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()
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)
# 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:
alarm.play(200)
alarm.play(200)
raise e
right_wheel.position = 0
left_wheel.position = 0
right_wheel.reset()
left_wheel.reset()
from web import views
# Nachricht auswerten
if not addr[0] == ownaddr and not mesg == "None":
mesg = mesg.split(":")
if len(mesg) < 2:
mesg.append(ownaddr)
if mesg[0] == "STOP" and ( ownaddr in mesg or mesg[1] == "ALL" ):
sock.sendto("ACK", (addr[0],5005))
if not p.name == "wait":
p.terminate()
stop_all_motors()
p = Process(name="wait", target=time.sleep, args=(0.1,))
p.start()
hupe.play(440,250)
elif mesg[0] == "START" and ( ownaddr in mesg or mesg[1] == "ALL" ):
sock.sendto("ACK", (addr[0],5005))
if not ( p.name == "follow_line" and p.is_alive() ):
p.terminate()
p = Process(name="follow_line", target=follow_line, args=follow_line_args)
p.start()
elif mesg[0] == "WHOS" and leader == None:
sock.sendto("ACK", (addr[0],5005))
if addr[0] in platoon:
platoon.remove(addr[0])
platoon.append(addr[0])
elif mesg[0] == "BARRIER":
# print final particle set (used for particle visualization)
print ''
print 'PF: final particle set: '
print pf.p
if real_robot_mode and grab_target:
# Calculate distance/heading to target, move towards it, run spiral search - note that there is no collision avoidance
distance_to_target = distance_between((estimated_position[0],estimated_position[1]), target_position)
print 'Robot - Distance to target: ', distance_to_target
heading_to_target = get_heading((estimated_position[0], estimated_position[1]), target_position)
print 'Robot - Heading to target: ', heading_to_target
turn_angle_deg = angle_trunc(heading_to_target - estimated_position[2]) * 180/pi
print 'Robot - Turn angle towards target: ', turn_angle_deg
print 'Robot - Turning towards target'
ev3.turn_in_place(turn_angle_deg)
print 'Robot - Driving towards target'
ev3.move_distance(distance_to_target)
found = ev3.spiral_search(100)
if found:
print 'Robot - Found target !'
sound.play(1000, 3000)
else:
print 'Robot - Target not found'
if not addr[0] == ownaddr and not mesg == "None":
mesg = mesg.split(":")
if len(mesg) < 2:
mesg.append("")
if mesg[0] == "STOP":
sock.sendto("ACK", (addr[0],5005))
if not p.name == "wait":
p.terminate()
stop_all_motors()
p = Process(name="wait", target=time.sleep, args=(0.1,))
p.start()
if not backaddr == None:
backaddr = propagate(sock, ownaddr, backaddr, "STOP")
hupe.play(440,250)
elif mesg[0] == "START":
sock.sendto("ACK", (addr[0],5005))
if not ( p.name == "follow_line" and p.is_alive() ):
p.terminate()
p = Process(name="follow_line", target=follow_line, args=follow_line_args)
p.start()
if not backaddr == None:
backaddr = propagate(sock, ownaddr, backaddr, "START")
elif mesg[0] == "LOST" and frontaddr == mesg[1]:
sock.sendto("ACK", (addr[0],5005))
frontaddr = addr[0]
hupe.play(6000,250)
# print final particle set (used for particle visualization)
print ''
print 'PF: final particle set: '
print pf.p
if real_robot_mode and grab_target:
# Calculate distance/heading to target, move towards it, run spiral search - note that there is no collision avoidance
distance_to_target = distance_between(
(estimated_position[0], estimated_position[1]), target_position)
print 'Robot - Distance to target: ', distance_to_target
heading_to_target = get_heading(
(estimated_position[0], estimated_position[1]), target_position)
print 'Robot - Heading to target: ', heading_to_target
turn_angle_deg = angle_trunc(heading_to_target -
estimated_position[2]) * 180 / pi
print 'Robot - Turn angle towards target: ', turn_angle_deg
print 'Robot - Turning towards target'
ev3.turn_in_place(turn_angle_deg)
print 'Robot - Driving towards target'
ev3.move_distance(distance_to_target)
found = ev3.spiral_search(100)
if found:
print 'Robot - Found target !'
sound.play(1000, 3000)
else:
print 'Robot - Target not found'
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:
alarm.play(200)
alarm.play(200)
raise e
right_wheel.position = 0
left_wheel.position = 0
right_wheel.reset()
left_wheel.reset()
from web import views
