/
table.py
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/
table.py
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#!/usr/bin/env python3
from ev3dev2.motor import LargeMotor, MediumMotor, OUTPUT_A, OUTPUT_D,OUTPUT_B, SpeedPercent, MoveTank
from ev3dev2.sensor import INPUT_1
from ev3dev2.sensor.lego import TouchSensor, ColorSensor
from ev3dev2.sensor.lego import UltrasonicSensor
from ev3dev2.sensor.lego import GyroSensor
from ev3dev2.led import Leds
import ev3dev.ev3 as ev3
from time import sleep, time
class RobotGripper:
def __init__(self):
self.angleToRunTo = 0
self.motorArm = MediumMotor(OUTPUT_B)
self.CurrentAngle = 0
self.motorAngle = 0
self.motorDestinationAngle = 0
self.Hold = False
self.gainAngle = 0
def findMotorAngle(self,angle):
self.angleToRunTo = angle
self.motorDestinationAngle = angle/0.142857
if angle > 0:
self.gainAngle = (self.angleToRunTo - self.CurrentAngle)/0.142857
sleep(.1)
elif angle < 0:
self.gainAngle = (self.angleToRunTo + self.CurrentAngle)/0.142857
sleep(.1)
def extend(self):
self.motorArm.on_for_degrees(-50,self.gainAngle)
sleep(3)
def setHold(self,status):
self.motorArm.on_for_degrees(100,0,brake = status, block = True)
def retract(self):
self.setHold(True)
self.motorArm.on_for_degrees(50,self.gainAngle)
sleep(3)
class IGPS:
def __init__(self):
self.radiusA = 0
self.radiusB = 0
self.radiusC = 0
def calculate(self):
print ('Yeet')
class myRobot:
def __init__(self):
self.tankDrive = MoveTank(OUTPUT_A,OUTPUT_D)
self.motorA = LargeMotor(OUTPUT_A)
self.motorD = LargeMotor(OUTPUT_D)
self.myGyroSensor = GyroSensor()
self.myGripper = RobotGripper()
self.myUltrasonicSensor = UltrasonicSensor()
self.myColorSensor = ColorSensor()
self.Turning = False
self.Moving = False
self.myAngle = 0
self.positionX = 0
self.positionY = 0
self.myDefaultSpeed = 50;
self.desiredBarCode = "BWWB"
self.myGPS = IGPS()
def getAverageDistance(self):
#Returns average distance in inches
average = (self.motorA.position + self.motorD.position)/2
average = (average * 3.14 * (2.71*2))
return average
def moveStraight(self,distance):
self.motorA.reset()
self.motorD.reset()
self.tankDrive.reset()
#self.myGyroSensor.angle = 0
self.myGyroSensor.mode='GYRO-ANG'
currentDistance = 0
speedPercentLeft = .5
speedPercentRight = .5
while currentDistance < distance:
currentDistance = self.getAverageDistance()
if self.myGyroSensor.angle < 0:
#Turn left, left gain
gain = (-.00005 * (self.myGyroSensor.angle))
speedPercentLeft = speedPercentLeft - gain
speedPercentRight = speedPercentRight + gain
else:
#Turn moe right, right gain
gain = (.00005 * (self.myGyroSensor.angle))
speedPercentLeft = speedPercentLeft + gain
speedPercentRight = speedPercentRight - gain
self.tankDrive.on_for_degrees(self.myDefaultSpeed, self.myDefaultSpeed, 10,brake = False, block = True)
sleep(.2)
#movesteer('rotations',steer = , pwr=50, rots=.1)
#Set to brake
def collisonDistance(self):
distance = self.myUltrasonicSensor.distance_inches_ping
return distance
def collisionAvoidance(self):
if self.Turning == False:
#Normal collision avoidance
print('Checking for collisions')
distance = self.collisonDistance()
if distance < 5:
self.motorA.stop()
self.motorD.stop()
print('Collision avoided')
else:
#Collision avoidance disabled
print('Not checking for collisions')
def turnToAngle(self,angle):
#self.myGyroSensor.reset()
if angle > 0:
print('Positive angle')
#Turns right
self.Turning = True
while self.myGyroSensor.value() < angle:
self.tankDrive.on_for_degrees((-.2*self.myDefaultSpeed), (.2*self.myDefaultSpeed),3,brake = False, block = True)
sleep(.2)
self.tankDrive.STOP_ACTION_BRAKE()
self.Turning = False
self.myAngle += self.myGyroSensor.value
self.myGyroSensor.reset
else:
#do another thing
print ('Negative Angle')
self.Turning = True
while self.myGyroSensor.value() > angle:
self.tankDrive.on_for_degrees((.2*self.myDefaultSpeed), (-.2*self.myDefaultSpeed),2,brake = False, block = True)
sleep(.1)
self.tankDrive.STOP_ACTION_BRAKE()
self.Turning = False
self.myAngle -= self.myGyroSensor.value
self.myGyroSensor.reset
def readBarCode(self):
#String kmessage is 3 letters, 'W' denotates white, "B" denotates black
output = ""
ev3.Sound.speak('starting').wait()
for i in range(4):
self.moveStraight(.25)
self.myColorSensor.mode = 'COL-COLOR'
if self.myColorSensor.value == 1:
output = output + 'B'
ev3.Sound.speak('black').wait()
elif self.myColorSensor.value == 6:
output = output + 'W'
ev3.Sound.speak('white').wait()
sleep(1)
ev3.Sound.speak('Here is the barcode' + output).wait()
print(output)
sleep(5)
return output
class RobotRunner:
def __init__(self):
self.myBot = myRobot()
def testTask(self):
self.myBot.readBarCode()
#self.myBot.moveStraight(100)
#self.myBot.turnToAngle(90)
self.myBot.myGripper.findMotorAngle(220)
self.myBot.myGripper.extend()
self.myBot.myGripper.retract()
def task1(self):
#Do task 1
print('Task 1')
def task12(self):
#Do task 1
print('Task 2')
#Startpoint can = 1 or 2
mySession = RobotRunner()
mySession.testTask()
#main