class CuriosityRov3r(IRBeaconRemoteControlledTank):
def __init__(
self,
left_motor_port: str = OUTPUT_B, right_motor_port: str = OUTPUT_C,
medium_motor_port: str = OUTPUT_A,
touch_sensor_port: str = INPUT_1, color_sensor_port: str = INPUT_3,
ir_sensor_port: str = INPUT_4, ir_beacon_channel: int = 1):
super().__init__(
left_motor_port=left_motor_port, right_motor_port=right_motor_port,
ir_sensor_port=ir_sensor_port, ir_beacon_channel=ir_beacon_channel)
self.medium_motor = MediumMotor(address=medium_motor_port)
self.touch_sensor = TouchSensor(address=touch_sensor_port)
self.color_sensor = ColorSensor(address=color_sensor_port)
self.ir_sensor = InfraredSensor(address=ir_sensor_port)
self.ir_beacon_channel = ir_beacon_channel
self.dis = Display()
self.noise = Sound()
def spin_fan(self, speed: float = 100):
if self.color_sensor.reflected_light_intensity > 20:
self.medium_motor.on(
speed=speed,
brake=False,
block=False)
else:
self.medium_motor.off(brake=True)
def say_when_touched(self):
if self.touch_sensor.is_pressed:
self.dis.image_filename(
filename='/home/robot/image/Angry.bmp',
clear_screen=True)
self.dis.update()
self.noise.play_file(
wav_file='/home/robot/sound/No.wav',
volume=100,
play_type=Sound.PLAY_WAIT_FOR_COMPLETE)
self.medium_motor.on_for_seconds(
speed=-50,
seconds=3,
brake=True,
block=True)
def main(self, speed: float = 100):
while True:
self.drive_once_by_ir_beacon(speed=speed)
self.say_when_touched()
self.spin_fan(speed=speed)
class Ev3rstorm(IRBeaconRemoteControlledTank):
def __init__(
self,
left_foot_motor_port: str = OUTPUT_B, right_foot_motor_port: str = OUTPUT_C,
bazooka_blast_motor_port: str = OUTPUT_A,
touch_sensor_port: str = INPUT_1, color_sensor_port: str = INPUT_3,
ir_sensor_port: str = INPUT_4, ir_beacon_channel: int = 1):
super().__init__(
left_motor_port=left_foot_motor_port, right_motor_port=right_foot_motor_port, motor_class=LargeMotor,
ir_sensor_port=ir_sensor_port, ir_beacon_channel=ir_beacon_channel)
self.bazooka_blast_motor = MediumMotor(address=bazooka_blast_motor_port)
self.touch_sensor = TouchSensor(address=touch_sensor_port)
self.color_sensor = ColorSensor(address=color_sensor_port)
self.screen = Display()
self.speaker = Sound()
def blast_bazooka_if_touched(self):
if self.touch_sensor.is_pressed:
if self.color_sensor.ambient_light_intensity < 5: # 15 not dark enough
self.speaker.play_file(
wav_file='/home/robot/sound/Up.wav',
volume=100,
play_type=Sound.PLAY_WAIT_FOR_COMPLETE)
self.bazooka_blast_motor.on_for_rotations(
speed=100,
rotations=-3,
brake=True,
block=True)
else:
self.speaker.play_file(
wav_file='/home/robot/sound/Down.wav',
volume=100,
play_type=Sound.PLAY_WAIT_FOR_COMPLETE)
self.bazooka_blast_motor.on_for_rotations(
speed=100,
rotations=3,
brake=True,
block=True)
self.touch_sensor.wait_for_released()
def main(self, driving_speed: float = 100):
self.screen.image_filename(
filename='/home/robot/image/Target.bmp',
clear_screen=True)
self.screen.update()
while True:
self.drive_once_by_ir_beacon(speed=driving_speed)
self.blast_bazooka_if_touched()
class Ev3rstorm(RemoteControlledTank):
def __init__(self,
left_foot_motor_port: str = OUTPUT_B,
right_foot_motor_port: str = OUTPUT_C,
bazooka_blast_motor_port: str = OUTPUT_A,
touch_sensor_port: str = INPUT_1,
color_sensor_port: str = INPUT_3,
ir_beacon_channel: int = 1):
super().__init__(left_motor_port=left_foot_motor_port,
right_motor_port=right_foot_motor_port,
polarity=Motor.POLARITY_NORMAL,
speed=1000,
channel=ir_beacon_channel)
self.bazooka_blast_motor = MediumMotor(
address=bazooka_blast_motor_port)
self.touch_sensor = TouchSensor(address=touch_sensor_port)
self.color_sensor = ColorSensor(address=color_sensor_port)
self.screen = Display()
self.speaker = Sound()
def blast_bazooka_whenever_touched(self):
while True:
if self.touch_sensor.is_pressed:
if self.color_sensor.ambient_light_intensity < 5: # 15 not dark enough
self.speaker.play_file(
wav_file='/home/robot/sound/Up.wav',
volume=100,
play_type=Sound.PLAY_WAIT_FOR_COMPLETE)
self.bazooka_blast_motor.on_for_rotations(speed=100,
rotations=-3,
brake=True,
block=True)
else:
self.speaker.play_file(
wav_file='/home/robot/sound/Down.wav',
volume=100,
play_type=Sound.PLAY_WAIT_FOR_COMPLETE)
self.bazooka_blast_motor.on_for_rotations(speed=100,
rotations=3,
brake=True,
block=True)
self.touch_sensor.wait_for_released()
def main(self):
self.screen.image_filename(filename='/home/robot/image/Target.bmp',
clear_screen=True)
self.screen.update()
Thread(target=self.blast_bazooka_whenever_touched, daemon=True).start()
super().main() # RemoteControlledTank.main()
class Ev3rstorm:
def __init__(self,
left_foot_motor_port: str = OUTPUT_B,
right_foot_motor_port: str = OUTPUT_C,
bazooka_blast_motor_port: str = OUTPUT_A,
touch_sensor_port: str = INPUT_1,
color_sensor_port: str = INPUT_3,
ir_sensor_port: str = INPUT_4,
ir_beacon_channel: int = 1):
self.tank_driver = MoveTank(left_motor_port=left_foot_motor_port,
right_motor_port=right_foot_motor_port,
motor_class=LargeMotor)
self.bazooka_blast_motor = MediumMotor(
address=bazooka_blast_motor_port)
self.touch_sensor = TouchSensor(address=touch_sensor_port)
self.color_sensor = ColorSensor(address=color_sensor_port)
self.ir_sensor = InfraredSensor(address=ir_sensor_port)
self.ir_beacon_channel = ir_beacon_channel
self.leds = Leds()
self.speaker = Sound()
self.screen = Display()
def drive_once_by_ir_beacon(self, speed: float = 100):
# forward
if self.ir_sensor.top_left(
channel=self.ir_beacon_channel) and self.ir_sensor.top_right(
channel=self.ir_beacon_channel):
self.tank_driver.on(left_speed=speed, right_speed=speed)
# backward
elif self.ir_sensor.bottom_left(channel=self.ir_beacon_channel
) and self.ir_sensor.bottom_right(
channel=self.ir_beacon_channel):
self.tank_driver.on(left_speed=-speed, right_speed=-speed)
# turn left on the spot
elif self.ir_sensor.top_left(channel=self.ir_beacon_channel
) and self.ir_sensor.bottom_right(
channel=self.ir_beacon_channel):
self.tank_driver.on(left_speed=-speed, right_speed=speed)
# turn right on the spot
elif self.ir_sensor.top_right(
channel=self.ir_beacon_channel) and self.ir_sensor.bottom_left(
channel=self.ir_beacon_channel):
self.tank_driver.on(left_speed=speed, right_speed=-speed)
# turn left forward
elif self.ir_sensor.top_left(channel=self.ir_beacon_channel):
self.tank_driver.on(left_speed=0, right_speed=speed)
# turn right forward
elif self.ir_sensor.top_right(channel=self.ir_beacon_channel):
self.tank_driver.on(left_speed=speed, right_speed=0)
# turn left backward
elif self.ir_sensor.bottom_left(channel=self.ir_beacon_channel):
self.tank_driver.on(left_speed=0, right_speed=-speed)
# turn right backward
elif self.ir_sensor.bottom_right(channel=self.ir_beacon_channel):
self.tank_driver.on(left_speed=-speed, right_speed=0)
# otherwise stop
else:
self.tank_driver.off(brake=False)
def dance_if_ir_beacon_pressed(self):
while self.ir_sensor.beacon(channel=self.ir_beacon_channel):
self.tank_driver.on_for_seconds(left_speed=randint(-100, 100),
right_speed=randint(-100, 100),
seconds=1,
brake=False,
block=True)
def detect_object_by_ir_sensor(self):
if self.ir_sensor.proximity < 25:
self.leds.animate_police_lights(color1=Leds.ORANGE,
color2=Leds.RED,
group1=Leds.LEFT,
group2=Leds.RIGHT,
sleeptime=0.5,
duration=5,
block=False)
self.speaker.play_file(wav_file='/home/robot/sound/Object.wav',
volume=100,
play_type=Sound.PLAY_WAIT_FOR_COMPLETE)
self.speaker.play_file(wav_file='/home/robot/sound/Detected.wav',
volume=100,
play_type=Sound.PLAY_WAIT_FOR_COMPLETE)
self.speaker.play_file(
wav_file='/home/robot/sound/Error alarm.wav',
volume=100,
play_type=Sound.PLAY_WAIT_FOR_COMPLETE)
else:
self.leds.all_off()
def blast_bazooka_if_touched(self):
if self.touch_sensor.is_pressed:
if self.color_sensor.ambient_light_intensity < 5: # 15 not dark enough
self.speaker.play_file(wav_file='/home/robot/sound/Up.wav',
volume=100,
play_type=Sound.PLAY_WAIT_FOR_COMPLETE)
self.bazooka_blast_motor.on_for_rotations(speed=100,
rotations=-3,
brake=True,
block=True)
self.speaker.play_file(
wav_file='/home/robot/sound/Laughing 1.wav',
volume=100,
play_type=Sound.PLAY_WAIT_FOR_COMPLETE)
else:
self.speaker.play_file(wav_file='/home/robot/sound/Down.wav',
volume=100,
play_type=Sound.PLAY_WAIT_FOR_COMPLETE)
self.bazooka_blast_motor.on_for_rotations(speed=100,
rotations=3,
brake=True,
block=True)
self.speaker.play_file(
wav_file='/home/robot/sound/Laughing 2.wav',
volume=100,
play_type=Sound.PLAY_WAIT_FOR_COMPLETE)
self.touch_sensor.wait_for_released()
def main(self, driving_speed: float = 100):
self.screen.image_filename(filename='/home/robot/image/Target.bmp',
clear_screen=True)
self.screen.update()
while True:
self.drive_once_by_ir_beacon(speed=driving_speed)
self.dance_if_ir_beacon_pressed()
# DON'T use IR Sensor in 2 different modes in the same program / loop
# - https://github.com/pybricks/support/issues/62
# - https://github.com/ev3dev/ev3dev/issues/1401
# self.detect_object_by_ir_sensor()
self.blast_bazooka_if_touched()
#!/usr/bin/env python3
# (Display not yet working in MicroPython as of 2020)
from ev3dev2.motor import LargeMotor, OUTPUT_B, OUTPUT_C, MoveSteering, MoveTank
from ev3dev2.display import Display
TANK_DRIVER = MoveTank(left_motor_port=OUTPUT_B,
right_motor_port=OUTPUT_C,
motor_class=LargeMotor)
STEER_DRIVER = MoveSteering(left_motor_port=OUTPUT_B,
right_motor_port=OUTPUT_C,
motor_class=LargeMotor)
SCREEN = Display()
SCREEN.image_filename(filename='/home/robot/image/Neutral.bmp',
clear_screen=True)
SCREEN.update()
TANK_DRIVER.on_for_rotations(left_speed=75,
right_speed=75,
rotations=5,
brake=True,
block=True)
SCREEN.image_filename(filename='/home/robot/image/Middle left.bmp',
clear_screen=True)
SCREEN.update()
STEER_DRIVER.on_for_rotations(steering=50,
speed=75,
rotations=5,
#!/usr/bin/env python3
# (MicroPython does not yet support Display as of 2020)
from ev3dev2.motor import LargeMotor, MediumMotor, MoveTank, OUTPUT_B, OUTPUT_C, OUTPUT_A
from ev3dev2.display import Display
from ev3dev2.sound import Sound
MEDIUM_MOTOR = MediumMotor(address=OUTPUT_A)
TANK_DRIVER = MoveTank(left_motor_port=OUTPUT_B,
right_motor_port=OUTPUT_C,
motor_class=LargeMotor)
SCREEN = Display()
SPEAKER = Sound()
SCREEN.image_filename(filename='/home/robot/image/Pinch left.bmp',
clear_screen=True)
SCREEN.update()
TANK_DRIVER.on_for_rotations(left_speed=75,
right_speed=75,
rotations=2,
brake=True,
block=True)
MEDIUM_MOTOR.on_for_rotations(speed=75, rotations=3, brake=True, block=True)
TANK_DRIVER.on_for_rotations(left_speed=-75,
right_speed=-75,
rotations=2,
brake=True,
block=True)
class Rov3r(IRBeaconRemoteControlledTank):
def __init__(
self,
left_motor_port: str = OUTPUT_B, right_motor_port: str = OUTPUT_C,
gear_motor_port: str = OUTPUT_A,
touch_sensor_port: str = INPUT_1, color_sensor_port: str = INPUT_3,
ir_sensor_port: str = INPUT_4, ir_beacon_channel: int = 1):
super().__init__(
left_motor_port=left_motor_port, right_motor_port=right_motor_port,
ir_sensor_port=ir_sensor_port, ir_beacon_channel=ir_beacon_channel)
self.gear_motor = MediumMotor(address=gear_motor_port)
self.touch_sensor = TouchSensor(address=touch_sensor_port)
self.color_sensor = ColorSensor(address=color_sensor_port)
self.ir_sensor = InfraredSensor(address=ir_sensor_port)
self.ir_beacon_channel = ir_beacon_channel
self.speaker = Sound()
self.dis = Display(desc='Display')
def spin_gears(self, speed: float = 100):
while True:
if self.ir_sensor.beacon(channel=self.ir_beacon_channel):
self.gear_motor.on(
speed=speed,
block=False,
brake=False)
else:
self.gear_motor.off(brake=True)
def change_screen_when_touched(self):
while True:
if self.touch_sensor.is_pressed:
self.dis.image_filename(
filename='/home/robot/image/Angry.bmp',
clear_screen=True)
self.dis.update()
else:
self.dis.image_filename(
filename='/home/robot/image/Fire.bmp',
clear_screen=True)
self.dis.update()
def make_noise_when_seeing_black(self):
while True:
if self.color_sensor.color == ColorSensor.COLOR_BLACK:
self.speaker.play_file(
wav_file='/home/robot/sound/Ouch.wav',
volume=100,
play_type=Sound.PLAY_WAIT_FOR_COMPLETE)
def main(self):
self.speaker.play_file(
wav_file='/home/robot/sound/Yes.wav',
volume=100,
play_type=Sound.PLAY_WAIT_FOR_COMPLETE)
Thread(target=self.make_noise_when_seeing_black,
daemon=True).start()
Thread(target=self.spin_gears,
daemon=True).start()
Thread(target=self.change_screen_when_touched,
daemon=True).start()
self.keep_driving_by_ir_beacon(speed=100)
#!/usr/bin/env python3
# (Display not yet working in MicroPython as of 2020)
from ev3dev2.display import Display
from ev3dev2.led import Leds
from time import sleep
SCREEN = Display()
LEDS = Leds()
SCREEN.image_filename(
filename='/home/robot/image/Hurt.bmp',
clear_screen=True)
SCREEN.update()
sleep(0.5)
SCREEN.image_filename(
filename='/home/robot/image/Neutral.bmp',
clear_screen=True)
SCREEN.update()
LEDS.animate_flash(
color=Leds.RED,
groups=(Leds.LEFT, Leds.RIGHT),
sleeptime=0.5,
duration=5,
class Sweep3r(IRBeaconRemoteControlledTank):
def __init__(
self,
left_foot_motor_port: str = OUTPUT_B, right_foot_motor_port: str = OUTPUT_C,
medium_motor_port: str = OUTPUT_A,
touch_sensor_port: str = INPUT_1, color_sensor_port: str = INPUT_3,
ir_sensor_port: str = INPUT_4, ir_beacon_channel: int = 1):
super().__init__(
left_motor_port=left_foot_motor_port, right_motor_port=right_foot_motor_port,
ir_sensor_port=ir_sensor_port, ir_beacon_channel=ir_beacon_channel)
self.medium_motor = MediumMotor(address=medium_motor_port)
self.touch_sensor = TouchSensor(address=touch_sensor_port)
self.color_sensor = ColorSensor(address=color_sensor_port)
self.ir_sensor = InfraredSensor(address=ir_sensor_port)
self.ir_beacon_channel = ir_beacon_channel
self.screen = Display()
self.speaker = Sound()
def drill(self, speed: float = 100):
while True:
if self.ir_sensor.beacon(channel=self.ir_beacon_channel):
self.medium_motor.on_for_rotations(
speed=speed,
rotations=2,
block=True,
brake=True)
def move_when_touched(self):
while True:
if self.touch_sensor.is_pressed:
self.tank_driver.on_for_seconds(
left_speed=100,
right_speed=-100,
seconds=2,
brake=True,
block=True)
def move_when_see_smothing(self):
while True:
if self.color_sensor.reflected_light_intensity > 30:
self.tank_driver.on_for_seconds(
left_speed=-100,
right_speed=100,
seconds=2,
brake=True,
block=True)
def main(self, speed: float = 100):
self.screen.image_filename(
filename='/home/robot/image/Neutral.bmp',
clear_screen=True)
self.screen.update()
Process(target=self.move_when_touched,
daemon=True).start()
Process(target=self.move_when_see_smothing,
daemon=True).start()
Process(target=self.drill,
daemon=True).start()
self.keep_driving_by_ir_beacon(speed=speed)
class Ev3rstorm:
def __init__(self,
left_foot_motor_port: str = OUTPUT_B,
right_foot_motor_port: str = OUTPUT_C,
bazooka_blast_motor_port: str = OUTPUT_A,
touch_sensor_port: str = INPUT_1,
color_sensor_port: str = INPUT_3,
ir_sensor_port: str = INPUT_4,
ir_beacon_channel: int = 1):
self.tank_driver = MoveTank(left_motor_port=left_foot_motor_port,
right_motor_port=right_foot_motor_port,
motor_class=LargeMotor)
self.bazooka_blast_motor = MediumMotor(
address=bazooka_blast_motor_port)
self.touch_sensor = TouchSensor(address=touch_sensor_port)
self.color_sensor = ColorSensor(address=color_sensor_port)
self.ir_sensor = InfraredSensor(address=ir_sensor_port)
self.ir_beacon_channel = ir_beacon_channel
self.screen = Display()
self.speaker = Sound()
def drive_once_by_ir_beacon(self, speed: float = 100):
# forward
if self.ir_sensor.top_left(
channel=self.ir_beacon_channel) and self.ir_sensor.top_right(
channel=self.ir_beacon_channel):
self.tank_driver.on(left_speed=speed, right_speed=speed)
# backward
elif self.ir_sensor.bottom_left(channel=self.ir_beacon_channel
) and self.ir_sensor.bottom_right(
channel=self.ir_beacon_channel):
self.tank_driver.on(left_speed=-speed, right_speed=-speed)
# turn left on the spot
elif self.ir_sensor.top_left(channel=self.ir_beacon_channel
) and self.ir_sensor.bottom_right(
channel=self.ir_beacon_channel):
self.tank_driver.on(left_speed=-speed, right_speed=speed)
# turn right on the spot
elif self.ir_sensor.top_right(
channel=self.ir_beacon_channel) and self.ir_sensor.bottom_left(
channel=self.ir_beacon_channel):
self.tank_driver.on(left_speed=speed, right_speed=-speed)
# turn left forward
elif self.ir_sensor.top_left(channel=self.ir_beacon_channel):
self.tank_driver.on(left_speed=0, right_speed=speed)
# turn right forward
elif self.ir_sensor.top_right(channel=self.ir_beacon_channel):
self.tank_driver.on(left_speed=speed, right_speed=0)
# turn left backward
elif self.ir_sensor.bottom_left(channel=self.ir_beacon_channel):
self.tank_driver.on(left_speed=0, right_speed=-speed)
# turn right backward
elif self.ir_sensor.bottom_right(channel=self.ir_beacon_channel):
self.tank_driver.on(left_speed=-speed, right_speed=0)
# otherwise stop
else:
self.tank_driver.off(brake=False)
def keep_driving_by_ir_beacon(self, speed: int = 100):
while True:
self.drive_once_by_ir_beacon(speed=speed)
def blast_bazooka_whenever_touched(self):
while True:
if self.touch_sensor.is_pressed:
if self.color_sensor.ambient_light_intensity < 5: # 15 not dark enough
self.speaker.play_file(
wav_file='/home/robot/sound/Up.wav',
volume=100,
play_type=Sound.PLAY_WAIT_FOR_COMPLETE)
self.bazooka_blast_motor.on_for_rotations(speed=100,
rotations=-3,
brake=True,
block=True)
else:
self.speaker.play_file(
wav_file='/home/robot/sound/Down.wav',
volume=100,
play_type=Sound.PLAY_WAIT_FOR_COMPLETE)
self.bazooka_blast_motor.on_for_rotations(speed=100,
rotations=3,
brake=True,
block=True)
self.touch_sensor.wait_for_released()
def main(self, driving_speed: float = 100):
self.screen.image_filename(filename='/home/robot/image/Target.bmp',
clear_screen=True)
self.screen.update()
Thread(target=self.blast_bazooka_whenever_touched, daemon=True).start()
self.keep_driving_by_ir_beacon(speed=driving_speed)
class Spik3r:
def __init__(self,
sting_motor_port: str = OUTPUT_D,
go_motor_port: str = OUTPUT_B,
claw_motor_port: str = OUTPUT_A,
touch_sensor_port: str = INPUT_1,
color_sensor_port: str = INPUT_3,
ir_sensor_port: str = INPUT_4,
ir_beacon_channel: int = 1):
self.sting_motor = LargeMotor(address=sting_motor_port)
self.go_motor = LargeMotor(address=go_motor_port)
self.claw_motor = MediumMotor(address=claw_motor_port)
self.ir_sensor = InfraredSensor(address=ir_sensor_port)
self.ir_beacon_channel = ir_beacon_channel
self.touch_sensor = TouchSensor(address=touch_sensor_port)
self.color_sensor = ColorSensor(address=color_sensor_port)
self.dis = Display()
self.speaker = Sound()
def sting_by_ir_beacon(self):
while True:
if self.ir_sensor.beacon(channel=self.ir_beacon_channel):
self.sting_motor.on_for_degrees(speed=-75,
degrees=220,
brake=True,
block=False)
self.speaker.play_file(wav_file='/home/robot/sound/Blip 1.wav',
volume=100,
play_type=Sound.PLAY_WAIT_FOR_COMPLETE)
self.sting_motor.on_for_seconds(speed=-100,
seconds=1,
brake=True,
block=True)
self.sting_motor.on_for_seconds(speed=100,
seconds=1,
brake=True,
block=True)
while self.ir_sensor.beacon(channel=self.ir_beacon_channel):
pass
def be_noisy_to_people(self):
while True:
if self.color_sensor.reflected_light_intensity > 30:
for i in range(4):
self.speaker.play_file(
wav_file='/home/robot/sound/Blip 2.wav',
volume=100,
play_type=Sound.PLAY_WAIT_FOR_COMPLETE)
def pinch_if_touched(self):
while True:
if self.touch_sensor.is_pressed:
self.claw_motor.on_for_seconds(speed=50,
seconds=1,
brake=True,
block=True)
self.claw_motor.on_for_seconds(speed=-50,
seconds=0.3,
brake=True,
block=True)
def keep_driving_by_ir_beacon(self):
while True:
if self.ir_sensor.top_left(channel=self.ir_beacon_channel) and \
self.ir_sensor.top_right(channel=self.ir_beacon_channel):
self.go_motor.on(speed=91, block=False, brake=False)
elif self.ir_sensor.top_right(channel=self.ir_beacon_channel):
self.go_motor.on(speed=-100, brake=False, block=False)
else:
self.go_motor.off(brake=True)
def main(self):
self.dis.image_filename(filename='/home/robot/image/Evil.bmp',
clear_screen=True)
self.dis.update()
# FIXME: .sting_by_ir_beacon stops responding after a while
Process(target=self.be_noisy_to_people, daemon=True).start()
Process(target=self.sting_by_ir_beacon, daemon=True).start()
Process(target=self.pinch_if_touched, daemon=True).start()
self.keep_driving_by_ir_beacon()
from ev3dev2.display import Display
from ev3dev2.led import Leds
from ev3dev2.sound import Sound
STEER_DRIVER = MoveSteering(left_motor_port=OUTPUT_B,
right_motor_port=OUTPUT_C,
motor_class=LargeMotor)
TOUCH_SENSOR = TouchSensor(address=INPUT_1)
LEDS = Leds()
SPEAKER = Sound()
SCREEN = Display()
while True:
SCREEN.image_filename(filename='/home/robot/image/ZZZ.bmp',
clear_screen=True)
SCREEN.update()
LEDS.set_color(group=Leds.LEFT, color=Leds.ORANGE, pct=1)
LEDS.set_color(group=Leds.RIGHT, color=Leds.ORANGE, pct=1)
# TODO: parallel process/thread
while not TOUCH_SENSOR.is_pressed:
SPEAKER.play_file(wav_file='/home/robot/sound/Snoring.wav',
volume=100,
play_type=Sound.PLAY_WAIT_FOR_COMPLETE)
SCREEN.image_filename(filename='/home/robot/image/Winking.bmp',
clear_screen=True)
SCREEN.update()
right_motor_port=OUTPUT_C,
motor_class=LargeMotor)
STEER_DRIVER = MoveSteering(left_motor_port=OUTPUT_B,
right_motor_port=OUTPUT_C,
motor_class=LargeMotor)
IR_SENSOR = InfraredSensor(address=INPUT_4)
SCREEN = Display()
SPEAKER = Sound()
MEDIUM_MOTOR.on_for_seconds(speed=-20, seconds=1, block=True, brake=True)
while True:
if IR_SENSOR.proximity < 25:
SCREEN.image_filename(filename='/home/robot/image/Pinch right.bmp',
clear_screen=True)
SCREEN.update()
STEER_DRIVER.on_for_degrees(steering=-100,
speed=75,
degrees=1000,
brake=True,
block=True)
SCREEN.image_filename(filename='/home/robot/image/Angry.bmp',
clear_screen=True)
SCREEN.update()
MEDIUM_MOTOR.on_for_seconds(seconds=0.3,
speed=100,
block=True,
class Ev3rstorm(IRBeaconRemoteControlledTank):
def __init__(self,
left_foot_motor_port: str = OUTPUT_B,
right_foot_motor_port: str = OUTPUT_C,
bazooka_blast_motor_port: str = OUTPUT_A,
touch_sensor_port: str = INPUT_1,
color_sensor_port: str = INPUT_3,
ir_sensor_port: str = INPUT_4,
ir_beacon_channel: int = 1):
super().__init__(left_motor_port=left_foot_motor_port,
right_motor_port=right_foot_motor_port,
motor_class=LargeMotor,
ir_sensor_port=ir_sensor_port,
ir_beacon_channel=ir_beacon_channel)
self.bazooka_blast_motor = MediumMotor(
address=bazooka_blast_motor_port)
self.touch_sensor = TouchSensor(address=touch_sensor_port)
self.color_sensor = ColorSensor(address=color_sensor_port)
self.leds = Leds()
self.speaker = Sound()
self.screen = Display()
def dance_whenever_ir_beacon_pressed(self):
while True:
while self.ir_sensor.beacon(
channel=self.tank_drive_ir_beacon_channel):
self.tank_driver.on_for_seconds(left_speed=randint(-100, 100),
right_speed=randint(-100, 100),
seconds=1,
brake=False,
block=True)
def keep_detecting_objects_by_ir_sensor(self):
while True:
if self.ir_sensor.proximity < 25:
self.leds.animate_police_lights(color1=Leds.ORANGE,
color2=Leds.RED,
group1=Leds.LEFT,
group2=Leds.RIGHT,
sleeptime=0.5,
duration=5,
block=False)
self.speaker.play_file(wav_file='/home/robot/sound/Object.wav',
volume=100,
play_type=Sound.PLAY_WAIT_FOR_COMPLETE)
self.speaker.play_file(
wav_file='/home/robot/sound/Detected.wav',
volume=100,
play_type=Sound.PLAY_WAIT_FOR_COMPLETE)
self.speaker.play_file(
wav_file='/home/robot/sound/Error alarm.wav',
volume=100,
play_type=Sound.PLAY_WAIT_FOR_COMPLETE)
else:
self.leds.all_off()
def blast_bazooka_whenever_touched(self):
while True:
if self.touch_sensor.is_pressed:
if self.color_sensor.ambient_light_intensity < 5: # 15 not dark enough
self.speaker.play_file(
wav_file='/home/robot/sound/Up.wav',
volume=100,
play_type=Sound.PLAY_WAIT_FOR_COMPLETE)
self.bazooka_blast_motor.on_for_rotations(speed=100,
rotations=-3,
brake=True,
block=True)
self.speaker.play_file(
wav_file='/home/robot/sound/Laughing 1.wav',
volume=100,
play_type=Sound.PLAY_WAIT_FOR_COMPLETE)
else:
self.speaker.play_file(
wav_file='/home/robot/sound/Down.wav',
volume=100,
play_type=Sound.PLAY_WAIT_FOR_COMPLETE)
self.bazooka_blast_motor.on_for_rotations(speed=100,
rotations=3,
brake=True,
block=True)
self.speaker.play_file(
wav_file='/home/robot/sound/Laughing 2.wav',
volume=100,
play_type=Sound.PLAY_WAIT_FOR_COMPLETE)
self.touch_sensor.wait_for_released()
def main(self, driving_speed: float = 100):
self.screen.image_filename(filename='/home/robot/image/Target.bmp',
clear_screen=True)
self.screen.update()
Process(target=self.dance_whenever_ir_beacon_pressed,
daemon=True).start()
# DON'T use IR Sensor in 2 different modes in the same program / loop
# - https://github.com/pybricks/support/issues/62
# - https://github.com/ev3dev/ev3dev/issues/1401
# Process(target=self.keep_detecting_objects_by_ir_sensor,
# daemon=True).start()
Process(target=self.blast_bazooka_whenever_touched,
daemon=True).start()
self.keep_driving_by_ir_beacon(speed=driving_speed)
class Ev3rstorm(IRBeaconRemoteControlledTank):
def __init__(
self,
left_foot_motor_port: str = OUTPUT_B, right_foot_motor_port: str = OUTPUT_C,
bazooka_blast_motor_port: str = OUTPUT_A,
touch_sensor_port: str = INPUT_1, color_sensor_port: str = INPUT_3,
ir_sensor_port: str = INPUT_4, ir_beacon_channel: int = 1):
super().__init__(
left_motor_port=left_foot_motor_port, right_motor_port=right_foot_motor_port, motor_class=LargeMotor,
ir_sensor_port=ir_sensor_port, ir_beacon_channel=ir_beacon_channel)
self.bazooka_blast_motor = MediumMotor(address=bazooka_blast_motor_port)
self.touch_sensor = TouchSensor(address=touch_sensor_port)
self.color_sensor = ColorSensor(address=color_sensor_port)
self.leds = Leds()
self.speaker = Sound()
self.screen = Display()
def dance_whenever_ir_beacon_pressed(self):
while True:
while self.ir_sensor.beacon(channel=self.tank_drive_ir_beacon_channel):
self.tank_driver.on_for_seconds(
left_speed=randint(-100, 100),
right_speed=randint(-100, 100),
seconds=1,
brake=False,
block=True)
def keep_detecting_objects_by_ir_sensor(self):
while True:
if self.ir_sensor.proximity < 25:
self.leds.animate_police_lights(
color1=Leds.ORANGE,
color2=Leds.RED,
group1=Leds.LEFT,
group2=Leds.RIGHT,
sleeptime=0.5,
duration=5,
block=False)
self.speaker.play_file(
wav_file='/home/robot/sound/Object.wav',
volume=100,
play_type=Sound.PLAY_WAIT_FOR_COMPLETE)
self.speaker.play_file(
wav_file='/home/robot/sound/Detected.wav',
volume=100,
play_type=Sound.PLAY_WAIT_FOR_COMPLETE)
self.speaker.play_file(
wav_file='/home/robot/sound/Error alarm.wav',
volume=100,
play_type=Sound.PLAY_WAIT_FOR_COMPLETE)
else:
self.leds.all_off()
def blast_bazooka_whenever_touched(self):
while True:
if self.touch_sensor.is_pressed:
if self.color_sensor.ambient_light_intensity < 5: # 15 not dark enough
self.speaker.play_file(
wav_file='/home/robot/sound/Up.wav',
volume=100,
play_type=Sound.PLAY_WAIT_FOR_COMPLETE)
self.bazooka_blast_motor.on_for_rotations(
speed=100,
rotations=-3,
brake=True,
block=True)
self.speaker.play_file(
wav_file='/home/robot/sound/Laughing 1.wav',
volume=100,
play_type=Sound.PLAY_WAIT_FOR_COMPLETE)
else:
self.speaker.play_file(
wav_file='/home/robot/sound/Down.wav',
volume=100,
play_type=Sound.PLAY_WAIT_FOR_COMPLETE)
self.bazooka_blast_motor.on_for_rotations(
speed=100,
rotations=3,
brake=True,
block=True)
self.speaker.play_file(
wav_file='/home/robot/sound/Laughing 2.wav',
volume=100,
play_type=Sound.PLAY_WAIT_FOR_COMPLETE)
self.touch_sensor.wait_for_released()
def main(self, driving_speed: float = 100):
self.screen.image_filename(
filename='/home/robot/image/Target.bmp',
clear_screen=True)
self.screen.update()
# FIXME
# Traceback (most recent call last):
# File "/usr/lib/python3.5/threading.py", line 914, in _bootstrap_inner
# self.run()
# File "/usr/lib/python3.5/threading.py", line 862, in run
# self._target(*self._args, **self._kwargs)
# File "/home/robot/Ev3rstorm/Ev3rstorm-Super.EV3Dev2.Python3.Threading.py", line 170, in dance_whenever_ir_beacon_pressed
# while self.ir_sensor.beacon(channel=self.ir_beacon_channel):
# File "/usr/lib/python3/dist-packages/ev3dev2/sensor/lego.py", line 909, in beacon
# return 'beacon' in self.buttons_pressed(channel)
# File "/usr/lib/python3/dist-packages/ev3dev2/sensor/lego.py", line 919, in buttons_pressed
# return self._BUTTON_VALUES.get(self.value(channel), [])
# File "/usr/lib/python3/dist-packages/ev3dev2/sensor/__init__.py", line 203, in value
# self._value[n], value = self.get_attr_int(self._value[n], 'value' + str(n))
# File "/usr/lib/python3/dist-packages/ev3dev2/__init__.py", line 307, in get_attr_int
# return attribute, int(value)
# ValueError: invalid literal for int() with base 10: ''
Thread(target=self.dance_whenever_ir_beacon_pressed,
daemon=True).start()
# DON'T use IR Sensor in 2 different modes in the same program / loop
# - https://github.com/pybricks/support/issues/62
# - https://github.com/ev3dev/ev3dev/issues/1401
# Thread(target=self.keep_detecting_objects_by_ir_sensor,
# daemon=True).start()
Thread(target=self.blast_bazooka_whenever_touched,
daemon=True).start()
self.keep_driving_by_ir_beacon(speed=driving_speed)