from pybricks.pupdevices import Motor from pybricks.parameters import Port from pybricks.tools import wait # Initialize a motor on port A. example_motor = Motor(Port.A) # Make the motor run clockwise at 500 degrees per second. example_motor.run(500) # Wait for three seconds. wait(3000) # Make the motor run counterclockwise at 500 degrees per second. example_motor.run(-500) # Wait for three seconds. wait(3000)
steer.reset_angle((right_end - left_end) / 2)
steer.run_target(speed=200, target_angle=0, wait=False)
# Now we can start driving!
while True:
# Check which buttons are pressed.
pressed = remote.buttons.pressed()
# Choose the steer angle based on the left controls.
steer_angle = 0
if Button.LEFT_PLUS in pressed:
steer_angle -= 75
if Button.LEFT_MINUS in pressed:
steer_angle += 75
# Steer to the selected angle.
steer.run_target(500, steer_angle, wait=False)
# Choose the drive speed based on the right controls.
drive_speed = 0
if Button.RIGHT_PLUS in pressed:
drive_speed += 1000
if Button.RIGHT_MINUS in pressed:
drive_speed -= 1000
# Apply the selected speed.
front.run(drive_speed)
# Wait.
wait(10)
from pybricks.pupdevices import Motor
from pybricks.parameters import Port
from pybricks.tools import wait
# Initialize a motor on port A.
example_motor = Motor(Port.A)
# Start moving at 300 degrees per second.
example_motor.run(300)
# Display the angle and speed 50 times.
for i in range(100):
# Read the angle (degrees) and speed (degrees per second).
angle = example_motor.angle()
speed = example_motor.speed()
# Print the values.
print(angle, speed)
# Wait some time so we can read what is displayed.
wait(200)
steer_angle -= max_steering
if Button.LEFT_MINUS in pressed:
steer_angle += max_steering
# Steer to the selected angle.
steer_motor.run_target(1000, steer_angle, wait=False)
# Choose the drive speed based on the right controls.
drive_speed = 0
if Button.RIGHT_PLUS in pressed:
drive_speed += 1000
if Button.RIGHT_MINUS in pressed:
drive_speed -= 1000
# Apply the selected speed.
drive_motor1.run(drive_speed)
drive_motor2.run(drive_speed)
# Button for differential lock
if Button.CENTER in pressed:
# Stop the drive motors
drive_motor1.stop()
drive_motor2.stop()
# Run lock motor for half a second.
remote.light.on(Color.RED)
lock_motor.dc(LOCK_POWER if locked else -LOCK_POWER)
wait(500)
lock_motor.stop()
# Update lock state.
# Hand-Controlled Grabber:
# press the Force Sensor to grab objects,
# and release the Force Sensor to let go.
from pybricks.hubs import PrimeHub
from pybricks.pupdevices import ForceSensor, Motor
from pybricks.parameters import Port
# Configure the Hub, the Force Sensor and the Motor
hub = PrimeHub()
force_sensor = ForceSensor(Port.E)
motor = Motor(Port.A)
while True:
# Grab when the Force Sensor is pressed
if force_sensor.pressed():
motor.run(speed=-1000)
# else let go
else:
motor.run_until_stalled(speed=1000)
motor = Motor(Port.A)
ultrasonic_sensor = UltrasonicSensor(Port.C)
# Detect object.
motor.run_target(500, 0)
distance = ultrasonic_sensor.distance()
assert distance < 100, "Expected < 100 mm, got {0}.".format(distance)
# Move object away.
motor.run_target(500, 180)
distance = ultrasonic_sensor.distance()
assert distance > 100, "Expected > 100 mm, got {0}.".format(distance)
# Prepare fast detection.
motor.reset_angle(0)
motor.run(700)
DETECTIONS = 5
# Wait for given number of detections.
for i in range(DETECTIONS):
# Wait for object to be detected.
while ultrasonic_sensor.distance() > 100:
pass
# Wait for object to move away.
angle_detected = motor.angle()
while motor.angle() < angle_detected + 180:
pass
# Assert that we have made as many turns.
rotations = round(motor.angle() / 360)
from pybricks.pupdevices import Motor from pybricks.parameters import Port, Direction from pybricks.tools import wait # Initialize a motor on port A with the positive direction as counterclockwise. # Also specify one gear train with a 12-tooth and a 36-tooth gear. The 12-tooth # gear is attached to the motor axle. The 36-tooth gear is at the output axle. geared_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE, [12, 36]) # Make the output axle run at 100 degrees per second. The motor speed # is automatically increased to compensate for the gears. geared_motor.run(100) # Wait for three seconds. wait(3000)
class ExplorationRover():
"""Control the Mars Exploration Rover."""
# In this robot, we want to detect red and cyan/teal "mars rocks".
ROCK_COLORS = (Color.RED, Color.CYAN)
# These are the gears between the motor and the rear wheels.
REAR_GEARS = (8, 24, 12, 20)
# An animation of heart icons of varying brightness, giving a heart beat.
HEART_BEAT = [
Icon.HEART * i / 100
for i in list(range(0, 100, 4)) + list(range(100, 0, -4))
]
def __init__(self):
# Initialize each motor with the correct direction and gearing.
self.left_rear_wheels = Motor(Port.E, Direction.CLOCKWISE,
self.REAR_GEARS)
self.right_rear_wheels = Motor(Port.F, Direction.COUNTERCLOCKWISE,
self.REAR_GEARS)
self.left_front_wheel = Motor(Port.C, Direction.COUNTERCLOCKWISE, None)
self.right_front_wheel = Motor(Port.D, Direction.CLOCKWISE, None)
# Initialize sensors, named after the Perseverance Mars Rover instruments.
self.mast_cam = UltrasonicSensor(Port.B)
self.sherloc = ColorSensor(Port.A)
# Initialize the hub and start the animation
self.hub = InventorHub()
self.hub.display.animate(self.HEART_BEAT, 30)
def calibrate(self):
# First, measure the color of the floor. This makes it easy to explicitly
# ignore the floor later. This is useful if your floor has a wood color,
# which can appear red or yellow to the sensor.
self.floor_color = self.sherloc.hsv()
# Set up all the colors we want to distinguish, including no color at all.
self.sherloc.detectable_colors(self.ROCK_COLORS +
(self.floor_color, None))
def drive(self, speed, steering, time=None):
# Drive the robot at a given speed and steering for a given amount of time.
# Speed and steering is expressed as degrees per second of the wheels.
self.left_rear_wheels.run(speed + steering)
self.left_front_wheel.run(speed + steering)
self.right_rear_wheels.run(speed - steering)
self.right_front_wheel.run(speed - steering)
# If the user specified a time, wait for this duration and then stop.
if time is not None:
wait(time)
self.stop()
def stop(self):
# Stops all the wheels.
self.left_rear_wheels.stop()
self.left_front_wheel.stop()
self.right_rear_wheels.stop()
self.right_front_wheel.stop()
def scan_rock(self, time):
# Stops the robot and moves the scan arm.
self.stop()
self.left_front_wheel.run(100)
# During the given duration, scan for rocks.
watch = StopWatch()
while watch.time() < time:
# If a rock color is detected, display it and make a sound.
if self.sherloc.color() in self.ROCK_COLORS:
self.hub.display.image(Icon.CIRCLE)
self.hub.speaker.beep()
else:
self.hub.display.off()
wait(10)
# Turn the arm motor and restore the heartbeat animation again.
self.hub.display.animate(self.HEART_BEAT, 30)
self.left_front_wheel.stop()
continue
# Read the key.
key = stdin.read(1)
print("You pressed:", key)
# If the keys 1, 4, or 7 are pressed, steer left
# If the keys 3, 6, or 9 are pressed, steer right
# Otherwise steer to the middle
if key in ('1', '4', '7'):
steer_angle = -90
elif key in ('3', '6', '9'):
steer_angle = 90
else:
steer_angle = 0
steer.run_target(200, steer_angle, wait=False, then=Stop.COAST)
# If the keys 7, 8, or 9 are pressed, go forward
# If the keys 1, 2, or 3 are pressed, go backward
# Otherwise stop driving
if key in ('7', '8', '9'):
sign = 1
elif key in ('1', '2', '3'):
sign = -1
else:
sign = 0
front.run(sign * 800)
rear.run(sign * 800)
