class MySpeaker(object):
def __init__(self):
self.t = Tone()
def play(self,frequency=100,milliseconds=100):
self.t.play(frequency,milliseconds)
def stop(self):
self.t.stop()
def main():
ir = InfraredSensor()
touch = TouchSensor()
tone = Tone()
while True:
sleep(duration)
if not touch.is_pushed:
tone.stop()
continue
dist = ir.prox
freq = min(freq_range[1], max(freq_range[0], int((dist * (freq_range[0]-freq_range[1]) + dist_range[1] * freq_range[1] - dist_range[0] * freq_range[0]) / (dist_range[1]-dist_range[0]))))
tone.play(freq)
print("#" * dist)
def test_tone(self):
get_input('Test beep')
d = Tone()
d.play(1000, 3000)
time.sleep(3)
d.play(1000)
time.sleep(3)
d.stop()
def test_tone(self):
get_input('Test beep')
d= Tone()
d.play(1000, 3000)
time.sleep(3)
d.play(1000)
time.sleep(3)
d.stop()
#from ev3.lego import LargeMotor
from ev3.lego import TouchSensor
from ev3.lego import ColorSensor
from ev3.lego import InfraredSensor
import conf
# Create Flask application
app = Flask(__name__)
app.debug = True
# Create a random secrey key so we can use sessions
app.config['SECRET_KEY'] = os.urandom(12)
from ev3.ev3dev import Tone
alarm = Tone()
#head = None#Motor(port=Motor.PORT.A)
right_wheel = None
left_wheel = None
button = None
ir_sensor = None
color_sensor = None
try:
right_wheel = Motor(port=Motor.PORT.B)
left_wheel = Motor(port=Motor.PORT.C)
button = TouchSensor()
#ir_sensor = InfraredSensor()
color_sensor = ColorSensor()
alarm.play(200)
except Exception as e:
target = ((value_on_red - value_not_on_red) / 2) + value_not_on_red
tp = 70 # target power (speed)
kp = 0.65 # how fast we try to correct the 'out of target'
ki = 0.05 # smooth the correction by storing historical errors
kd = 0.09 # controls the overshooting
print "target power: " + str(tp)
print "proportional constant: " + str(kp)
print "proportional range: +" + str(target) + " / -" + str(target)
color_sensor = ColorSensor()
ultra_sensor = UltrasonicSensor()
motor_left = Motor(port=Motor.PORT.A)
motor_right = Motor(port=Motor.PORT.D)
tone = Tone()
def avg(lst):
if len(lst) == 0:
return 0
return reduce(lambda x, y: x + y, lst) / len(lst)
def stop():
motor_left.stop()
motor_right.stop()
def victory():
motor_left.run_forever(-100)
motor_right.run_forever(-100)
time.sleep(3)
motor_right.run_forever(100)
def __init__(self):
self.t = Tone()
# Socket erstellen und an eigene IPs (inkl. Broadcast) binden
sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
sock.setsockopt(socket.SOL_SOCKET, socket.SO_BROADCAST, 1)
sock.setsockopt(socket.SOL_SOCKET, socket.SO_RCVBUF, 4096)
sock.bind(("0.0.0.0",5005))
sock.settimeout(args.socktimeout)
# Adressvariablen erstellen und Leader finden, falls vorhanden
broadcast = netifaces.ifaddresses(args.iface)[netifaces.AF_INET][0]["broadcast"]
ownaddr = netifaces.ifaddresses(args.iface)[netifaces.AF_INET][0]["addr"]
leader = tell(sock, ownaddr, broadcast, "WHOS")
platoon = []
hupe = Tone()
# Falls die Option start_idle nicht gesetzt ist, fahre direkt los
if not args.start_idle:
p = Process(name="follow_line", target=follow_line, args=follow_line_args)
p.start()
else:
p = Process(name="wait", target=time.sleep, args=(0.1,))
p.start()
lasttime = time.time()
try:
while True:
# Nachricht empfangen
try:
if real_robot_mode:
from ev3.lego import Motor
from ev3.lego import UltrasonicSensor
from ev3.lego import ColorSensor
from ev3.ev3dev import Tone
a = Motor(port=Motor.PORT.A) # left large motor
d = Motor(port=Motor.PORT.D) # right large motor
a.reset()
d.reset()
a.position_mode=Motor.POSITION_MODE.RELATIVE
d.position_mode=Motor.POSITION_MODE.RELATIVE
sonar_left = UltrasonicSensor(port=2)
sonar_front = UltrasonicSensor(port=3)
color_left = ColorSensor(port=1)
color_right = ColorSensor(port=4)
sound = Tone()
# Occupancy grid - checks for available positions
class Grid:
def __init__(self, rows, cols):
self.obstacles = []
self.grid = []
for row in xrange(rows): self.grid += [[0]*cols]
def add_obstacle(self, row_start, row_end, col_start, col_end):
for row in xrange(row_start, row_end + 1):
for col in xrange(col_start, col_end + 1):
self.grid[row][col] = 1
# Sammlung der Argumente fuer die Funktion follow_line
follow_line_args = (args.Vref, args.colmax, args.colmin, args.distref, args.Vtremble, args.timeout, args.cycledelay, args.lKp, args.lKi, args.lKd, args.dKp, args.dKi, args.dKd)
# Socket erstellen und an eigene IPs (inkl. Broadcast) binden
sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
sock.setsockopt(socket.SOL_SOCKET, socket.SO_BROADCAST, 1)
sock.bind(("0.0.0.0",5005))
sock.settimeout(args.socktimeout)
# Adressvariablen erstellen und Vordermann finden, falls vorhanden
broadcast = netifaces.ifaddresses(args.iface)[netifaces.AF_INET][0]["broadcast"]
ownaddr = netifaces.ifaddresses(args.iface)[netifaces.AF_INET][0]["addr"]
frontaddr = tell(sock, ownaddr, broadcast, "WHOS")
backaddr = None
hupe = Tone()
# Falls die Option start_idle nicht gesetzt ist, fahre direkt los
if not args.start_idle:
p = Process(name="follow_line", target=follow_line, args=follow_line_args)
p.start()
else:
p = Process(name="wait", target=time.sleep, args=(0.1,))
p.start()
lasttime = time.time()
try:
while True:
# Nachricht empfangen
try:
if real_robot_mode:
from ev3.lego import Motor
from ev3.lego import UltrasonicSensor
from ev3.lego import ColorSensor
from ev3.ev3dev import Tone
a = Motor(port=Motor.PORT.A) # left large motor
d = Motor(port=Motor.PORT.D) # right large motor
a.reset()
d.reset()
a.position_mode = Motor.POSITION_MODE.RELATIVE
d.position_mode = Motor.POSITION_MODE.RELATIVE
sonar_left = UltrasonicSensor(port=2)
sonar_front = UltrasonicSensor(port=3)
color_left = ColorSensor(port=1)
color_right = ColorSensor(port=4)
sound = Tone()
# Occupancy grid - checks for available positions
class Grid:
def __init__(self, rows, cols):
self.obstacles = []
self.grid = []
for row in xrange(rows):
self.grid += [[0] * cols]
def add_obstacle(self, row_start, row_end, col_start, col_end):
for row in xrange(row_start, row_end + 1):
for col in xrange(col_start, col_end + 1):
self.grid[row][col] = 1
#from ev3.lego import LargeMotor
from ev3.lego import TouchSensor
from ev3.lego import ColorSensor
from ev3.lego import InfraredSensor
import conf
# Create Flask application
app = Flask(__name__)
app.debug = True
# Create a random secrey key so we can use sessions
app.config['SECRET_KEY'] = os.urandom(12)
from ev3.ev3dev import Tone
alarm = Tone()
#head = None#Motor(port=Motor.PORT.A)
right_wheel = None
left_wheel = None
button = None
ir_sensor = None
color_sensor = None
try:
right_wheel = Motor(port=Motor.PORT.B)
left_wheel = Motor(port=Motor.PORT.C)
button = TouchSensor()
#ir_sensor = InfraredSensor()
color_sensor = ColorSensor()
alarm.play(200)
except Exception as e:
