def handleMessage(message):
angle_coef = 20
global readyToRide
# print('delivered : '+ str(message[0]))
if message[0] == 254:
return
if message[0] == 255:
mid_motor.stop()
if message[0] % 4 == 1:
Leds.set_color(Leds.RIGHT, Leds.RED)
Leds.set_color(Leds.LEFT, Leds.GREEN)
left_motor.run_forever(speed_sp=-1000)
if (min((message[0] - 128) // 4 * angle_coef, 1000) < -800):
right_motor.run_forever(speed_sp=min((message[0] - 128) // 4 *
angle_coef, 1000))
else:
right_motor.run_forever(speed_sp=-1000)
print(-1000, min(-1000 + message[0] // 4 * angle_coef, 1000))
# Sound.speak('RUN')
# print("a")
Sound.speak('Stop')
print("b")
print("ya loh")
Sound.speak('HAHA PAPA CARLO YA OBMANUL TEBIA')
print("ya loh1")
sleep(5)
print("ya loh2")
if message[0] % 4 == 0:
Leds.set_color(Leds.RIGHT, Leds.YELLOW)
right_motor.stop()
left_motor.stop()
Sound.speak('Stop')
print("b")
print("ya loh")
Sound.speak('HAHA PAPA CARLO YA OBMANUL TEBIA')
print("ya loh1")
sleep(5)
print("ya loh2")
if message[0] % 4 == 2:
Leds.set_color(Leds.LEFT, Leds.RED)
Leds.set_color(Leds.RIGHT, Leds.GREEN)
if (min((message[0] - 128) // 4 * angle_coef, 1000) < -800):
left_motor.run_forever(speed_sp=min((message[0] - 128) // 4 *
angle_coef, 1000))
else:
left_motor.run_forever(speed_sp=-1000)
right_motor.run_forever(speed_sp=-1000)
print(min(-1000 + message[0] // 4 * angle_coef, 1000), -1000)
Sound.speak('Stop')
print("b")
print("ya loh")
Sound.speak('HAHA PAPA CARLO YA OBMANUL TEBIA')
print("ya loh1")
sleep(5)
print("ya loh2")
if message[0] % 4 == 3:
readyToRide = True
left_motor.run_forever(speed_sp=-1000)
right_motor.run_forever(speed_sp=-1000)
def blink_green():
"""blink the LED green"""
try:
from ev3dev.ev3 import Leds
Leds.set_color(Leds.LEFT, Leds.GREEN)
Leds.set_color(Leds.RIGHT, Leds.GREEN)
Leds.set(Leds.LEFT, brightness_pct=0.5, trigger='timer')
Leds.set(Leds.RIGHT, brightness_pct=0.5, trigger='timer')
except Exception as ex:
logging.getLogger(__name__).error(str(ex))
def wait_for_load(self):
Leds.set_color(Leds.LEFT, Leds.RED)
while (True):
if (self.button.any()):
if (self.button.up):
self.load_map()
break
elif (self.button.down):
break
sleep(0.01)
sleep(2)
def solid_green():
"""blink the LED green"""
try:
from ev3dev.ev3 import Leds
Leds.set_color(Leds.LEFT, Leds.GREEN)
Leds.set_color(Leds.LEFT, Leds.GREEN)
Leds.set(Leds.LEFT, trigger='default-on')
Leds.set(Leds.RIGHT, trigger='default-on')
time.sleep(0.5)
Leds.all_off()
except Exception as ex:
logging.getLogger(__name__).error(str(ex))
def all_green():
process = robot.scan(200)
g_count = 0
for i, j in process:
if i == Color.GREEN:
g_count += 1
if g_count == len(process):
Leds.set_color(Leds.RIGHT, Leds.GREEN)
Leds.set_color(Leds.LEFT, Leds.GREEN)
Sound.speak("good to go, all green").wait()
Leds.all_off()
return True
else:
return False
def play_leds():
"""Indicate that we've started"""
from ev3dev.ev3 import Leds
# save current state
saved_state = [led.brightness_pct for led in Leds.LEFT + Leds.RIGHT]
Leds.all_off()
time.sleep(0.1)
for _ in range(1):
for color in (Leds.RED, Leds.YELLOW, Leds.GREEN):
for group in (Leds.LEFT, Leds.RIGHT):
Leds.set_color(group, color)
time.sleep(0.1)
Leds.all_off()
time.sleep(0.5)
for led, level in zip(Leds.RIGHT + Leds.LEFT, saved_state):
led.brightness_pct = level
class Ev3rstorm:
def __init__(self,
left_foot_track_motor_port: str = OUTPUT_B,
right_foot_track_motor_port: str = OUTPUT_C,
bazooka_blast_motor_port: str = OUTPUT_A,
touch_sensor_port: str = INPUT_1,
color_sensor_port: str = INPUT_3,
ir_sensor_port: str = INPUT_4,
driving_ir_beacon_channel: int = 1,
shooting_ir_beacon_channel: int = 2):
self.left_foot_track_motor = LargeMotor(
address=left_foot_track_motor_port)
self.right_foot_track_motor = LargeMotor(
address=right_foot_track_motor_port)
self.bazooka_blast_motor = MediumMotor(
address=bazooka_blast_motor_port)
self.ir_sensor = InfraredSensor(address=ir_sensor_port)
self.driving_remote_control = RemoteControl(
sensor=self.ir_sensor, channel=driving_ir_beacon_channel)
self.shooting_remote_control = RemoteControl(
sensor=self.ir_sensor, channel=shooting_ir_beacon_channel)
self.touch_sensor = TouchSensor(address=INPUT_1)
self.color_sensor = ColorSensor(address=INPUT_3)
self.leds = Leds()
self.screen = Screen()
assert self.left_foot_track_motor.connected
assert self.right_foot_track_motor.connected
assert self.bazooka_blast_motor.connected
assert self.ir_sensor.connected
assert self.touch_sensor.connected
assert self.color_sensor.connected
# reset the motors
for motor in (self.left_foot_track_motor, self.right_foot_track_motor,
self.bazooka_blast_motor):
motor.reset()
motor.position = 0
motor.stop_action = Motor.STOP_ACTION_BRAKE
self.draw_face()
def draw_face(self):
w, h = self.screen.shape
y = h // 2
eye_xrad = 20
eye_yrad = 30
pup_xrad = 10
pup_yrad = 10
def draw_eye(x):
self.screen.draw.ellipse(
(x - eye_xrad, y - eye_yrad, x + eye_xrad, y + eye_yrad))
self.screen.draw.ellipse(
(x - pup_xrad, y - pup_yrad, x + pup_xrad, y + pup_yrad),
fill='black')
draw_eye(w // 3)
draw_eye(2 * w // 3)
self.screen.update()
def shoot(self, direction='up'):
"""
Shot a ball in the specified direction (valid choices are 'up' and 'down')
"""
self.bazooka_blast_motor.run_to_rel_pos(
speed_sp=900, # degrees per second
position_sp=-3 * 360 if direction == 'up' else 3 * 360, # degrees
stop_action=Motor.STOP_ACTION_BRAKE)
self.bazooka_blast_motor.wait_while(Motor.STATE_RUNNING)
def rc_loop(
self,
driving_speed: float = 1000 # degrees per second
):
"""
Enter the remote control loop.
RC buttons on channel 1 control the robot movement, channel 2 is for shooting things.
The loop ends when the touch sensor is pressed.
"""
def roll(motor: Motor, led_group: str, speed: float):
"""
Generate remote control event handler.
It rolls given motor into given direction (1 for forward, -1 for backward).
When motor rolls forward, the given led group flashes green, when backward -- red.
When motor stops, the leds are turned off.
The on_press function has signature required by RemoteControl class.
It takes boolean state parameter; True when button is pressed, False otherwise.
"""
def on_press(state: int):
if state:
# roll when button is pressed
motor.run_forever(speed_sp=speed)
self.leds.set_color(
group=led_group,
color=Leds.GREEN if speed > 0 else Leds.RED,
pct=1)
else:
# stop otherwise
motor.stop(stop_action=Motor.STOP_ACTION_COAST)
self.leds.set_color(group=led_group,
color=Leds.BLACK,
pct=1)
return on_press
self.driving_remote_control.on_red_up = \
roll(motor=self.right_foot_track_motor,
led_group=Leds.RIGHT,
speed=driving_speed)
self.driving_remote_control.on_red_down = \
roll(motor=self.right_foot_track_motor,
led_group=Leds.RIGHT,
speed=-driving_speed)
self.driving_remote_control.on_blue_up = \
roll(motor=self.left_foot_track_motor,
led_group=Leds.LEFT,
speed=driving_speed)
self.driving_remote_control.on_blue_down = \
roll(motor=self.left_foot_track_motor,
led_group=Leds.LEFT,
speed=-driving_speed)
def shoot(direction: str):
def on_press(state: int):
if state: self.shoot(direction)
return on_press
self.shooting_remote_control.on_red_up = shoot('up')
self.shooting_remote_control.on_blue_up = shoot('up')
self.shooting_remote_control.on_red_down = shoot('down')
self.shooting_remote_control.on_blue_down = shoot('down')
# now that the event handlers are assigned,
# let's enter the processing loop:
while not self.touch_sensor.is_pressed:
self.driving_remote_control.process()
self.shooting_remote_control.process()
TAIL_MOTOR = LargeMotor(address=OUTPUT_B)
CHEST_MOTOR = LargeMotor(address=OUTPUT_D)
IR_SENSOR = InfraredSensor(address=INPUT_4)
LIGHTS = Leds()
SPEAKER = Sound()
CHEST_MOTOR.run_timed(speed_sp=-300,
time_sp=1000,
stop_action=Motor.STOP_ACTION_BRAKE)
CHEST_MOTOR.wait_while(Motor.STATE_RUNNING)
while True:
if IR_SENSOR.proximity < 30:
LIGHTS.set_color(group=Leds.LEFT, color=Leds.RED, pct=1)
LIGHTS.set_color(group=Leds.RIGHT, color=Leds.RED, pct=1)
MEDIUM_MOTOR.stop(stop_action=Motor.STOP_ACTION_HOLD)
TAIL_MOTOR.stop(stop_action=Motor.STOP_ACTION_BRAKE)
SPEAKER.play(wav_file='/home/robot/sound/Snake hiss.wav')
CHEST_MOTOR.run_timed(speed_sp=1000,
time_sp=1000,
stop_action=Motor.STOP_ACTION_BRAKE)
CHEST_MOTOR.wait_while(Motor.STATE_RUNNING)
MEDIUM_MOTOR.run_forever(speed_sp=1000)
if btn.is_pressed:
lcd.draw.text((20, 20), 'Sleeping', fill='black')
lcd.update()
print('sleeping...')
measure_thread = Thread(target=dist_measure)
measure_thread.start()
sleep(5)
lcd.clear()
while not btn.is_pressed:
if dist_measure() == True:
while dist_measure() == True:
if color.value() != 1:
print("True drive")
leds.set_color(Leds.LEFT, Leds.GREEN)
leds.set_color(Leds.LEFT, Leds.GREEN)
motor_left.run_forever(speed_sp=900)
motor_right.run_forever(speed_sp=900)
else:
print("True back")
motor_left.stop(stop_action="brake")
motor_right.stop(stop_action='brake')
motor_left.run_timed(time_sp=1, speed_sp=-750)
motor_right.run_timed(time_sp=1, speed_sp=-750)
motor_left.stop(stop_action="coast")
motor_right.stop(stop_action='coast')
elif dist_measure() == False:
while dist_measure() == False:
class Ev3rstorm(RemoteControlledTank):
def __init__(
self,
left_foot_motor_port: str = OUTPUT_B, right_foot_motor_port: str = OUTPUT_C,
bazooka_blast_motor_port: str = OUTPUT_A,
touch_sensor_port: str = INPUT_1, color_sensor_port: str = INPUT_3,
ir_sensor_port: str = INPUT_4, ir_beacon_channel: int = 1):
super().__init__(
left_motor=left_foot_motor_port, right_motor=right_foot_motor_port,
polarity=Motor.POLARITY_NORMAL)
self.bazooka_blast_motor = MediumMotor(address=bazooka_blast_motor_port)
self.touch_sensor = TouchSensor(address=touch_sensor_port)
self.color_sensor = ColorSensor(address=color_sensor_port)
self.ir_sensor = InfraredSensor(address=ir_sensor_port)
self.leds = Leds()
self.screen = Screen()
self.speaker = Sound()
def keep_detecting_objects_by_ir_sensor(self):
while True:
if self.ir_sensor.proximity < 25:
self.leds.set_color(
group=Leds.LEFT,
color=Leds.RED,
pct=1)
self.leds.set_color(
group=Leds.RIGHT,
color=Leds.RED,
pct=1)
self.speaker.play(wav_file='/home/robot/sound/Object.wav').wait()
self.speaker.play(wav_file='/home/robot/sound/Detected.wav').wait()
self.speaker.play(wav_file='/home/robot/sound/Error alarm.wav').wait()
else:
self.leds.all_off()
def blast_bazooka_whenever_touched(self):
while True:
if self.touch_sensor.is_pressed:
if self.color_sensor.ambient_light_intensity < 5: # 15 not dark enough
self.speaker.play(wav_file='/home/robot/sound/Up.wav').wait()
self.bazooka_blast_motor.run_to_rel_pos(
speed_sp=1000, # degrees per second
position_sp=-3 * 360, # degrees
stop_action=Motor.STOP_ACTION_HOLD)
else:
self.speaker.play(wav_file='/home/robot/sound/Down.wav').wait()
self.bazooka_blast_motor.run_to_rel_pos(
speed_sp=1000, # degrees per second
position_sp=3 * 360, # degrees
stop_action=Motor.STOP_ACTION_HOLD)
while self.touch_sensor.is_pressed:
pass
def main(self):
self.screen.image.paste(im=Image.open('/home/robot/image/Target.bmp'))
self.screen.update()
# DON'T use IR Sensor in 2 different modes in the same program / loop
# - https://github.com/pybricks/support/issues/62
# - https://github.com/ev3dev/ev3dev/issues/1401
# Thread(target=self.keep_detecting_objects_by_ir_sensor,
# daemon=True).start()
Thread(target=self.blast_bazooka_whenever_touched,
daemon=True).start()
super().main() # RemoteControlledTank.main()
class Ev3rstorm:
def __init__(self,
left_foot_motor_port: str = OUTPUT_B,
right_foot_motor_port: str = OUTPUT_C,
bazooka_blast_motor_port: str = OUTPUT_A,
touch_sensor_port: str = INPUT_1,
color_sensor_port: str = INPUT_3,
ir_sensor_port: str = INPUT_4,
ir_beacon_channel: int = 1):
self.left_foot_motor = LargeMotor(address=left_foot_motor_port)
self.right_foot_motor = LargeMotor(address=right_foot_motor_port)
self.bazooka_blast_motor = MediumMotor(
address=bazooka_blast_motor_port)
self.touch_sensor = TouchSensor(address=touch_sensor_port)
self.color_sensor = ColorSensor(address=color_sensor_port)
self.ir_sensor = InfraredSensor(address=ir_sensor_port)
self.remote_control = RemoteControl(sensor=self.ir_sensor,
channel=ir_beacon_channel)
self.leds = Leds()
self.screen = Screen()
self.speaker = Sound()
def drive_once_by_ir_beacon(
self,
speed: float = 1000 # degrees per second
):
# forward
if self.remote_control.red_up and self.remote_control.blue_up:
self.left_foot_motor.run_forever(speed_sp=speed)
self.right_foot_motor.run_forever(speed_sp=speed)
# backward
elif self.remote_control.red_down and self.remote_control.blue_down:
self.left_foot_motor.run_forever(speed_sp=-speed)
self.right_foot_motor.run_forever(speed_sp=-speed)
# turn left on the spot
elif self.remote_control.red_up and self.remote_control.blue_down:
self.left_foot_motor.run_forever(speed_sp=-speed)
self.right_foot_motor.run_forever(speed_sp=speed)
# turn right on the spot
elif self.remote_control.red_down and self.remote_control.blue_up:
self.left_foot_motor.run_forever(speed_sp=speed)
self.right_foot_motor.run_forever(speed_sp=-speed)
# turn left forward
elif self.remote_control.red_up:
self.right_foot_motor.run_forever(speed_sp=speed)
# turn right forward
elif self.remote_control.blue_up:
self.left_foot_motor.run_forever(speed_sp=speed)
# turn left backward
elif self.remote_control.red_down:
self.right_foot_motor.run_forever(speed_sp=-speed)
# turn right backward
elif self.remote_control.blue_down:
self.left_foot_motor.run_forever(speed_sp=-speed)
# otherwise stop
else:
self.left_foot_motor.stop(stop_action=Motor.STOP_ACTION_COAST)
self.right_foot_motor.stop(stop_action=Motor.STOP_ACTION_COAST)
def dance_if_ir_beacon_pressed(self):
while self.remote_control.beacon:
self.left_foot_motor.run_timed(speed_sp=randint(-1000, 1000),
time_sp=1000,
stop_action=Motor.STOP_ACTION_COAST)
self.right_foot_motor.run_timed(
speed_sp=randint(-1000, 1000),
time_sp=1000,
stop_action=Motor.STOP_ACTION_COAST)
self.left_foot_motor.wait_while(Motor.STATE_RUNNING)
self.right_foot_motor.wait_while(Motor.STATE_RUNNING)
def detect_object_by_ir_sensor(self):
if self.ir_sensor.proximity < 25:
self.leds.set_color(group=Leds.LEFT, color=Leds.RED, pct=1)
self.leds.set_color(group=Leds.RIGHT, color=Leds.RED, pct=1)
self.speaker.play(wav_file='/home/robot/sound/Object.wav').wait()
self.speaker.play(wav_file='/home/robot/sound/Detected.wav').wait()
self.speaker.play(
wav_file='/home/robot/sound/Error alarm.wav').wait()
else:
self.leds.all_off()
def blast_bazooka_if_touched(self):
if self.touch_sensor.is_pressed:
if self.color_sensor.ambient_light_intensity < 5: # 15 not dark enough
self.speaker.play(wav_file='/home/robot/sound/Up.wav').wait()
self.bazooka_blast_motor.run_to_rel_pos(
speed_sp=1000, # degrees per second
position_sp=-3 * 360, # degrees
stop_action=Motor.STOP_ACTION_HOLD)
else:
self.speaker.play(wav_file='/home/robot/sound/Down.wav').wait()
self.bazooka_blast_motor.run_to_rel_pos(
speed_sp=1000, # degrees per second
position_sp=3 * 360, # degrees
stop_action=Motor.STOP_ACTION_HOLD)
while self.touch_sensor.is_pressed:
pass
def main(
self,
driving_speed: float = 1000 # degrees per second
):
self.screen.image.paste(im=Image.open('/home/robot/image/Target.bmp'))
self.screen.update()
while True:
self.drive_once_by_ir_beacon(speed=driving_speed)
self.dance_if_ir_beacon_pressed()
# DON'T use IR Sensor in 2 different modes in the same program / loop
# - https://github.com/pybricks/support/issues/62
# - https://github.com/ev3dev/ev3dev/issues/1401
# self.detect_object_by_ir_sensor()
self.blast_bazooka_if_touched()
measue = ir.value()
if measue <= 60:
return True
else:
return False
while True:
try:
if color_left.value() == 1 and color_right.value() == 1:
if dist_measure() == True:
while True:
print("Found!")
leds.set_color(Leds.LEFT, Leds.GREEN)
leds.set_color(Leds.LEFT, Leds.GREEN)
motor_left.run_forever(speed_sp=-900)
motor_right.run_forever(speed_sp=-900)
if not color_left.value() != 1 or color_right.value() != 1:
print("FOund line")
break
else:
motor_left.run_forever(speed_sp=-900)
motor_right.run_forever(speed_sp=900)
print("Seeking")
else:
motor_left.stop(stop_action="brake")
motor_right.stop(stop_action='brake')
bt_left = False
bt_right = False
btn.on_left = left
btn.on_right = right
bt_sair = False
lcd = Screen()
mystring = 'Pressione para iniciar:'
if __name__ == '__main__':
while True:
lcd.clear()
size = lcd.draw.textsize(mystring)
lcd.draw.text((89-size[0]/2, 59), mystring)
lcd.update()
Leds.set_color(ev3.Leds.LEFT, ev3.Leds.RED)
Leds.set_color(ev3.Leds.RIGHT, ev3.Leds.RED)
print('aguardando bt para iniciar')
while not btn.any():
time.sleep(0.01)
if 'right' in btn.buttons_pressed:
bt_sair = True
if bt_sair:
break
Leds.set_color(ev3.Leds.LEFT, ev3.Leds.ORANGE) # ready go
Leds.set_color(ev3.Leds.RIGHT, ev3.Leds.ORANGE) # go go go
print('Iniciando')
time.sleep(1)
buffer_cor = 0
n_buffer_cor = 4
cor_esquerda = []
LEFT_FOOT_MOTOR = LargeMotor(address=OUTPUT_B)
RIGHT_FOOT_MOTOR = LargeMotor(address=OUTPUT_C)
MEDIUM_MOTOR = MediumMotor(address=OUTPUT_A)
IR_SENSOR = InfraredSensor(address=INPUT_4)
LEDS = Leds()
SPEAKER = Sound()
while True:
if IR_SENSOR.proximity < 25:
LEFT_FOOT_MOTOR.stop(stop_action=Motor.STOP_ACTION_BRAKE)
RIGHT_FOOT_MOTOR.stop(stop_action=Motor.STOP_ACTION_BRAKE)
LEDS.set_color(group=Leds.LEFT, color=Leds.RED, pct=1)
LEDS.set_color(group=Leds.RIGHT, color=Leds.RED, pct=1)
SPEAKER.play(wav_file='/home/robot/sound/Object.wav').wait()
SPEAKER.play(wav_file='/home/robot/sound/Detected.wav').wait()
SPEAKER.play(wav_file='/home/robot/sound/Error alarm.wav').wait()
MEDIUM_MOTOR.run_forever(speed_sp=1000 # degrees per second
)
LEFT_FOOT_MOTOR.run_to_rel_pos(
position_sp=360, # degrees
speed_sp=1000, # degrees per second
stop_action=Motor.STOP_ACTION_BRAKE)
RIGHT_FOOT_MOTOR.run_to_rel_pos(
position_sp=360, # degrees
print(__doc__.lstrip())
print('saving current LEDs state')
# save current state
saved_state = [led.brightness_pct for led in Leds.LEFT + Leds.RIGHT]
Leds.all_off()
time.sleep(1)
# cycle LEDs like a traffic light
print('traffic light')
for _ in range(3):
for color in (Leds.GREEN, Leds.YELLOW, Leds.RED):
for group in (Leds.LEFT, Leds.RIGHT):
Leds.set_color(group, color)
time.sleep(0.5)
Leds.all_off()
time.sleep(0.5)
# blink LEDs from side to side now
print('side to side')
for _ in range(3):
for led in (Leds.red_left, Leds.red_right, Leds.green_left,
Leds.green_right):
led.brightness_pct = 100
time.sleep(0.5)
led.brightness_pct = 0
Leds.all_off()