from ev3dev2.motor import SpeedDPS, SpeedRPM, SpeedRPS, SpeedDPM
from ev3dev2.sensor import INPUT_1, INPUT_2
from ev3dev2.sensor.lego import ColorSensor, InfraredSensor
mt = MoveTank(OUTPUT_A, OUTPUT_D)
irs = InfraredSensor(INPUT_2)
######## MANUAL CONTROLS (copy-paste it in main()) ##################################################
manual_controls = True
if manual_controls:
irs.on_channel1_top_left = turn_left
irs.on_channel1_top_right = turn_right
irs.on_channel1_bottom_left = reverse
irs.on_channel1_beacon = straight_forward
def turn_left(state):
while state:
mt.on(-50, 90)
mt.off()
def turn_right(state):
while state:
mt.on(90, -50)
mt.off()
def reverse(state):
def bottom_right_channel_2_action(state):
if state:
medium_motor.on(speed=-5)
else:
medium_motor.off()
def beacon_channel_1_action(state):
if state:
sys.exit()
else:
cont = False
# Associate the event handlers with the functions defined above
infra.on_channel1_top_left = top_left_channel_1_action
infra.on_channel1_bottom_left = bottom_left_channel_1_action
infra.on_channel1_top_right = top_right_channel_1_action
infra.on_channel1_bottom_right = bottom_right_channel_1_action
infra.on_channel2_top_left = top_left_channel_1_action
infra.on_channel2_bottom_left = bottom_left_channel_1_action
infra.on_channel2_top_right = top_right_channel_2_action
infra.on_channel2_bottom_right = bottom_right_channel_2_action
infra.on_channel1_beacon = beacon_channel_1_action
while cont:
infra.process()
sleep(0.01)
def knife_swipe(state):
if state:
mm.on(-90)
else:
mm.off()
manual_controls = True
if manual_controls:
irs.on_channel1_top_left = straight_forward
irs.on_channel1_top_right = turn_right
irs.on_channel1_bottom_left = reverse
irs.on_channel1_beacon = knife_swipe
irs.on_channel1_bottom_right = turn_left
# lets keep this on top of the file for easy editing
def main():
'''The main function of our program'''
setup_brick_console()
battery_check()
while True:
irs.process()
time.sleep(0.01)
# print something to the output panel in VS Code
