def setup_hardware(self):
# setup I/O connecting to EV3
self.motorR = ev3.LargeMotor('outA')
self.motorL = ev3.LargeMotor('outD')
self.csR = ev3.ColorSensor('in2')
self.csM = ev3.ColorSensor('in3')
self.csL = ev3.ColorSensor('in4')
# mode set up (right and left senor only used for light intensity)
self.csR.reflected_light_intensity
self.csL.reflected_light_intensity
self.port = ev3.LegoPort('outB')
assert self.port.connected
self.port.mode = 'dc-motor'
time.sleep(5)
self.grabberArms = ev3.DcMotor("outB")
print("DcMotor connected")
self.grabberLift = ev3.MediumMotor('outC')
self.grabberLift.stop_action = 'brake'
self.grabber_initialise()
self.gy = ev3.GyroSensor('in1')
self.reset_gyro()
self.up_pos = self.grabberLift.position
def setup_hardware(self):
# setup I/O connecting to EV3
self.motorR = ev3.LargeMotor('outA')
self.motorL = ev3.LargeMotor('outD')
self.csR = ev3.ColorSensor('in2')
self.csM = ev3.ColorSensor('in3')
self.csL = ev3.ColorSensor('in4')
#TODO: implement using the DC motor if need
#self.grabberArms = ev3.MediumMotor('outC')
self.port = ev3.LegoPort('outB')
assert self.port.connected
self.port.mode = 'dc-motor'
time.sleep(5)
self.grabberArms = ev3.DcMotor("outB")
print("DcMotor connected")
self.grabberLift = ev3.MediumMotor('outC')
self.gy = ev3.GyroSensor('in1')
self.reset_gyro()
self.base_pos = self.grabberLift.position
from ev3dev.ev3 import *
from time import sleep
import ev3dev.ev3 as ev3
p = ev3.LegoPort(ev3.INPUT_2)
p.set_device = "lego-nxt-sound"
q = ev3.LegoPort(ev3.INPUT_3)
q.set_device = "lego-nxt-sound"
sleep(1)
sl = ev3.SoundSensor('in2')
sr = ev3.SoundSensor('in3')
assert sl.connected, "Connect a sound sensor to 2 sensor port"
assert sr.connected, "Connect a sound sensor to 3 sensor port"
sl.mode = 'DBA'
sr.mode = 'DBA'
ma = Motor('outA')
mb = Motor('outB')
mc = Motor('outC')
md = Motor('outD')
assert ma.connected, "Connect a motor to port A"
assert mb.connected, "Connect a motor to port B"
assert mc.connected, "Connect a motor to port C"
assert md.connected, "Connect a motor to port D"
while True:
voll1 = sl.value()
volr1 = sr.value() - 6
sleep(0.1)
voll2 = sl.value()
from ev3dev.ev3 import *
from time import sleep
import ev3dev.ev3 as ev3
p = ev3.LegoPort(ev3.INPUT_1)
p.set_device = "lego-nxt-sound"
q = ev3.LegoPort(ev3.INPUT_2)
q.set_device = "lego-nxt-sound"
m = ev3.LegoPort(ev3.INPUT_3)
m.set_device = "lego-nxt-sound"
n = ev3.LegoPort(ev3.INPUT_4)
n.set_device = "lego-nxt-sound"
sleep(1)
print('BBBBBBBBB')
#
s1 = ev3.SoundSensor('in1')
s2 = ev3.SoundSensor('in2')
s3 = ev3.SoundSensor('in3')
s4 = ev3.SoundSensor('in4')
assert s1.connected, "Connect a sound sensor to 1 sensor port"
assert s2.connected, "Connect a sound sensor to 2 sensor port"
assert s3.connected, "Connect a sound sensor to 3 sensor port"
assert s4.connected, "Connect a sound sensor to 4 sensor port"
s1.mode = 'DBA'
s2.mode = 'DBA'
s3.mode = 'DBA'
s4.mode = 'DBA'
print('AAAAAAAAAAAAAAAAAA')
print("Cup dispenser server starting...")
import socketserver
import ev3dev.ev3 as ev3
import time
# DC motor
p = ev3.LegoPort('outB')
assert p.connected
p.mode = 'dc-motor'
time.sleep(1)
# motors and sensors
lift_motor = ev3.LargeMotor('outD')
grab_motor = ev3.DcMotor('outB')
lift_sensor = ev3.TouchSensor('in1')
grab_sensor = ev3.TouchSensor('in2')
lift_motor.stop_action = 'brake'
class cup_dispenser:
'''def __init__(self):
self.initialise()'''
# go to the initialisation spot
def initialise(self):
self.lift_down()
self.grab_reset()
self.grab_open()
self.lift_up()
self.pub.publish(
topic=MQTT_PENDULUM_STATE,
#payload=self.angle + '|' + datetime.utcnow().strftime('%S.%f')[:-3]
payload=msg_json,
qos=0)
# print("msg send - ", msg)
# print("msg send - ", msg_json)
else:
time.sleep(0.0001)
if __name__ == "__main__":
while True:
try:
port = ev3.LegoPort("pistorms:BBS2")
if port.mode != "i2c-thru":
port.mode = "i2c-thru"
break
except Exception as e:
print("I/O exception: {0}".format(str(e)))
time.sleep(0.1)
hta = HTAngle(1, 0x01)
hta.reset()
pub = mqtt.Client(client_id="pendulum_pub", transport="TCP")
pub.username_pw_set(username="******", password="******")
pub.connect(MQTT_SERVER, MQTT_PORT, 60)
pendulum = Pendulum(pub, hta)
#!/usr/bin/python3
# sound_and_speak_xx.py by Yasushi Honda 2019 1/3
#------------------------------------------------
import ev3dev.ev3 as ev3
import time
import random
import datetime
if __name__=='__main__':
p=ev3.LegoPort(ev3.INPUT_4)
p.set_device='lego-nxt-sound'
ss = ev3.SoundSensor(ev3.INPUT_4)
ts=ev3.TouchSensor(ev3.INPUT_3)
sp=ev3.Sound()
sp.speak('Hi. I can speak the current time.').wait()
talk=[]
talk.append('Yes. I can hear you, but speak more loudly.')
leds = ev3.Leds()
leds.set_color(ev3.Leds.LEFT, ev3.Leds.GREEN,pct=1.0)
leds.set_color(ev3.Leds.RIGHT, ev3.Leds.YELLOW,pct=1.0)
print('[[ Push touch sensor to stop.]]')
#print('[[ snd ]]')
while ts.value()==0:
snd=967-ss.value()
#print("\r %4d" % snd, end='')
