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
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 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
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
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)
# 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)
