rightMotor.speed_sp = 360
rampup = 5
spValue = 20
timeStep = 0.5
simDuration = 15
totalSteps = int(simDuration / timeStep)
initial_angle = 0
final_angle = 720
ramp_up_down_left = int(rampup * 1000 * leftMotor.max_speed /
leftMotor.speed_sp)
ramp_up_down_right = int(rampup * 1000 * rightMotor.max_speed /
rightMotor.speed_sp)
leftMotor.ramp_up_sp = ramp_up_down_left
leftMotor.ramp_down_sp = ramp_up_down_left
rightMotor.ramp_up_sp = ramp_up_down_right
rightMotor.ramp_down_sp = ramp_up_down_right
startTime = time.time()
leftMotor.on_for_seconds(SpeedPercent(spValue), simDuration, block=False)
rightMotor.on_for_seconds(SpeedPercent(spValue), simDuration, block=True)
stopTime = time.time()
duration = stopTime - startTime
print('Traveled for {0:0.2f} seconds'.format(duration))
leftMotor.reset()
rightMotor.reset()
# pos = range(initial_angle, final_angle, int(final_angle/totalSteps))
#!/usr/bin/env python3
from ev3dev2.motor import LargeMotor, OUTPUT_A, OUTPUT_B, SpeedRPS, MoveSteering
from ev3dev2.sensor import INPUT_1, INPUT_2, INPUT_3, INPUT_4
from ev3dev2.sensor.lego import TouchSensor, UltrasonicSensor, ColorSensor
from time import sleep, time
my_motor = LargeMotor(OUTPUT_A)
my_motor.ramp_up_sp = 1000 # Takes 1000 ms to ramp up speed
my_motor.ramp_down_sp = 1000 # Takes 1000 ms to ramp down speed
ts = TouchSensor(INPUT_3)
us = UltrasonicSensor(INPUT_2)
cs = ColorSensor(INPUT_4)
cs.mode = "RGB-RAW"
#cs.mode = "COL-AMBIENT"
t = time()
while True:
dist = us.distance_centimeters
if time() - t > 1:
print("dist:", dist)
print("colr:", tuple(map(cs.value, [0, 1, 2])))
# print("colr:", cs.value())
t = time()
if ts.is_pressed:
speed = min(max(1, 100 - dist), 100)
my_motor.on(speed)
else:
my_motor.stop()
'''
rots = 10
print ("Please attach a motor to PORT_A")
time.sleep(1)
start_pos = 0
end_pos = 0
start_time = 0.0
end_time = 0.0
m = LargeMotor(OUTPUT_A)
time.sleep(0.1)
m.reset()
time.sleep(0.1)
start_time = time.time()
m.stop_action ='coast'
m.ramp_up_sp = 2000 #### supported on BrickPi3; ramp_up seems to work but ramp_down...not so well, at least with stop_action='brake'
m.ramp_down_sp = 1000 #### supported on BrickPi3; ramp_up seems to work but ramp_down...not so well, at least with stop_action='brake'
t1=time.time()
for i in range(10, 500, 10):
print("START --------> m.on...", round((time.time() - t1), 4))
#m.on_to_position(SpeedDPS(200), (i * 360), brake=False, block=True) ### this method FAILS TO BLOCK with PiStorms
m.run_to_rel_pos(position_sp=(i * 360), speed_sp=900, stop_action="coast") ### no claim of blocking
m.wait_until_not_moving()
#m.on_for_degrees(SpeedDPS(900), (i * 360), brake=False, block=True) ### this method FAILS TO BLOCK with PiStorms
#m.on_for_seconds(SpeedDPS(900), 15, brake=False, block=True)
print ("target pos = ", (i * 360), "; actual pos = ", m.position, round((time.time() - t1), 4))
#print ("target pos = n/a (on_for_seconds); actual pos = ", m.position, round((time.time() - t1), 4))
time.sleep(.1)
time.sleep(10)
m.off()
