def main():
pygame.init()
pygame.font.init()
pygame.display.set_caption("key capture test")
screen = pygame.display.set_mode((240, 180))
myfont = pygame.font.Font(pygame.font.get_default_font(), 30)
textsurface = myfont.render('Some Text', True, (255, 0, 0))
screen.blit(textsurface, (0, 0))
pygame.display.update()
vehicle = ev3_vehicle.TwoWheelVehicle(
0.02128, # radius_wheel
0.1175, # tread
protocol=ev3.constants.USB,
)
is_driving = None
running = True
while running:
# event handling, gets all event from the event queue
for event in pygame.event.get():
if event.type == pygame.QUIT:
running = False
if event.type == pygame.KEYDOWN:
mods = pygame.key.get_mods()
# print("MOD: %s, KEY: %s" % (mods, pygame.key.name(event.key)))
if event.key == pygame.K_ESCAPE:
running = False
elif event.key == pygame.K_q: # and mods & pygame.KMOD_META:
running = False
elif event.key == pygame.K_w and mods & pygame.KMOD_META:
running = False
elif event.key == pygame.K_BACKSPACE:
running = False
elif not is_driving:
if event.key == pygame.K_UP:
is_driving = event.key
print("START DRIVING FORWARD")
vehicle._drive_straight(25, 0.1)
elif event.key == pygame.K_DOWN:
is_driving = event.key
print("START DRIVING BACKWARD")
elif event.type == pygame.KEYUP:
# print("KEY RELEASED: %s" % pygame.key.name(event.key))
if event.key == is_driving:
is_driving = None
print("BRAKE")
vehicle.stop()
pygame.quit()
def main(screen):
vehicle = ev3_vehicle.TwoWheelVehicle(
0.02128, # radius_wheel
0.1175, # tread
protocol=ev3.constants.USB,
)
# turn off input echoing
curses.noecho()
# respond to keys immediately (don't wait for enter)
curses.cbreak()
# map arrow keys to special values
screen.keypad(True)
screen.addstr(0, 0, "Press 'q' to quit")
i = 0
while True:
i += 1
char = screen.getch()
if char in (curses.KEY_UP, curses.KEY_DOWN, curses.KEY_RIGHT,
curses.KEY_LEFT):
speed = 25
if char in (curses.KEY_UP, curses.KEY_RIGHT):
speed *= -1
screen.addstr(1, 0,
f'Driving {curses.keyname(char).decode():<20} {i}')
if char in (curses.KEY_UP, curses.KEY_DOWN):
vehicle._drive_straight(speed, 0.1)
else:
vehicle._drive_turn(speed, 0.25, 60, speed < 0)
else:
vehicle.stop()
if char == ord('q'):
break
import ev3, ev3_sound, ev3_vehicle
from task import STATE_STOPPED
import traceback, struct
from time import time
from flask import Flask
wwwapp = Flask(__name__)
my_ev3 = ev3.EV3(protocol=ev3.BLUETOOTH, host='00:16:53:55:03:38')
my_music = ev3_sound.Jukebox(ev3_obj=my_ev3)
my_vehicle = ev3_vehicle.TwoWheelVehicle(radius_wheel=0.056,
tread=0.028,
ev3_obj=my_ev3)
curLED = "N/A"
lastUltra = 0
curUltra = -1
curDirection = {"port_ad": "N/A", "port_bc": "N/A"}
curSpeed = {"port_ad": 0, "port_bc": 0}
curSong = None
def ultra(port):
global lastUltra
global curUltra
if time() - lastUltra < 0.5:
return curUltra
ops = b''.join([
ev3.opInput_Device,
ev3.READY_SI,
ev3.LCX(0), # LAYER
ev3.LCX(port), # NO
#!/usr/bin/env python3
# 2 Azul
# 3 Verde
# 4 Amarillo
# 5 Rojo
import ev3, ev3_vehicle
my_vehicle = ev3_vehicle.TwoWheelVehicle(radius_wheel=0.015835,
tread=0.1689,
protocol=ev3.WIFI,
host='00:16:53:5E:89:BD')
my_vehicle.verbosity = 1
my_vehicle._pos_x = pos_x_init = 0.14
my_vehicle._pos_y = pos_y_init = 0.11
my_vehicle._sync_mode = ev3.SYNC
speed = 40
speed_claw = 20
pieces = [[0.40, 0.30], [0.70, 0.50], [1.10, 0.20]]
stores = {2: [0.1, 0.15], 3: [0.1, 0.30], 4: [0.1, 0.45], 5: [0.1, 0.60]}
# Pick up ALL
for piece in pieces:
my_vehicle.define_front(claw=False)
my_vehicle.drive_to(speed, piece[0], piece[1], stop_at=0.23)
optimal_o = my_vehicle.poll_area(speed, 90)
my_vehicle.rotate_to(int(speed / 2), optimal_o[0])
#!/usr/bin/env python3
import task
import time
import ev3
import ev3_vehicle
vehicle = ev3_vehicle.TwoWheelVehicle(
0.02128, # radius_wheel
0.1175, # tread
protocol=ev3.constants.USB,
)
speed = 25
vehicle._drive_turn(speed, 0.25, 60, True)
time.sleep(2)
vehicle._drive_straight(speed=speed, distance=None)
time.sleep(1)
vehicle.stop()
f.close()
if len(mac) != 2 * 6 + 5:
raise Exception("file MAC_ADDRESS has wrong format")
mac_address = read_mac_address()
e = ev3.EV3(protocol=ev3.BLUETOOTH, host=mac_address)
e.verbosity = 1
ops = b''.join([
ev3.opSound,
ev3.TONE,
ev3.LCX(1),
ev3.LCX(440),
ev3.LCX(1000),
])
e.send_direct_cmd(ops)
# v=ev3_vehicle.TwoWheelVehicle(e)
v = ev3_vehicle.TwoWheelVehicle(0.02, 0.02, ev3_obj=e)
v.move(10, 0)
time.sleep(2)
v.stop()
