#
# %%
print("Setting arm motors to position 0...")
motor_b = Motor('B') # Left arm
motor_f = Motor('F') # Right arm
motor_b.run_to_position(0)
motor_f.run_to_position(0)
print("DONE!")
# %% [markdown]
# # Configure motors
# %%
print("Configuring motors...")
motors_movement = MotorPair('A', 'E')
motors_movement.set_default_speed(80)
print("DONE!")
# %% [markdown]
# # Program color reactions
# %%
color_sensor = ColorSensor('C')
# %% [markdown]
# We will use a counter to control printing on the console.
# First, we need to initialize it.
# %%
ii = 0
from mindstorms import MSHub, Motor, MotorPair, ColorSensor, DistanceSensor, App
from mindstorms.control import wait_for_seconds, wait_until, Timer
from mindstorms.operator import greater_than, greater_than_or_equal_to, less_than, less_than_or_equal_to, equal_to, not_equal_to
import math
# Create your objects here.
hub = MSHub()
movement_motors = MotorPair('E', 'A')
roll_target = 89.95
power = 3
integral = 0
#Not actual game values (k)
kp = 0
ki = 0
kd = 0
# Write your program here.
hub.light_matrix.show_image('HAPPY')
wait_for_seconds(3)
while True:
error = roll_target - hub.motion_sensor.get_roll_angle()
integral = integral + error * 0.25
derivative = error - prev_error
prev_error = error
result = error * kp + integral * ki + derivative * kd
print(
"error:",
error,
"integral:",
integral,
"derivative:",
# %%
hub = MSHub()
app = App()
# %%
hub.status_light.on('black')
# %% [markdown]
# # Configure motors
# %%
print("Configuring motors...")
motor_left_arm = Motor('B') # Left arm
motor_right_arm = Motor('F') # Right arm
motors_arms = MotorPair('B', 'F')
motor_left_arm.set_default_speed(-100)
motor_right_arm.set_default_speed(100)
print("DONE!")
# %% [markdown]
# # Set arm motors to starting position
# %%
print("Setting arm motors to position 0...")
motor_left_arm.run_to_position(0)
motor_right_arm.run_to_position(0)
print("DONE!")
# %% [markdown]
# Write your program here.
hub.speaker.beep()
motor = Motor('C')
motor.run_to_position(165)
def pen_up():
motor.run_for_degrees(-90)
def pen_down():
motor.run_for_degrees(90)
motor_pair = MotorPair('B', 'A')
motor_pair.set_default_speed(20)
motor_pair.set_motor_rotation(wheel_radius * 2 * math.pi, 'cm')
for i in range(4):
if i > 0:
motor_pair.move(pen_radius, 'cm')
motor_pair.move_tank(axis_radius * math.pi / 2,
'cm',
left_speed=-20,
right_speed=20)
motor_pair.move(-pen_radius, 'cm')
pen_down()
# Write your program here.
hub.speaker.beep()
motor = Motor('C')
motor.run_to_position(165)
def pen_up():
motor.run_for_degrees(-90)
def pen_down():
motor.run_for_degrees(90)
motor_pair = MotorPair('B', 'A')
motor_pair.set_default_speed(50)
motor_pair.set_motor_rotation(wheel_radius * 2 * math.pi, 'cm')
for i in range(30):
pen_down()
motor_pair.move(-random.randrange(1,3), 'cm', speed = 20)
pen_up()
r = random.randrange(2)
if r==0:
motor_pair.move(pen_radius, 'cm')
motor_pair.move_tank(axis_radius*math.pi/2, 'cm',
left_speed=-50, right_speed=50)
motor_pair.move(-pen_radius, 'cm')
if r==1:
motor_pair.move(pen_radius, 'cm')
# %%
hub = MSHub()
app = App()
# %%
hub.status_light.on('black')
# %% [markdown]
# # Configure motors
# %%
print("Configuring motors...")
motor_left_arm = Motor('B') # Left arm
motor_right_arm = Motor('F') # Right arm
motors_arms = MotorPair('B', 'F')
motors_wheels = MotorPair('A', 'E')
print("DONE!")
# %% [markdown]
# # Set arm motors to starting position
# %%
print("Setting arm motors to position 0...")
motor_left_arm.run_to_position(0)
motor_right_arm.run_to_position(0)
print("DONE!")
# %% [markdown]
# # Overwrite `Timer`
# All through the execution, we will put pauses on different points to be able to see better what Charlie is doing.
# %%
print("Waiting to be tapped...")
if hub.motion_sensor.wait_for_new_gesture() == 'tapped':
print("TAPPED!")
print("Displaying surprised face...")
hub.light_matrix.show_image('SURPRISED')
print("DONE!")
wait_for_seconds(1)
print("Raise hands...")
motor_pair = MotorPair('B', 'F')
motor_pair.set_default_speed(50)
motor_pair.move(-90, unit='degrees') # Negative angle raises the hands.
print("DONE!")
print("Saying 'Hi!'...")
app.play_sound('Robot 2', 75)
print("DONE!")
wait_for_seconds(1)
print("Lower hands...")
motor_pair.move(90, unit='degrees') # Positive angle lowers the hands.
print("DONE!")
wait_for_seconds(1)
async def on_start(vm, stack):
ms_hub.status_light.on("black")
rotate_hub_display_to_value("3")
blinking_frames = [hub.Image(frame) for frame in blinking_animation]
vm.system.display.show(blinking_frames,
clear=False,
delay=round(1000 / 8),
loop=True,
fade=1)
left_hand = Motor("B")
right_hand = Motor("F")
# Calibrate
left_hand.run_to_position(0)
right_hand.run_to_position(0)
vm.system.sound.play("/extra_files/Humming")
for i in range(2):
right_hand.run_for_degrees(-100, 50)
right_hand.run_for_degrees(100, 50)
left_hand.run_for_degrees(100, 50)
left_hand.run_for_degrees(-100, 50)
left_turn = MotorPair("B", "E")
right_turn = MotorPair("A", "F")
vm.system.sound.play("/extra_files/Humming")
for i in range(2):
right_turn.move(100, "degrees", steering=100, speed=50)
right_turn.move(-100, "degrees", steering=100, speed=50)
left_turn.move(100, "degrees", steering=-100, speed=50)
left_turn.move(-100, "degrees", steering=-100, speed=50)
wheels = MotorPair("A", "E")
wheels.move(14 * math.pi, "cm", steering=100, speed=80)
wheels.move(14 * math.pi, "cm", steering=-100, speed=80)
right_hand.run_to_position(270, direction="counterclockwise")
wait_for_seconds(1)
right_hand.run_for_seconds(1, 50)
await vm.system.sound.play_async("/extra_files/Tadaa")
wait_for_seconds(1)
right_hand.run_to_position(0, direction="counterclockwise")
#
# %%
print("Setting arm motors to position 0...")
motor_b = Motor('B') # Left arm
motor_f = Motor('F') # Right arm
motor_b.run_to_position(0)
motor_f.run_to_position(0)
print("DONE!")
# %% [markdown]
# # Configure motors
# %%
print("Configuring motors...")
motors_wheels = MotorPair('A', 'E')
print("DONE!")
# %% [markdown]
# # Rise arms
# %%
print("Rising arms...")
motor_f.set_default_speed(-75)
motors_arms = MotorPair('B', 'F')
motors_arms.move(-90, unit='degrees') # Negative angle is clockwise movement
motors_arms.move(90,
unit='degrees') # Positive angle is counterclockwise movement
print("DONE!")
# %% [markdown]
# Radar car - this car drives only north<->south or east<->west, when hitting a wall rotating to where is the most space.
from mindstorms import MSHub, Motor, MotorPair, DistanceSensor
import math
import sys
# Setup hardware
hub = MSHub()
mradar = Motor("C")
sradar = DistanceSensor("F")
mdrive = MotorPair("A", "B")
# Lights up 5x5 matrix.
# Parameter `bits` is a 25 bits vector: a 1 switches on that led.
# Bit 24 is upper left, bit 0 is lower right.
def set_image(bits):
hub.light_matrix.off()
cur = 1 << 24
for y in range(5):
for x in range(5):
if bits & cur: hub.light_matrix.set_pixel(x, y, 100)
cur >>= 1
# Emits 3 tone fancy beep
def beep():
hub.speaker.beep(60, 0.1)
hub.speaker.beep(70, 0.1)
hub.speaker.beep(62, 0.1)
for ii in range(0, 2):
motor_f.run_for_degrees(-100)
motor_f.run_for_degrees(100)
motor_b.run_for_degrees(100)
motor_b.run_for_degrees(-100)
print("DONE!")
# %%
print("Dancing steps 2...")
app.start_sound('Party Blower')
motors_af = MotorPair('A', 'F')
motors_be = MotorPair('B', 'E')
for ii in range(0, 2):
motors_af.move(-100, unit='degrees', steering=-100)
motors_af.move(100, unit='degrees', steering=-100)
motors_be.move(100, unit='degrees', steering=-100)
motors_be.move(-100, unit='degrees', steering=-100)
print("DONE!")
# %%
print("Dancing steps 3...")
# %%
hub = MSHub()
app = App()
# %%
hub.status_light.on('black')
hub.light_matrix.show_image('SILLY')
# %% [markdown]
# # Configure motors
# %%
print("Configuring motors...")
motors_wheels = MotorPair('A', 'E')
motors_wheels.set_default_speed(80)
motor_left_arm = Motor('B') # Left arm
motor_right_arm = Motor('F') # Right arm
motor_left_arm.set_default_speed(75)
motor_right_arm.set_default_speed(-75)
motors_arms = MotorPair('B', 'F')
print("DONE!")
# %% [markdown]
# # Set arm motors to starting position
# %%
"00000:99900:99900:99909:00000",
"00000:99900:99900:99909:00000",
"00000:00000:99099:99099:00000",
"00000:00999:00999:90999:00000",
"00000:00999:00999:90999:00000",
]
happy_animation = [
"77077:00000:97097:79079:00000",
"77077:00000:79079:97097:00000",
]
ms_hub = MSHub()
left_hand = Motor("B")
right_hand = Motor("F")
wheels = MotorPair("A", "E")
color_sensor = ColorSensor("C")
async def on_start(vm, stack):
ms_hub.status_light.on("black")
rotate_hub_display_to_value("3")
blinking_frames = [hub.Image(frame) for frame in looking_animation]
vm.system.display.show(blinking_frames,
clear=False,
delay=1000,
loop=True,
fade=1)
# Calibrate
# %%
print("Displaying first image...")
hub.light_matrix.show_image('HAPPY')
print("DONE!")
# %% [markdown]
#
# # Control motors
# We could initialize and control the motors individually.
# However, it can be very practical to pair them, which can be done as follows.
# %%
# Initialize motors.
print("Initializing motors...")
motor_pair = MotorPair('A', 'E')
print("DONE!")
# Set default speed.
speed = 80
print("Setting default speed to " + str(speed) + "...")
motor_pair.set_default_speed(speed)
print("DONE!")
# Move the motors.
amount = 40
# With steering, we can make the robot turn right (100),
# turn left (-100) or go straight (0)
steering = 100
# %%
hub = MSHub()
app = App()
# %%
hub.status_light.on('black')
# %% [markdown]
# # Configure motors
# %%
print("Configuring motors...")
motor_left_arm = Motor('B') # Left arm
motor_right_arm = Motor('F') # Right arm
motors_arms = MotorPair('B', 'F')
motors_wheels = MotorPair('A', 'E')
print("DONE!")
# %% [markdown]
# # Set arm motors to starting position
# %%
print("Setting arm motors to position 0...")
motor_left_arm.run_to_position(0)
motor_right_arm.run_to_position(0)
print("DONE!")
# %% [markdown]
# # Configure sensor
# %%
hub = MSHub()
app = App()
# %%
hub.status_light.on('black')
# %% [markdown]
# # Configure motors
# %%
print("Configuring motors...")
motor_left_arm = Motor('B') # Left arm
motor_right_arm = Motor('F') # Right arm
motors_arms = MotorPair('B', 'F')
print("DONE!")
# %% [markdown]
# # Set arm motors to starting position
# %%
print("Setting arm motors to position 0...")
motor_left_arm.run_to_position(0)
motor_right_arm.run_to_position(0)
print("DONE!")
# %% [markdown]
# # Overwrite `Timer`
# Unfortunately, `mindstorms.control.Timer` doesn't support floats.
# Thus, we need to define our own timer (using the functionality of `utime`).
# %%
print("-"*15 + " Execution started " + "-"*15 + "\n")
# %%
hub = MSHub()
app = App()
# %%
hub.status_light.on('black')
# %% [markdown]
# # Configure motors
# %%
print("Configuring motors...")
motors_wheels = MotorPair('A', 'E')
motors_wheels.set_default_speed(70)
motor_left_arm = Motor('B') # Left arm
motor_right_arm = Motor('F') # Right arm
motor_left_arm.set_default_speed(40)
motor_right_arm.set_default_speed(-40)
motors_arms = MotorPair('B', 'F')
print("DONE!")
# %% [markdown]
# # Set arm motors to starting position
# This isn't part of the original program, but I think it is good practice to make sure motors always start in the same state.
#
from mindstorms import MSHub, Motor, MotorPair, ColorSensor, DistanceSensor, App
from mindstorms.control import wait_for_seconds, wait_until, Timer
from mindstorms.operator import greater_than, greater_than_or_equal_to, less_than, less_than_or_equal_to, equal_to, not_equal_to
import math
import time
# First experiments with a balancing robot... no yet finished.
# See https://medium.com/@janislavjankov/self-balancing-robot-with-lego-spike-prime-ac156af5c2b2 for a more
# complete example.
wheel_radius = 2.8
# Create your objects here.
hub = MSHub()
motor_pair = MotorPair('B', 'F')
motor_pair.set_default_speed(50)
motor_pair.set_motor_rotation(wheel_radius * 2 * math.pi, 'cm')
while True:
r = hub.motion_sensor.get_roll_angle() + 90
motor_pair.start(speed=-r * 40)
# Write your program here.
hub.speaker.beep()
motor = Motor('C')
motor.run_to_position(165)
def pen_up():
motor.run_for_degrees(-90)
def pen_down():
motor.run_for_degrees(90)
motor_pair = MotorPair('B', 'A')
motor_pair.set_default_speed(20)
motor_pair.set_motor_rotation(wheel_radius * 2 * math.pi, 'cm')
pen_down()
motor_pair.move_tank(axis_radius * math.pi * 2.05,
'cm',
left_speed=-25,
right_speed=25)
#pen_up()
#pen_down()
motor_pair.move(-pen_radius * 2, 'cm')
pen_up()
# %%
hub = MSHub()
app = App()
# %%
hub.status_light.on('black')
# %% [markdown]
# # Configure motors
# %%
print("Configuring motors...")
motor_left_arm = Motor('B') # Left arm
motor_right_arm = Motor('F') # Right arm
motors_arms = MotorPair('B', 'F')
motors_wheels = MotorPair('A', 'E')
print("DONE!")
# %% [markdown]
# # Set arm motors to starting position
# %%
print("Setting arm motors to position 0...")
motor_left_arm.run_to_position(0)
motor_right_arm.run_to_position(0)
print("DONE!")
# %% [markdown]
# # Configure sensor
