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_port=left_foot_motor_port,
right_motor_port=right_foot_motor_port,
polarity=Motor.POLARITY_NORMAL,
speed=1000,
channel=ir_beacon_channel)
self.tank_driver = MoveTank(left_motor_port=left_foot_motor_port,
right_motor_port=right_foot_motor_port,
motor_class=LargeMotor)
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.ir_beacon_channel = ir_beacon_channel
self.leds = Leds()
self.speaker = Sound()
def test_infrared_sensor(self):
clean_arena()
populate_arena([('infrared_sensor', 0, 'in1')])
s = InfraredSensor()
self.assertEqual(s.device_index, 0)
self.assertEqual(s.bin_data_format, 's8')
self.assertEqual(s.bin_data('<b'), (16, ))
self.assertEqual(s.num_values, 1)
self.assertEqual(s.address, 'in1')
self.assertEqual(s.value(0), 16)
self.assertEqual(s.mode, "IR-PROX")
s.mode = "IR-REMOTE"
self.assertEqual(s.mode, "IR-REMOTE")
val = s.proximity
# Our test environment writes to actual files on disk, so while "seek(0) write(...)" works on the real device, it leaves trailing characters from previous writes in tests. "s.mode" returns "IR-PROXTE" here.
self.assertEqual(s.mode, "IR-PROX")
self.assertEqual(val, 16)
val = s.buttons_pressed()
self.assertEqual(s.mode, "IR-REMOTE")
self.assertEqual(val, [])
def __init__(self,
jaw_motor_port: str = OUTPUT_A,
left_motor_port: str = OUTPUT_B,
right_motor_port: str = OUTPUT_C,
touch_sensor_port: str = INPUT_1,
color_sensor_port: str = INPUT_3,
ir_sensor_port: str = INPUT_4,
ir_beacon_channel: int = 1):
self.jaw_motor = MediumMotor(address=jaw_motor_port)
self.left_motor = LargeMotor(address=left_motor_port)
self.right_motor = LargeMotor(address=right_motor_port)
self.tank_driver = MoveTank(left_motor_port=left_motor_port,
right_motor_port=right_motor_port,
motor_class=LargeMotor)
self.steer_driver = MoveSteering(left_motor_port=left_motor_port,
right_motor_port=right_motor_port,
motor_class=LargeMotor)
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.ir_beacon_channel = ir_beacon_channel
self.speaker = Sound()
self.roaring = False
self.walk_speed = self.NORMAL_WALK_SPEED
def __init__(
self,
left_motor_port: str = OUTPUT_B,
right_motor_port: str = OUTPUT_C,
motor_class=LargeMotor,
polarity: str = Motor.POLARITY_NORMAL,
ir_sensor_port: str = INPUT_4,
# sites.google.com/site/ev3devpython/learn_ev3_python/using-sensors
ir_beacon_channel: int = 1):
self.left_motor = LargeMotor(address=left_motor_port)
self.right_motor = LargeMotor(address=right_motor_port)
self.tank_driver = \
MoveTank(
left_motor_port=left_motor_port,
right_motor_port=right_motor_port,
motor_class=motor_class)
self.steer_driver = \
MoveSteering(
left_motor_port=left_motor_port,
right_motor_port=right_motor_port,
motor_class=motor_class)
self.left_motor.polarity = self.right_motor.polarity = \
self.tank_driver.left_motor.polarity = \
self.tank_driver.right_motor.polarity = \
self.steer_driver.left_motor.polarity = \
self.steer_driver.right_motor.polarity = polarity
self.ir_sensor = InfraredSensor(address=ir_sensor_port)
self.tank_drive_ir_beacon_channel = ir_beacon_channel
def __init__(self):
self.shutdown = False
self.flipper = LargeMotor(OUTPUT_A)
self.turntable = LargeMotor(OUTPUT_B)
self.colorarm = MediumMotor(OUTPUT_C)
self.color_sensor = ColorSensor()
self.color_sensor.mode = self.color_sensor.MODE_RGB_RAW
self.infrared_sensor = InfraredSensor()
self.init_motors()
self.state = ['U', 'D', 'F', 'L', 'B', 'R']
self.rgb_solver = None
signal.signal(signal.SIGTERM, self.signal_term_handler)
signal.signal(signal.SIGINT, self.signal_int_handler)
filename_max_rgb = 'max_rgb.txt'
if os.path.exists(filename_max_rgb):
with open(filename_max_rgb, 'r') as fh:
for line in fh:
(color, value) = line.strip().split()
if color == 'red':
self.color_sensor.red_max = int(value)
log.info("red max is %d" % self.color_sensor.red_max)
elif color == 'green':
self.color_sensor.green_max = int(value)
log.info("green max is %d" %
self.color_sensor.green_max)
elif color == 'blue':
self.color_sensor.blue_max = int(value)
log.info("blue max is %d" % self.color_sensor.blue_max)
def main():
'''The main function of our program'''
# set the console just how we want it
reset_console()
set_cursor(OFF)
set_font('Lat15-Terminus24x12')
print('How are you?')
print("")
print("Hello Selina.")
print("Hello Ethan.")
STUD_MM = 8
tank = MoveDifferential(OUTPUT_A, OUTPUT_B, EV3Tire, 16 * STUD_MM)
motorLift = MediumMotor(OUTPUT_D)
sound = Sound()
# sound.speak('How are you master!')
# sound.speak("I like my family")
# sound.speak("I like my sister and i like my brother.")
sound.beep()
eye = InfraredSensor(INPUT_1)
robot = Robot(tank, None, eye)
botton = Button()
while not botton.any():
distance = eye.distance(channel=1)
heading = eye.heading(channel=1)
print('distance: {}, heading: {}'.format(distance, heading))
motorLift.on_to_position(speed=40, position=-7200, block=True) #20 Rounds
if distance is None:
sound.speak("I am lost, there is no beacon!")
else:
if (distance < 14):
tank.off()
sound.speak("I am very close to the beacon!")
motorLift.on_to_position(speed=40, position=7200, block=True)
sound.speak("I had to get some more rubbish.")
sound.speak("Please wait while I lift up my fork.")
tank.turn_right(speed=20, degrees=random.randint(290, 340)) # random.randint(150, 210)
tank.on_for_seconds(left_speed=20, right_speed=20, seconds=20)
tank.turn_right(speed=20, degrees=330)
motorLift.on_to_position(speed=40, position=0, block=True)
elif distance >= 100:
sound.speak("I am too faraway from the beacon")
elif (distance < 99) and (-4 <= heading <= 4): # in right heading
sound.speak("Moving farward")
tank.on(left_speed=20, right_speed=20)
else:
if heading > 0:
tank.turn_left(speed=20, degrees=20)
else:
tank.turn_right(speed=20, degrees=20)
sound.speak("I am finding the beacon.")
time.sleep(0.1)
def __init__(self):
"""
Performs Alexa Gadget initialization routines and ev3dev resource allocation.
"""
super().__init__()
# Robot state
self.patrol_mode = False
self.enemy_not_detected = True
print("+++++ self.patrol_mode = {} y self.enemy_not_detected = {}".
format(self.patrol_mode, self.enemy_not_detected))
self.positionX = 0
self.positionY = 0
self.direction = ['forward', 'right', 'backward', 'left']
self.offset = [0, 1, 0, -1]
self.index = 0
self.pointing = self.direction[self.index]
# Connect two large motors on output ports B and C
self.drive = MoveTank(OUTPUT_B, OUTPUT_C)
self.weapon = MediumMotor(OUTPUT_A)
self.sound = Sound()
self.leds = Leds()
self.ir = InfraredSensor()
# Start threads
threading.Thread(target=self._patrol_thread, daemon=True).start()
threading.Thread(target=self._proximity_thread, daemon=True).start()
def __init__(self,
drive_motor_port=OUTPUT_B,
strike_motor_port=OUTPUT_D,
steer_motor_port=OUTPUT_A,
drive_speed_pct=60):
self.drive_motor = LargeMotor(drive_motor_port)
self.strike_motor = LargeMotor(strike_motor_port)
self.steer_motor = MediumMotor(steer_motor_port)
self.speaker = Sound()
STEER_SPEED_PCT = 30
self.remote = InfraredSensor()
self.remote.on_channel1_top_left = self.make_move(self.drive_motor, drive_speed_pct)
self.remote.on_channel1_bottom_left = self.make_move(self.drive_motor, drive_speed_pct * -1)
self.remote.on_channel1_top_right = self.make_move(self.steer_motor, STEER_SPEED_PCT)
self.remote.on_channel1_bottom_right = self.make_move(self.steer_motor, STEER_SPEED_PCT * -1)
self.shutdown_event = Event()
self.mrc = MonitorRemoteControl(self)
# Register our signal_term_handler() to be called if the user sends
# a 'kill' to this process or does a Ctrl-C from the command line
signal.signal(signal.SIGTERM, self.signal_term_handler)
signal.signal(signal.SIGINT, self.signal_int_handler)
def __init__(self,
ms=MoveSteering(OUTPUT_A, OUTPUT_B),
cs=ColorSensor(address=INPUT_1),
isensor=InfraredSensor(INPUT_2)):
self.steering_drive = ms
self.color_sensor = cs
self.infrared_sensor = isensor
def returnWhenObjectWithinXcm(debug, stop, distance):
ir = InfraredSensor(constants.INPUT_INFRARED_SENSOR)
if debug:
print("Start returnWhenObjectWithinXcm({}), thread {}".format(
distance,
threading.current_thread().ident),
file=stderr)
while True:
if debug:
#print(ir.proximity / constants.IR_PROMIXITY_TO_CM_RATIO, file = stderr)
pass
if ir.proximity < distance * constants.IR_PROMIXITY_TO_CM_RATIO:
if debug:
print("End returnWhenObjectWithinXcm({}), thread {}.".format(
distance,
threading.current_thread().ident),
file=stderr)
break
if stop():
if debug:
print("Kill returnWhenObjectWithinXcm({}), thread {}.".format(
distance,
threading.current_thread().ident),
file=stderr)
break
def __init__(self):
"""
Performs Alexa Gadget initialization routines and ev3dev resource allocation.
"""
super().__init__()
# Robot state
self.patrol_mode = False
self.follow_mode = False
# Internal Variables
self.light_intensity = 0
self.batt_voltage = 0
# Connect two large motors on output ports B and C
#self.drive = MoveTank(OUTPUT_D, OUTPUT_C)
self.steerdrive = MoveSteering(OUTPUT_C, OUTPUT_D)
self.leds = Leds()
self.ir = InfraredSensor()
self.ir.mode = 'IR-SEEK'
self.touch = TouchSensor()
self.light = ColorSensor(address='ev3-ports:in4')
self.sound = Sound()
# Start threads
threading.Thread(target=self._patrol_thread, daemon=True).start()
threading.Thread(target=self._follow_thread, daemon=True).start()
threading.Thread(target=self._pat_thread, daemon=True).start()
threading.Thread(target=self._power_thread, daemon=True).start()
threading.Thread(target=self._light_sensor_thread, daemon=True).start()
def __init__(self, fetchColor, fetchDistance=20):
self.leftColorSensor = ColorSensor(INPUT_1)
self.rightColorSensor = ColorSensor(INPUT_2)
self.infraredSensor = InfraredSensor(INPUT_3)
self.fetchColor = fetchColor
self.fetchDistance = fetchDistance
def main(): global stopInfraredSensor global stopMotorSensor global stopGiraSensor # global stopProxSensor global infrared_sensor infrared_sensor = InfraredSensor(INPUT_1) stopInfraredSensor=False stopMotorSensor=False stopGiraSensor=False # stopProxSensor=False # t1 = threading.Thread(target=robotDetectWorker) # t1.start() # # t2 = threading.Thread(target=onlyWalkWithStopWorker) # t2.start() walkSeconds(0,100,6) # tp = threading.Thread(target=patrulha) # tp.start() patrulha()
def __init__(self):
self.server_address = (str(sys.argv[1]), 5000)
self.sensor = InfraredSensor()
self.motor = MediumMotor(OUTPUT_D)
self.drive_motor = MoveTank(OUTPUT_B, OUTPUT_C)
self.turn_motor = MoveSteering(OUTPUT_B, OUTPUT_C)
self.moved = 0
self.turned = 0
def __init__(self, left_motor_port, right_motor_port, infra_sensor_mode,
color_sensor_mode):
self.__movesteering = MoveSteering(left_motor_port, right_motor_port)
self.__mediummotor = MediumMotor()
self.__cs = ColorSensor()
self.__cs.mode = color_sensor_mode
self.__ir = InfraredSensor()
self.__ir.mode = infra_sensor_mode
def __init__(self):
self.shut_down = False
# self.claw_motor
# self.left_motor = LargeMotor('outB')
# self.right_motor = LargeMotor('outC')
self.both_motors = MoveTank('outB', 'outC')
self.cs = ColorSensor()
self.irs = InfraredSensor()
def __init__(self, left_motor_port, right_motor_port, infra_mode,
ultra_mode):
self.__moveSteering = MoveSteering(left_motor_port, right_motor_port)
self.__mediumMotor = MediumMotor()
self.__ir = InfraredSensor()
self.__ir.mode = infra_mode
self.__us = UltrasonicSensor()
self.__us.mode = ultra_mode
def __init__(self):
self.ir = InfraredSensor()
self.ir.mode = 'IR-REMOTE'
self.drive = Driver()
self.ir.on_channel1_beacon = self.beacon_channel_1_action
self.ir.on_channel1_top_left = self.top_left_channel_1_action
self.ir.on_channel1_bottom_left = self.bot_left_channel_1_action
self.ir.on_channel1_top_right = self.top_right_channel_1_action
self.ir.on_channel1_bottom_right = self.bot_right_channel_1_action
def __init__(self, left_motor_port, right_motor_port, rot_motor_port,
wheel_class, wheel_distance_mm,
desc=None, motor_class=LargeMotor):
MoveDifferential.__init__(self, left_motor_port, right_motor_port, wheel_class, wheel_distance_mm)
"""
LegoBot Class inherits all usefull stuff for differential drive
and adds sound, LEDs, IRSensor which is rotated by Medium Motor
"""
self.leds = Leds()
self.sound = Sound()
self.leds.set_color("LEFT", "BLACK")
self.leds.set_color("RIGHT", "BLACK")
# Startup sequence
self.sound.play_song((('C4', 'e'), ('D4', 'e'), ('E5', 'q')))
self.leds.set_color("LEFT", "GREEN")
self.leds.set_color("RIGHT", "GREEN")
# create IR sensors
self.ir_sensor = InfraredSensor()
self.sensor_rotation_point = Pose( 0.05, 0.0, np.radians(0))
self.sensor_rotation_radius = 0.04
self.sensor_thread_run = False
self.sensor_thread_id = None
# temporary storage for ir readings and poses until half rotation is fully made
self.ir_sensors = None
# initialize motion
self.ang_velocity = (0.0,0.0)
self.rot_motor = MediumMotor(rot_motor_port)
self.rotate_thread_run = False
self.rotate_thread_id = None
self.rotation_degrees = 180
# information about robot for controller or supervisor
self.info = Struct()
self.info.wheels = Struct()
self.info.wheels.radius = self.wheel.radius_mm /1000
self.info.wheels.base_length = wheel_distance_mm /1000
self.info.wheels.max_velocity = 2*pi*170/60 # 170 RPM
self.info.wheels.min_velocity = 2*pi*30/60 # 30 RPM
self.info.pose = None
self.info.ir_sensors = Struct()
self.info.ir_sensors.poses = None
self.info.ir_sensors.readings = None
self.info.ir_sensors.rmax = 0.7
self.info.ir_sensors.rmin = 0.04
# starting odometry thread
self.odometry_start(0,0,0)
# start measuring distance with IR Sensor in another thread while rotating
self.sensor_update_start(self.rot_motor)
# start rotating of medium motor
self.rotate_and_update_sensors_start()
def __init__(self):
motors.BaseCar.__init__(self)
self.remote = InfraredSensor()
self.remote.on_channel1_top_left = self.left
self.remote.on_channel1_top_right = self.right
self.remote.on_channel1_beacon = self.move
self.remote.on_channel1_bottom_left = self.stop
self.remote.on_channel1_bottom_right = self.rev
self.remote.on_channel4_beacon = self.exit
self.go = True
def __init__(
self, lever_motor_port: str = OUTPUT_D,
touch_sensor_port: str = INPUT_1, ir_sensor_port: str = INPUT_4):
self.lever_motor = MediumMotor(address=lever_motor_port)
self.touch_sensor = TouchSensor(address=touch_sensor_port)
self.ir_sensor = InfraredSensor(address=ir_sensor_port)
self.leds = Leds()
self.speaker = Sound()
def test_infrared_sensor(self):
clean_arena()
populate_arena([('infrared_sensor', 0, 'in1')])
s = InfraredSensor()
self.assertEqual(s.device_index, 0)
self.assertEqual(s.bin_data_format, 's8')
self.assertEqual(s.bin_data('<b'), (16, ))
self.assertEqual(s.num_values, 1)
self.assertEqual(s.address, 'in1')
self.assertEqual(s.value(0), 16)
def runIrController():
rc = InfraredSensor(INPUT_1)
leftMotor = LargeMotor(OUTPUT_D)
rightMotor = LargeMotor(OUTPUT_A)
rc.on_channel1_top_left = steer(leftMotor, 1)
rc.on_channel1_top_right = steer(rightMotor, 1)
rc.on_channel1_bottom_left = steer(leftMotor, -1)
rc.on_channel1_bottom_right = steer(rightMotor, -1)
while True:
rc.process()
sleep(0.01)
def __init__(self, left_motor_port, right_motor_port, polarity='inversed', speed=400, channel=1):
MoveTank.__init__(self, left_motor_port, right_motor_port)
self.set_polarity(polarity)
left_motor = self.motors[left_motor_port]
right_motor = self.motors[right_motor_port]
self.speed_sp = speed
self.remote = InfraredSensor()
self.remote.on_channel1_top_left = self.make_move(left_motor, self.speed_sp)
self.remote.on_channel1_bottom_left = self.make_move(left_motor, self.speed_sp * -1)
self.remote.on_channel1_top_right = self.make_move(right_motor, self.speed_sp)
self.remote.on_channel1_bottom_right = self.make_move(right_motor, self.speed_sp * -1)
self.channel = channel
def init_hardware():
global button, display, leds, drive, infraredSensor
drive = LargeMotor(OUTPUT_B)
infraredSensor = InfraredSensor(INPUT_3)
infraredSensor.mode = InfraredSensor.MODE_IR_PROX
leds = Leds()
# ultrasonicSensor = UltrasonicSensor(INPUT_2)
# ultrasonicSensor.mode = UltrasonicSensor.MODE_US_DIST_CM
display = Display()
button = Button()
button.on_enter = btn_on_enter
def __init__(self):
self.exit = True
self.callback_exit = True
# Connect sensors and buttons.
self.btn = Button()
self.ir = InfraredSensor()
self.ts = TouchSensor()
self.power = PowerSupply()
self.tank_drive = MoveTank(OUTPUT_A, OUTPUT_B)
print('EV3 Node init starting')
rospy.init_node('ev3_robot', anonymous=True, log_level=rospy.DEBUG)
print('EV3 Node init complete')
rospy.Subscriber('ev3/active_mode', String, self.active_mode_callback, queue_size=1)
self.power_init()
print('READY!')
def main():
''' main function to initialize settings'''
# initialize tank drive
tank_drive = MoveTank(OUTPUT_B, OUTPUT_C)
# initialize infrared sensor in proximity mode
infrared = InfraredSensor()
infrared.mode = 'IR-PROX'
# intialize sounds
sounds = Sound()
# call run function
run(tank_drive, infrared, sounds)
def remote_control_two_buttons():
steer_pair = MoveSteering(OUTPUT_B, OUTPUT_C)
medium_motor = MediumMotor()
ir = InfraredSensor()
# Set the remote to channel 1
def top_left_channel_1_action(state):
move()
def bottom_left_channel_1_action(state):
move()
def top_right_channel_1_action(state):
move()
def bottom_right_channel_1_action(state):
move()
def move():
buttons = ir.buttons_pressed() # a list
if len(buttons) == 1:
medium_motor.off()
if buttons == ['top_left']:
steer_pair.on(steering=0, speed=40)
elif buttons == ['bottom_left']:
steer_pair.on(steering=0, speed=-40)
elif buttons == ['top_right']:
steer_pair.on(steering=100, speed=30)
elif buttons == ['bottom_right']:
steer_pair.on(steering=-100, speed=30)
elif len(buttons) == 2:
steer_pair.off()
if buttons == ['top_left', 'top_right']:
medium_motor.on(speed_pct=10)
elif buttons == ['bottom_left', 'bottom_right']:
medium_motor.on(speed_pct=-10)
else: # len(buttons)==0
medium_motor.off()
steer_pair.off()
# Associate the event handlers with the functions defined above
ir.on_channel1_top_left = top_left_channel_1_action
ir.on_channel1_bottom_left = bottom_left_channel_1_action
ir.on_channel1_top_right = top_right_channel_1_action
ir.on_channel1_bottom_right = bottom_right_channel_1_action
return ir
def runCalibrator():
speed = 25
counter_max = 5
# todo: adjust scale
proximityScale = 0.7
button = Button()
colorS = ColorSensor(INPUT_3)
sound = Sound()
moveTank = CustomMoveTank(OUTPUT_A, OUTPUT_D)
infrared = InfraredSensor()
def moveWithDistance(moveLengthCm, distance):
movedLength = 0
step = 10
turn = 0.5
while movedLength < moveLengthCm:
proximity = proximityScale * infrared.proximity
debug("proximity cm " + str(proximity) + " movedLength " +
str(movedLength))
if proximity < distance:
moveTank.move_cm_lopsided(step + turn, step - turn, True)
else:
moveTank.move_cm_lopsided(step - turn, step + turn, True)
movedLength += step
# 70cm forward
# turn 90 degrees
# keep 10cm distance from edge
# drive forward 240cm
# stop to wait for usb
debug("calibrator: move forward")
moveTank.move_cm(30, True)
debug("calibrator: turn 90")
moveTank.turn(90, True)
debug("calibrator: move forward with distance from left edge")
moveWithDistance(140, 10)
debug("calibrator: wait for usb drop")
sleep(3)
debug("calibrator: move forward with distance from left edge")
moveWithDistance(40, 10)
def play(self):
delay = 0
step = [5, 10, 15, 20, 25, 30, 35, 40, 45, 55, 60, 65, 70]
button = Button()
button.on_up = self.volumeUp
button.on_down = self.volumeDown
button.on_left = self.multiplyUp
button.on_right = self.multiplyDown
button.on_enter = self.togglePause
button.on_backspace = self.backButton
ir = InfraredSensor()
ts = TouchSensor()
servo = MediumMotor()
while True:
self.volume = self.getVolume()
button.process()
if self.pause == True:
continue
distance = int(math.fabs(ir.value()))
position = int(math.fabs(servo.position))
for x in step:
if distance <= x:
hertz = int(x * 15)
# print("Hertz - " + str(hertz))
break
for x in step:
if position <= x:
duration = int(x * 5 * self.multiply)
# print("Duration - " + str(duration))
break
if ts.is_pressed:
if delay == 200:
delay = 0
else:
if delay == 0:
delay = 200
# play sound
self.sound.tone([(hertz, duration, delay)])
