def main():
uartComm = UARTDevice(Port.S2, 9600, 100)
uartComm.clear()
xlimits = [-310, 310]
while True:
reflection = light.reflection()
try:
data_raw = uartComm.read(24).decode().replace('B', '')
data = ujson.loads(data_raw)
except Exception as e:
uartComm.clear()
print(e)
print('Read Failed')
data = {'x': 0, 'y': 0} #need this or robot.drive throws an error
try:
signal = reading(reflection)
uartComm.write(signal)
print(signal) #prints json signal
except Exception as e:
print(e)
print("Write Failed")
#print(data['x'], data['y'])
robot.drive(data['y'] / 2, 0)
print(horz.angle())
horiz_dist = data['x'] * (360 / 90)
constrain(horiz_dist, xlimits)
horz.run_target(100, horiz_dist)
xBut = TouchSensor(Port.S1)
yBut = TouchSensor(Port.S2)
sense = AnalogSensor(Port.S3, False)
uart = UARTDevice(Port.S3, 9600, timeout=2000)
def VibrateMotor():
joystick.run_angle(1400, 180)
def CompletionVibrate():
indicator.run_time(1400, 700)
uart.clear()
while True:
while not (xBut.pressed() | yBut.pressed()):
wait(100)
if uart.waiting() > 0:
msg = uart.read(1)
uart.clear() #should clear automatically, but needed some help
msg = str(msg)
if msg[2] == 'T':
VibrateMotor()
print('|', end='')
elif msg[2] == 'F':
print('.', end='')
elif msg[2] == 'C':
CompletionVibrate()
motorA.track_target(-100)
motorB.track_target(100)
motorC.track_target(100)
wait(1000)
motorA.track_target(0)
motorB.track_target(0)
motorC.track_target(0)
wait(200)
motorD.track_target(0)
wait(500)
# setup serial port
serial = UARTDevice(Port.S4, baudrate=9600, timeout=None)
serial.clear()
while (1):
if SystemLink.Get_SL('Start27') == 'true':
throw_ball()
SystemLink.Put_SL('Start27', 'BOOLEAN', 'false')
if touch1.pressed() == True:
throw_ball()
SystemLink.Put_SL('Start28', 'BOOLEAN', 'true')
if len(ev3.buttons.pressed()) > 0:
print("Catching Ball")
wait(3000)
motorD.track_target(40)
# collect data from serial port and move armw
while (1):