def __init__(self):
# Add more sensors and motors here if you need them
self.left_motor = ev3.LargeMotor(ev3.OUTPUT_A)
self.right_motor = ev3.LargeMotor(ev3.OUTPUT_B)
self.hand_motor = ev3.MediumMotor(ev3.OUTPUT_C)
self.drop_motor = ev3.MediumMotor(ev3.OUTPUT_D)
threading.Thread.__init__(self)
self.hand = 1
self.handpos = self.hand_motor.position
def __init__(self):
self.steer_motor = ev3.LargeMotor(ev3.OUTPUT_B)
self.drive_motor = ev3.MediumMotor(ev3.OUTPUT_A)
threading.Thread.__init__(self)
# Calibrate
touch_sensor = ev3.TouchSensor(ev3.INPUT_1)
while not touch_sensor.pressed:
self.steer_motor.run_forever(speed_sp=-100)
self.steer_motor.position = -30
self.steer_motor.stop()
def makeMediumMotor(port, regulated, direction, side=None):
try:
m = ev3dev.MediumMotor(port)
if direction == 'backward':
m.polarity = 'inversed'
else:
m.polarity = 'normal'
except (AttributeError, OSError):
logger.info('no medium motor connected to port [%s]', port)
logger.exception("HW Config error")
m = None
return m
def __init__(self):
self.left_motor = ev3.LargeMotor(ev3.OUTPUT_B)
self.right_motor = ev3.LargeMotor(ev3.OUTPUT_C)
self.steer_motor = ev3.MediumMotor(ev3.OUTPUT_A)
self.steer_motor.position = 0
self.gyro = ev3.GyroSensor(ev3.INPUT_4)
self.gyro.mode = ev3.GyroSensor.MODE_GYRO_RATE
self.offset = 0
for i in range(60):
self.offset += self.gyro.rate
time.sleep(0.015)
self.offset /= 100
threading.Thread.__init__(self)
self.rates = deque([0] * 4, maxlen=4)
def __init__(self):
# Add more sensors and motors here if you need them
#self.left_motor = ev3.LargeMotor(ev3.OUTPUT_C)
#self.right_motor = ev3.LargeMotor(ev3.OUTPUT_B)
self.tank = MoveTank(OUTPUT_C, OUTPUT_B)
self.left_motor = ev3.LargeMotor(ev3.OUTPUT_C)
self.right_motor = ev3.LargeMotor(ev3.OUTPUT_B)
self.hand_motor = ev3.MediumMotor(ev3.OUTPUT_A)
#self.drop_motor = ev3.MediumMotor(ev3.OUTPUT_D)
self.replay = replay # Are we recording or not?
self.handpos = self.hand_motor.position
self.handmin = 0
self.handmax = 0
threading.Thread.__init__(self)
def __init__(self):
self.left_motor = ev3.LargeMotor(ev3.OUTPUT_B)
self.right_motor = ev3.LargeMotor(ev3.OUTPUT_C)
self.tail_motor = ev3.MediumMotor(ev3.OUTPUT_A)
self.tail_motor.run_direct(duty_cycle_sp=-40)
self.tail_motor.wait_until("stalled")
self.tail_motor.stop()
self.tail_motor.position = 0
self.gyro = ev3.GyroSensor(ev3.INPUT_1)
self.gyro.mode = ev3.GyroSensor.MODE_GYRO_RATE
self.gyro.auto_mode = False
self.offset = 0
for i in range(60):
self.offset += self.gyro.rate
time.sleep(0.015)
self.offset /= 100
threading.Thread.__init__(self)
self.rates = deque([0] * 4, maxlen=4)
class Motors:
"""
This class connects the robots wheel motors to more usable variables and it has two static methods.
"""
right_mtr = ev3.LargeMotor(ev3.OUTPUT_D)
assert right_mtr.connected
left_mtr = ev3.LargeMotor(ev3.OUTPUT_C)
assert left_mtr.connected
grip_mtr = ev3.MediumMotor(ev3.OUTPUT_A)
assert grip_mtr.connected
@staticmethod
def motor_running(motor):
"""
Sets the state of the motor to "running" and returns that value.
Keyword arguments:
motor -- The motor to run the command on
"""
return motor.state == ["running"]
@staticmethod
def wait_motor(motor):
"""
Makes the motor wait for a certain amount of time.
Keyword arguments:
motor -- The motor to run the command on.
"""
ctr = 0
while ctr < 2:
if not Motors.motor_running(motor):
ctr += 1
else:
ctr = 0
def __init__(self):
self.right_motor = ev3.LargeMotor(ev3.OUTPUT_C)
self.left_motor = ev3.LargeMotor(ev3.OUTPUT_B)
self.claw_motor = ev3.MediumMotor(ev3.OUTPUT_A)
threading.Thread.__init__(self)
#!/usr/bin/env python3
import evdev
import ev3dev.auto as ev3
import threading
import time
garra = ev3.MediumMotor(ev3.OUTPUT_B)
memoria = True
def clamp(n, minn, maxn):
return max(min(maxn, n), minn)
def scale(val, src, dst):
return (float(val - src[0]) / (src[1] - src[0])) * (dst[1] - dst[0]) + dst[0]
def scale_stick(value):
return scale(value,(0,255),(-1000,1000))
def dc_clamp(value):
return clamp(value,-1000,1000)
print("Finding ps4 controller...")
devices = [evdev.InputDevice(fn) for fn in evdev.list_devices()]
ps4dev = devices[0].fn
gamepad = evdev.InputDevice(ps4dev)
forward_speed = 0
side_speed = 0
running = True
def __init__(self):
self.motor = ev3.MediumMotor(ev3.OUTPUT_D)
threading.Thread.__init__(self)
def __init__(self):
# Add more sensors and motors here if you need them
self.left_motor = ev3.LargeMotor(ev3.OUTPUT_B)
self.right_motor = ev3.LargeMotor(ev3.OUTPUT_C)
self.middle_motor = ev3.MediumMotor(ev3.OUTPUT_A)
threading.Thread.__init__(self)
def __init__(self):
self.left_motor = ev3.LargeMotor(ev3.OUTPUT_B)
self.right_motor = ev3.LargeMotor(ev3.OUTPUT_C)
self.tail_motor = ev3.MediumMotor(ev3.OUTPUT_A)
self.tail_motor.position = 0
threading.Thread.__init__(self)
def __init__(self):
self.medium_motor = ev3.MediumMotor(ev3.OUTPUT_A)
self.touch_sensor = ev3.TouchSensor(ev3.INPUT_1)
threading.Thread.__init__(self)
