def distance_to_beacon():
sound = Sound()
ir = InfraredSensor()
while True:
for i in range(10):
# try replacing with ir.distance(), ir.heading()
# or ir.heading_and_distance()
distance = ir.heading_and_distance()
if distance == None:
# distance() returns None if no beacon detected
print('Beacon off?', end=' ')
print('Beacon off?', end=' ', file=stderr)
else:
# print to EV3 LCD screen
# print a space instead of starting a new line
print(distance, end=' ')
# print to VS Code output panel
print(distance, end=' ', file=stderr)
sound.play_tone(1800 - 10 * distance, 0.4)
sleep(0.5)
print('') # start new line on EV3 screen
print('', file=stderr) # start new line in VS Code
#!/usr/bin/env micropython
from ev3dev2.motor import MediumMotor, OUTPUT_A
from ev3dev2.sensor.lego import InfraredSensor
from ev3dev2.sensor import INPUT_4
from time import sleep
import math
import sys
#Code is here
IR = InfraredSensor(INPUT_4)
meMotor = MediumMotor(OUTPUT_A)
x = 0
while x < 1000:
BeaconHeading = IR.heading_and_distance(channel=1)
print(BeaconHeading, file=sys.stderr)
(Heading, Distance) = BeaconHeading
print(Heading, file=sys.stderr)
if Heading:
print(Heading, file=sys.stderr)
Heading = Heading * 2
meMotor.on(speed=Heading)
else:
meMotor.off()
sleep(.01)
def master_function():
cl = ColorSensor()
ts = TouchSensor()
ir = InfraredSensor()
sound = Sound()
steer_pair = MoveSteering(OUTPUT_B, OUTPUT_C)
medium_motor = MediumMotor()
pixy = Sensor(address=INPUT_2)
# assert pixy.connected, "Error while connecting Pixy camera to port 1"
# pixy.mode = 'SIG1'
# lcd = Sensor.Screen()
lcd = Display()
def top_left_channel_1_action(state):
move()
def bottom_left_channel_1_action(state):
move()
def top_right_channel_1_action(state):
move()
def bottom_right_channel_1_action(state):
move()
def move():
buttons = ir.buttons_pressed() # a list
if len(buttons) == 1:
medium_motor.off()
if buttons == ['top_left']:
steer_pair.on(steering=0, speed=40)
elif buttons == ['bottom_left']:
steer_pair.on(steering=0, speed=-40)
elif buttons == ['top_right']:
steer_pair.on(steering=100, speed=30)
elif buttons == ['bottom_right']:
steer_pair.on(steering=-100, speed=30)
elif len(buttons) == 2:
steer_pair.off()
if buttons == ['top_left', 'top_right']:
medium_motor.on(speed_pct=10)
elif buttons == ['bottom_left', 'bottom_right']:
medium_motor.on(speed_pct=-10)
else: # len(buttons)==0
medium_motor.off()
steer_pair.off()
# Associate the event handlers with the functions defined above
ir.on_channel1_top_left = top_left_channel_1_action
ir.on_channel1_bottom_left = bottom_left_channel_1_action
ir.on_channel1_top_right = top_right_channel_1_action
ir.on_channel1_bottom_right = bottom_right_channel_1_action
opts = '-a 200 -s 150 -p 70 -v'
speech_pause = 0
while not ts.is_pressed:
# rgb is a tuple containing three integers
ir.process()
red = cl.rgb[0]
green = cl.rgb[1]
blue = cl.rgb[2]
intensity = cl.reflected_light_intensity
print('{4} Red: {0}\tGreen: {1}\tBlue: {2}\tIntensity: {3}'.format(
str(red), str(green), str(blue), str(intensity), speech_pause),
file=stderr)
lcd.clear()
print(pixy.mode, file=stderr)
if pixy.value(0) != 0: # Object with SIG1 detected
x = pixy.value(1)
y = pixy.value(2)
w = pixy.value(3)
h = pixy.value(4)
dx = int(w / 2) # Half of the width of the rectangle
dy = int(h / 2) # Half of the height of the rectangle
xb = x + int(w / 2) # X-coordinate of bottom-right corner
yb = y - int(h / 2) # Y-coordinate of the bottom-right corner
lcd.draw.rectangle((xa, ya, xb, yb), fill='black')
lcd.update()
speech_pause += 1
if speech_pause == 200:
# try replacing with ir.distance(), ir.heading()
# or ir.heading_and_distance()
distance = ir.heading_and_distance()
if distance == None:
# distance() returns None if no beacon detected
str_en = 'Beacon off?'
else:
str_en = 'Beacon heading {0} and distance {1}'.format(
distance[0], distance[1])
sound.speak(str_en, espeak_opts=opts + 'en+f5')
print(str_en, file=stderr)
speech_pause = 0
str_en = 'Terminating program'
sound.speak(str_en, espeak_opts=opts + 'en+f5')
