensor = Light(self.m_block, PORT_3)
self.m_initialized = True
class Car:
brick = None
left = None
right = None
def __init__(self):
brick = nxt.locator.find_one_brick()
self.brick = brick
self.left = Motor(brick, PORT_A)
self.right = Motor(brick, PORT_C)
self.light = Light(brick, PORT_4)
# self.ultrasonic = Ultrasonic(brick, PORT_4)
print "Connection established."
def turn(self, angle=100, speed=30):
if angle > 0:
self.left.turn(angle, speed)
elif angle < 0:
self.right.turn(-angle, speed)
def forward(self, distance=50, speed=30):
self.left.run(power=speed)
self.right.run(power=speed)
sleep(distance / speed)
self.left.idle()
self.right.idle()
def range(self):
return self.ultrasonic.get_sample()
def surface(self):
return self.light.get_sample()
class Car:
brick = None
left = None
right = None
def __init__ (self):
brick = nxt.locator.find_one_brick()
self.brick = brick
self.left = Motor(brick, PORT_A)
self.right = Motor(brick, PORT_C)
self.light = Light(brick, PORT_4)
# self.ultrasonic = Ultrasonic(brick, PORT_4)
print "Connection established."
def turn (self, angle=100, speed = 30):
if angle > 0:
self.left.turn(angle, speed)
elif angle < 0:
self.right.turn(-angle, speed)
def forward (self, distance=50, speed=30):
self.left.run(power=speed)
self.right.run(power=speed)
sleep(distance/speed)
self.left.idle()
self.right.idle()
def range(self):
return self.ultrasonic.get_sample()
def surface(self):
return self.light.get_sample()
def __init__ (self):
brick = nxt.locator.find_one_brick()
self.brick = brick
self.left = Motor(brick, PORT_A)
self.right = Motor(brick, PORT_C)
self.light = Light(brick, PORT_4)
# self.ultrasonic = Ultrasonic(brick, PORT_4)
print "Connection established."
def getLightColor(self, port):
if self._bricks:
try:
port = int(port)
except:
pass
if (port in NXT_SENSOR_PORTS):
try:
port_aux = NXT_SENSOR_PORTS[port]
sensor = Light(self._bricks[self.active_nxt], port_aux)
return sensor.get_lightness()
except:
return ERROR
else:
raise logoerror(ERROR_PORT_S % port)
else:
raise logoerror(ERROR_BRICK)
def getLightColor(self, port):
if self._bricks:
try:
port = int(port)
except:
pass
if (port in NXT_SENSOR_PORTS):
try:
port_aux = NXT_SENSOR_PORTS[port]
sensor = Light(self._bricks[self.active_nxt], port_aux)
return sensor.get_lightness()
except:
return ERROR
else:
raise logoerror(ERROR_PORT_S % port)
else:
raise logoerror(ERROR_BRICK)
def __init__(self, brick='NXT'):
r'''Creates a new Alpha Rex controller.
brick
Either an nxt.brick.Brick object, or an NXT brick's name as a
string. If omitted, a Brick named 'NXT' is looked up.
'''
if isinstance(brick, str):
brick = find_one_brick(name=brick)
self.brick = brick
self.arms = Motor(brick, PORT_A)
self.legs = [Motor(brick, PORT_B), Motor(brick, PORT_C)]
self.touch = Touch(brick, PORT_1)
self.sound = Sound(brick, PORT_2)
self.light = Light(brick, PORT_3)
self.ultrasonic = Ultrasonic(brick, PORT_4)
def getLightColor(self, port):
if self._bricks:
try:
port = int(port)
except:
pass
if (port in NXT_SENSOR_PORTS):
res = ERROR
try:
port_aux = NXT_SENSOR_PORTS[port]
sensor = Light(self._bricks[self.active_nxt], port_aux)
res = sensor.get_lightness()
except:
pass
return res
else:
pass
else:
pass
def getGray(self, port):
if self._bricks:
try:
port = int(port)
except:
pass
if (port in NXT_SENSOR_PORTS):
res = ERROR
try:
port_aux = NXT_SENSOR_PORTS[port]
sensor = Light(self._bricks[self.active_nxt], port_aux)
sensor.set_illuminated(True)
res = sensor.get_lightness()
except:
pass
return res
else:
raise logoerror(ERROR_PORT_S % port)
else:
raise logoerror(ERROR_BRICK)
def getGray(self, port):
if self._bricks:
try:
port = int(port)
except:
pass
if (port in NXT_SENSOR_PORTS):
res = ERROR
try:
port_aux = NXT_SENSOR_PORTS[port]
sensor = Light(self._bricks[self.active_nxt], port_aux)
sensor.set_illuminated(True)
res = sensor.get_lightness()
except:
pass
return res
else:
raise logoerror(ERROR_PORT_S % port)
else:
raise logoerror(ERROR_BRICK)
def getLight(self, port):
if self._bricks:
try:
port = int(port)
except:
pass
if (port in NXT_SENSOR_PORTS):
res = ERROR
#try:
port_aux = NXT_SENSOR_PORTS[port]
sensor = Light(self._bricks[self.active_nxt], port_aux)
sensor.set_illuminated(False)
res = sensor.get_lightness()
#except:
#pass
print port
print res
return res
else:
pass
else:
pass
def __init__(self, brick="NXT"):
r"""Creates a new Robot controller.
brick
Either an nxt.brick.Brick object, or an NXT brick's name as a
string. If omitted, a Brick named 'NXT' is looked up.
"""
if isinstance(brick, basestring):
brick = find_one_brick(name=brick)
self.brick = brick
self.tool = Motor(brick, PORT_B)
self.tracks = [Motor(brick, PORT_A), Motor(brick, PORT_C)]
self.ultrasonic = Ultrasonic(brick, PORT_1)
self.sound = Sound(brick, PORT_2)
self.light = Light(brick, PORT_3)
self.touch = Touch(brick, PORT_4)
def __init__(self, brick='NXT'):
r'''Creates a new Alpha Rex controller.
brick
Either an nxt.brick.Brick object, or an NXT brick's name as a
string. If omitted, a Brick named 'NXT' is looked up.
'''
if isinstance(brick, str):
brick = find_one_brick(name=brick)
self.brick = brick
self.arms = Motor(brick, PORT_A)
self.legs = [Motor(brick, PORT_B), Motor(brick, PORT_C)]
self.touch = Touch(brick, PORT_1)
self.sound = Sound(brick, PORT_2)
self.light = Light(brick, PORT_3)
self.ultrasonic = Ultrasonic(brick, PORT_4)
class AlphaRex(object):
r'''A high-level controller for the Alpha Rex model.
This class implements methods for the most obvious actions performable
by Alpha Rex, such as walk, wave its arms, and retrieve sensor samples.
Additionally, it also allows direct access to the robot's components
through public attributes.
'''
def __init__(self, brick='NXT'):
r'''Creates a new Alpha Rex controller.
brick
Either an nxt.brick.Brick object, or an NXT brick's name as a
string. If omitted, a Brick named 'NXT' is looked up.
'''
if isinstance(brick, str):
brick = find_one_brick(name=brick)
self.brick = brick
self.arms = Motor(brick, PORT_A)
self.legs = [Motor(brick, PORT_B), Motor(brick, PORT_C)]
self.touch = Touch(brick, PORT_1)
self.sound = Sound(brick, PORT_2)
self.light = Light(brick, PORT_3)
self.ultrasonic = Ultrasonic(brick, PORT_4)
def echolocate(self):
r'''Reads the Ultrasonic sensor's output.
'''
return self.ultrasonic.get_sample()
def feel(self):
r'''Reads the Touch sensor's output.
'''
return self.touch.get_sample()
def hear(self):
r'''Reads the Sound sensor's output.
'''
return self.sound.get_sample()
def say(self, line, times=1):
r'''Plays a sound file named (line + '.rso'), which is expected to be
stored in the brick. The file is played (times) times.
line
The name of a sound file stored in the brick.
times
How many times the sound file will be played before this method
returns.
'''
for i in range(0, times):
self.brick.play_sound_file(False, line + '.rso')
sleep(1)
def see(self):
r'''Reads the Light sensor's output.
'''
return self.light.get_sample()
def walk(self, secs, power=FORTH):
r'''Simultaneously activates the leg motors, causing Alpha Rex to walk.
secs
How long the motors will rotate.
power
The strength effected by the motors. Positive values will cause
Alpha Rex to walk forward, while negative values will cause it
to walk backwards. If you are unsure about how much force to
apply, the special values FORTH and BACK provide reasonable
defaults. If omitted, FORTH is used.
'''
for motor in self.legs:
motor.run(power=power)
sleep(secs)
for motor in self.legs:
motor.idle()
def wave(self, secs, power=100):
r'''Make Alpha Rex move its arms.
secs
How long the arms' motor will rotate.
power
The strength effected by the motor. If omitted, (100) is used.
'''
self.arms.run(power=power)
sleep(secs)
self.arms.idle()
class DrivarNxt(Drivar):
def __init__(self):
self.m_initialized = False
self.m_block = None
self.m_leftMotor = None
self.m_rightMotor = None
self.m_penMotor = None
self.m_ultrasonicSensor = None
self.m_lightSensor = None
self.m_moving = False
def initialize(self):
super(DrivarNxt, self).initialize()
self.m_block = nxt.locator.find_one_brick()
self.m_leftMotor = Motor(self.m_block, PORT_A)
self.m_rightMotor = Motor(self.m_block, PORT_C)
self.m_penMotor = Motor(self.m_block, PORT_B)
self.m_ultrasonicSensor = Ultrasonic(self.m_block, PORT_4)
self.m_lightSensor = Light(self.m_block, PORT_3)
self.m_initialized = True
def move(self,
direction=Drivar.DIR_FORWARD,
durationInMs=1000,
callback=None):
durationInMs = max(durationInMs, 100)
_direct = direction
self.rotateWheels(direction=_direct)
time.sleep(durationInMs / 1000)
self.stop()
if callback is not None:
callback()
def rotateWheels(self,
wheelSet=Drivar.WHEELS_BOTH,
direction=Drivar.DIR_FORWARD,
speedLevel=Drivar.SPEED_FAST,
callback=None):
power = self._getNxtSpeed(speedLevel)
# Correct the power (positive vs negative) depending on the direction
if (direction == Drivar.DIR_FORWARD):
if (power < 0):
power = power * -1
if (direction == Drivar.DIR_BACKWARD):
if (power > 0):
power = power * -1
# Get the wheels turning
if (wheelSet == Drivar.WHEELS_LEFT or wheelSet == Drivar.WHEELS_BOTH):
self.m_leftMotor.run(power)
if (wheelSet == Drivar.WHEELS_RIGHT or wheelSet == Drivar.WHEELS_BOTH):
self.m_rightMotor.run(power)
self.m_moving = True
if callback is not None:
callback()
def turn(self, direction=Drivar.DIR_LEFT, angle=90, callback=None):
left_power = -100
right_power = 100
if (direction == Drivar.DIR_RIGHT):
left_power *= -1
right_power *= -1
self.m_leftMotor.turn(left_power, angle)
self.m_rightMotor.turn(right_power, angle)
def stop(self, callback=None):
self.m_leftMotor.idle()
self.m_rightMotor.idle()
self.m_moving = False
if callback is not None:
callback()
'''
Return the distance to the nearest obstacle, in centimeters
'''
def getDistanceToObstacle(self):
return self.m_ultrasonicSensor.get_sample()
'''
Indicate with a boolean whether there is an obstacle within the given distance
'''
def isObstacleWithin(self, distance):
dist = self.m_ultrasonicSensor.get_sample()
if (dist <= distance):
return True
else:
return False
def rotatePen(self, angle):
power = 70
if angle < 0:
angle = -1 * angle
power = -70
self.m_penMotor.turn(power, angle)
def getReflectivityMeasurement(self):
self.m_lightSensor.set_illuminated(True)
return self.m_lightSensor.get_sample()
def wait(self, milliseconds):
time.sleep(milliseconds / 1000)
'''
Return the NXT speed equivalent for the given DRIVAR speed flag
'''
@staticmethod
def _getNxtSpeed(speed):
if (speed == Drivar.SPEED_SLOW):
return 70
elif (speed == Drivar.SPEED_MEDIUM):
return 100
elif (speed == Drivar.SPEED_FAST):
return 127
else:
return 100
class Robot(object):
def __init__(self, brick="NXT"):
r"""Creates a new Robot controller.
brick
Either an nxt.brick.Brick object, or an NXT brick's name as a
string. If omitted, a Brick named 'NXT' is looked up.
"""
if isinstance(brick, basestring):
brick = find_one_brick(name=brick)
self.brick = brick
self.tool = Motor(brick, PORT_B)
self.tracks = [Motor(brick, PORT_A), Motor(brick, PORT_C)]
self.ultrasonic = Ultrasonic(brick, PORT_1)
self.sound = Sound(brick, PORT_2)
self.light = Light(brick, PORT_3)
self.touch = Touch(brick, PORT_4)
def turn(self, power, angle):
for motor in self.tracks:
motor.turn(power, angle)
def move(self, power=FORTH):
r"""Simultaneously activates the tracks motors, causing Robot to move.
power
The strength effected by the motors. Positive values will cause
Robot to move forward, while negative values will cause it
to move backwards. If you are unsure about how much force to
apply, the special values FORTH and BACK provide reasonable
defaults. If omitted, FORTH is used.
"""
for motor in self.tracks:
motor.run(power=power)
def wait(self, seconds):
""" secsonds
How long the motors will rotate.
Will this take values < 0? Most motor commands work in ms.
Try passing sleep 1/seconds (miliseconds)
"""
sleep(seconds)
def stop(self):
for motor in self.tracks:
motor.idle()
def tacho(self):
"""
returns an array of two elements which are the motor tacho readings
"""
tachos = []
for motor in self.tracks:
# tachos.append(motor.get_tacho())
tachos.append(motor.tacho_count) # , rotation_count
return tachos
def act(self, power=FORTH):
r"""Make Robot move its tool.
power
The strength effected by the motor. If omitted, (100) is used.
"""
self.tool.run(power=power)
def echolocate(self):
r"""Reads the Ultrasonic sensor's output.
"""
return self.ultrasonic.get_sample()
def feel(self):
r"""Reads the Touch sensor's output.
"""
return self.touch.get_sample()
def hear(self):
r"""Reads the Sound sensor's output.
"""
return self.sound.get_sample()
def say(self, line, times=1):
r"""Plays a sound file named (line + '.rso'), which is expected to be
stored in the brick. The file is played (times) times.
line
The name of a sound file stored in the brick.
times
How many times the sound file will be played before this method
returns.
"""
for i in range(0, times):
self.brick.play_sound_file(False, line + ".rso")
sleep(1)
def see(self):
r"""Reads the Light sensor's output.
"""
return self.light.get_sample()
# time searching for devices.
brick = nxtConnect.btConnect(brickName)
print(brick.get_device_info()) # check what brick you connected to
from time import sleep
from nxt.sensor import Light, Touch, Ultrasonic
from nxt.sensor import PORT_1, PORT_2, PORT_3, PORT_4
from nxt.motor import Motor, PORT_A, PORT_B, PORT_C
"""##########################################################################################
################################ IMPORT MOTORS AND SENSORS HERE ################################
###########################################################################################"""
motorLeft = Motor(brick, PORT_B)
motorRight = Motor(brick, PORT_C)
armMotor = Motor(brick, PORT_A)
light = Light(brick, PORT_3)
touch = Touch(brick, PORT_4)
sonar = Ultrasonic(brick, PORT_2)
led = Light(brick, PORT_1) # experimental
"""########################################################################################"""
def binIdent():
n = 50
#wait .25 seconds after the kill-switch is released
sleep(.25)
while n > 0:
print("Bin Identification Running, power = %d" % n)
brick = nxt.find_one_brick(name=brickName,
strict=True,
method=nxt.locator.Method(usb=True,
bluetooth=True))
else:
# the bluetooth function of the nxt library works too, but "wastes"
# time searching for devices.
brick = nxtConnect.btConnect(brickName)
print(brick.get_device_info()) # check what brick you connected to
from time import sleep
from nxt.motor import Motor, PORT_A, PORT_B, PORT_C
from nxt.sensor import Touch, PORT_4, PORT_3, PORT_2, Light, PORT_1
light = Light(brick, PORT_1)
turningMotor = Motor(brick, PORT_B)
walkingMotor = Motor(brick, PORT_C)
legPosition = Touch(brick, PORT_3)
#ultrasonic = Sonar(brick, PORT_2)
def calibrate():
# turn on light sensor
light.set_illuminated(True)
sleep(0.25)
# calibrates black value
black = light.get_lightness()
print("Black = %d" % black)
class AlphaRex(object):
r'''A high-level controller for the Alpha Rex model.
This class implements methods for the most obvious actions performable
by Alpha Rex, such as walk, wave its arms, and retrieve sensor samples.
Additionally, it also allows direct access to the robot's components
through public attributes.
'''
def __init__(self, brick='NXT'):
r'''Creates a new Alpha Rex controller.
brick
Either an nxt.brick.Brick object, or an NXT brick's name as a
string. If omitted, a Brick named 'NXT' is looked up.
'''
if isinstance(brick, str):
brick = find_one_brick(name=brick)
self.brick = brick
self.arms = Motor(brick, PORT_A)
self.legs = [Motor(brick, PORT_B), Motor(brick, PORT_C)]
self.touch = Touch(brick, PORT_1)
self.sound = Sound(brick, PORT_2)
self.light = Light(brick, PORT_3)
self.ultrasonic = Ultrasonic(brick, PORT_4)
def echolocate(self):
r'''Reads the Ultrasonic sensor's output.
'''
return self.ultrasonic.get_sample()
def feel(self):
r'''Reads the Touch sensor's output.
'''
return self.touch.get_sample()
def hear(self):
r'''Reads the Sound sensor's output.
'''
return self.sound.get_sample()
def say(self, line, times=1):
r'''Plays a sound file named (line + '.rso'), which is expected to be
stored in the brick. The file is played (times) times.
line
The name of a sound file stored in the brick.
times
How many times the sound file will be played before this method
returns.
'''
for i in range(0, times):
self.brick.play_sound_file(False, line + '.rso')
sleep(1)
def see(self):
r'''Reads the Light sensor's output.
'''
return self.light.get_sample()
def walk(self, secs, power=FORTH):
r'''Simultaneously activates the leg motors, causing Alpha Rex to walk.
secs
How long the motors will rotate.
power
The strength effected by the motors. Positive values will cause
Alpha Rex to walk forward, while negative values will cause it
to walk backwards. If you are unsure about how much force to
apply, the special values FORTH and BACK provide reasonable
defaults. If omitted, FORTH is used.
'''
for motor in self.legs:
motor.run(power=power)
sleep(secs)
for motor in self.legs:
motor.idle()
def wave(self, secs, power=100):
r'''Make Alpha Rex move its arms.
secs
How long the arms' motor will rotate.
power
The strength effected by the motor. If omitted, (100) is used.
'''
self.arms.run(power=power)
sleep(secs)
self.arms.idle()
method=nxt.locator.Method(usb=True,
bluetooth=True))
else:
# the bluetooth function of the nxt library works too, but "wastes"
# time searching for devices.
brick = nxtConnect.btConnect(brickName)
print(brick.get_device_info()) # check what brick you connected to
from time import sleep
from nxt.sensor import Light
from nxt.sensor.hitechnic import Gyro
from nxt.sensor import PORT_1, PORT_2
from nxt.motor import Motor, PORT_A, PORT_B, PORT_C
motor = Motor(brick, PORT_C)
light = Light(brick, PORT_2)
motor.reset_position(False)
print(motor.get_tacho())
black = light.get_lightness()
print("black = ", black)
motor.turn(30, 50, brake=True, timeout=1.5, emulate=True)
sleep(0.05)
print(motor.get_tacho())
motor.brake()
white = light.get_lightness()
print("white = ", white)
motor.turn(-30, 50, brake=True, timeout=1.5, emulate=True)
threshold = (black + white) / 2
print(motor.get_tacho())
print("Threshold = ", threshold)
if useUSB:
brick = nxt.find_one_brick(
name = brickName,
strict = True,
method = nxt.locator.Method(usb = True, bluetooth = True))
else:
# the bluetooth function of the nxt library works too, but "wastes"
# time searching for devices.
brick = nxtConnect.btConnect(brickName)
print(brick.get_device_info()) # check what brick you connected to
from nxt.sensor import Light, Gyro
from nxt.sensor import PORT_1, PORT_2
lightSensor = Light(brick, PORT_1)
gyro = Gyro(brick, PORT_2)
gyro.calibrate()
while True:
print(gyro.get_rotation_speed())
"""#turn sensor left
white = lightSensor.get_lightness()
#turn to initial position
black = lightSensor.get_lightness
threshold = (white + black) / 2
while True:
if lightSensor.get_lightness() > threshold:
while motor has turned less than 91 degrees
class Robot(object):
def __init__(self, brick='NXT'):
r'''Creates a new Robot controller.
brick
Either an nxt.brick.Brick object, or an NXT brick's name as a
string. If omitted, a Brick named 'NXT' is looked up.
'''
if isinstance(brick, basestring):
brick = find_one_brick(name=brick)
self.brick = brick
self.tool = Motor(brick, PORT_B)
self.tracks = [Motor(brick, PORT_A), Motor(brick, PORT_C)]
self.ultrasonic = Ultrasonic(brick, PORT_1)
self.sound = Sound(brick, PORT_2)
self.light = Light(brick, PORT_3)
self.touch = Touch(brick, PORT_4)
def turn(self, power, angle):
for motor in self.tracks:
motor.turn(power, angle)
def move(self, power=FORTH):
r'''Simultaneously activates the tracks motors, causing Robot to move.
power
The strength effected by the motors. Positive values will cause
Robot to move forward, while negative values will cause it
to move backwards. If you are unsure about how much force to
apply, the special values FORTH and BACK provide reasonable
defaults. If omitted, FORTH is used.
'''
for motor in self.tracks:
motor.run(power=power)
def wait(self, seconds):
''' secsonds
How long the motors will rotate.
Will this take values < 0? Most motor commands work in ms.
Try passing sleep 1/seconds (miliseconds)
'''
sleep(seconds)
def stop(self):
for motor in self.tracks:
motor.idle()
def tacho(self):
'''
returns an array of two elements which are the motor tacho readings
'''
tachos = []
for motor in self.tracks:
#tachos.append(motor.get_tacho())
tachos.append(motor.tacho_count) #, rotation_count
return tachos
def act(self, power=FORTH):
r'''Make Robot move its tool.
power
The strength effected by the motor. If omitted, (100) is used.
'''
self.tool.run(power=power)
def echolocate(self):
r'''Reads the Ultrasonic sensor's output.
'''
return self.ultrasonic.get_sample()
def feel(self):
r'''Reads the Touch sensor's output.
'''
return self.touch.get_sample()
def hear(self):
r'''Reads the Sound sensor's output.
'''
return self.sound.get_sample()
def say(self, line, times=1):
r'''Plays a sound file named (line + '.rso'), which is expected to be
stored in the brick. The file is played (times) times.
line
The name of a sound file stored in the brick.
times
How many times the sound file will be played before this method
returns.
'''
for i in range(0, times):
self.brick.play_sound_file(False, line + '.rso')
sleep(1)
def see(self):
r'''Reads the Light sensor's output.
'''
return self.light.get_sample()
