def reverse():
motor = Motor(Port.D, Direction.CLOCKWISE)
starttime = utime.ticks_ms()
b = 0
while (not touch.pressed()) and (b < 3000):
motor.run(360)
currenttime = utime.ticks_ms()
b = currenttime - starttime
if motor.stalled():
break
motor = Motor(Port.D, Direction.COUNTERCLOCKWISE)
turn(1, (gg.angle() - anglecounter * 10))
if 'gripper_open' in str(data):
gripper_open()
brick.sound.beep()
data = None
if 'gripper_close' in str(data):
gripper_close()
brick.sound.beep()
data = None
if 'gripper_calibrate' in str(data):
gripper_calibrate()
brick.sound.beep()
data = None
if 'get_gripper_stalled' in str(data):
tx_string = 'grip_motor.stalled()=' + str(grip_motor.stalled()) + '\n'
s.send(bytes(tx_string, 'utf-8'))
data = None
if 'get_gripper_angle' in str(data):
tx_string = 'grip_motor.angle()=' + str(grip_motor.angle()) + '\n'
s.send(bytes(tx_string, 'utf-8'))
data = None
if 'set_gripper_angle_0' in str(data):
grip_motor.reset_angle(0)
brick.sound.beep()
data = None
s.close()
motor = Motor(Port.D, Direction.CLOCKWISE)
starttime = utime.ticks_ms()
b = 0
while (not touch.pressed()) and (b < 3000):
motor.run(360)
currenttime = utime.ticks_ms()
b = currenttime - starttime
if motor.stalled():
break
motor = Motor(Port.D, Direction.COUNTERCLOCKWISE)
turn(1, (gg.angle() - anglecounter * 10))
def turn(dir, ang):
if dir == 1:
frontmotor.run_angle(100, ang)
else:
frontmotor.run_angle(100, -ang)
while True:
print("angle", gg.angle())
motor.run(360)
if dist.distance() < 100 or motor.stalled():
motor.stop()
reverse()
anglecounter += 1
print(gg.angle() - anglecounter * 10)
utime.sleep(10)
# rate of the drivebase to 1.2 degrees per second.
# For example, if the light value deviates from the threshold by 10, the robot
# steers at 10*1.2 = 12 degrees per second.
PROPORTIONAL_GAIN = 3.0 # 1.2
# Drive forward up to 30 centimeters until the robot finds the line.
while line_sensor.reflection() > threshold:
robot.drive(DRIVE_SPEED, 0)
ev3.speaker.beep()
treadmill_motor.set_dc_settings(30, 0)
treadmill_motor.run(-300)
# Follow line until arm motor stalls.
while (treadmill_motor.stalled() == False):
# Calculate the deviation from the threshold.
deviation = line_sensor.reflection() - threshold
# Calculate the turn rate.
turn_rate = PROPORTIONAL_GAIN * deviation
# Set the drive base speed and turn rate.
robot.drive(DRIVE_SPEED, turn_rate)
# You can wait for a short time or do other things in this loop.
wait(10)
ev3.speaker.beep()
# Reset arm motor defaults.
treadmill_motor.stop()
