def test_play_tone(self):
spkr = Sound()
spkr.connector.play_actual_sound = False
spkr.play_tone(500, duration=0.3, volume=50, play_type=1)
sleep(0.3) # prevents call order switches
spkr.play_tone(1500, duration=0.4, volume=50, play_type=0)
self.assertEqual(len(self.clientSocketMock.mock_calls), 2)
fn_name, args, kwargs = self.clientSocketMock.mock_calls[0]
self.assertEqual(fn_name, 'send_command')
self.assertDictEqual(
args[0].serialize(), {
'type': 'SoundCommand',
'duration': 0.3,
'message': 'Playing note with frequency: 500',
'soundType': 'note'
})
fn_name, args, kwargs = self.clientSocketMock.mock_calls[1]
self.assertEqual(fn_name, 'send_command')
self.assertDictEqual(
args[0].serialize(), {
'type': 'SoundCommand',
'duration': 0.4,
'message': 'Playing note with frequency: 1500',
'soundType': 'note'
})
def intro_sound():
player = Sound()
player.play_tone(500,
0.5,
delay=0.0,
volume=100,
play_type=Sound.PLAY_NO_WAIT_FOR_COMPLETE)
def trytospeak():
sound = Sound()
#play a standard beep
sound.beep()
sleep(2) # pause for 2 seconds
# Play a SINGLE 2000 Hz tone for 1.5 seconds
sound.play_tone(2000, 1.5)
sleep(2)
# Play a SEQUENCE of tones
sound.tone([(200, 2000, 400), (800, 1800, 2000)])
sleep(2)
# Play a 500 Hz tone for 1 second and then wait 0.4 seconds
# before playing the next tone
# Play the tone three times
sound.tone([(500, 1000, 400)] * 3)
sleep(2)
#text to speech
sound.speak('Hello, my name is E V 3!')
sound.speak('watch me talk')
def mario():
sound = Sound()
sound.play_tone(1500, 0.1)
sound.play_tone(1500, 0.1)
sleep(0.2)
sound.play_tone(1500, 0.1)
sleep(0.1)
sound.play_tone(1000, 0.1)
sound.play_tone(1500, 0.1)
sleep(0.2)
sound.play_tone(2000, 0.1)
sleep(0.3)
sound.play_tone(500, 0.1)
def test_play_tone(self):
flip = 1
s = Sound()
tank_drive = MoveTank(OUTPUT_A, OUTPUT_D)
for x in range(4):
flip *= -1
tank_drive.on_for_seconds(SpeedPercent(30 * flip),
SpeedPercent(30 * flip), 1, True, True)
s.play_tone(500, duration=2, volume=50, play_type=1)
sleep(3)
for x in range(4):
flip *= -1
tank_drive.on_for_seconds(SpeedPercent(30 * flip),
SpeedPercent(30 * flip), 1, True, True)
s.play_tone(500, duration=2, volume=50, play_type=0)
sleep(3)
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 python3 from ev3dev2.sound import Sound sound = Sound() sound.play_tone(330, 0.25) sound.play_tone(392, 0.25) sound.play_tone(392, 0.5) sound.play_tone(330, 0.25) sound.play_tone(392, 0.25) sound.play_tone(392, 0.5) sound.play_tone(440, 0.25) sound.play_tone(440, 0.25) sound.play_tone(440, 0.25) sound.play_tone(440, 0.25) sound.play_tone(440, 0.75) sound.play_tone(0, 0.25) sound.play_tone(392, 0.25) sound.play_tone(392, 0.25) sound.play_tone(392, 0.25) sound.play_tone(392, 0.25) sound.play_tone(349, 0.25) sound.play_tone(349, 0.25) sound.play_tone(349, 0.25) sound.play_tone(349, 0.25) sound.play_tone(330, 0.25) sound.play_tone(330, 0.25) sound.play_tone(330, 0.25) sound.play_tone(330, 0.25) sound.play_tone(330, 0.75) sound.play_tone(0, 0.25) sound.play_tone(330, 0.25) sound.play_tone(392, 0.25)
class Robot:
"""Robot class structure for running a course.
"""
def __init__(self):
"""Initialize robot's sensors and define distances and color ranges.
"""
self.tank_pair = MoveTank(OUTPUT_B, OUTPUT_C)
self.color_sensor = ColorSensor()
self.ultrasonic = UltrasonicSensor()
self.sound = Sound()
self.tile_length = 200
self.sensor_dist = 86
# Ranges for color intensities
self.black_range = range(0, 30)
self.white_range = range(30, 100)
def move_degrees(self, degrees, speed=20):
""" Turn wheels a set number of degrees.
:param degrees: Degrees to turn the wheels.
:param speed: Power with which wheels turn.
"""
if degrees >= 0:
self.tank_pair.on_for_degrees(left_speed=speed,
right_speed=speed,
degrees=degrees)
else:
self.tank_pair.on_for_degrees(left_speed=-speed,
right_speed=-speed,
degrees=-degrees)
def on(self, speed=20):
""" Turn the motors on.
:param speed: Power with which wheels turn.
"""
self.tank_pair.on(left_speed=speed, right_speed=speed)
def off(self):
"""Turn the motors off.
"""
self.tank_pair.off()
def on_white(self):
"""Return whether the color sensor senses white.
:return: Whether the color sensor senses white.
"""
return self.color_sensor.reflected_light_intensity in self.white_range
def on_black(self):
"""Return whether the color sensor senses black.
:return: Whether the color sensor senses black.
"""
return self.color_sensor.reflected_light_intensity in self.black_range
def skip_white(self, speed=20):
"""Drive while robot senses white.
:param speed: Power with which wheels turn
"""
self.on(speed=speed)
while self.on_white():
pass
self.off()
def skip_black(self, speed=20):
"""Drive while robot senses black.
:param speed: Power with which wheels turn.
"""
self.on(speed=speed)
while self.on_black():
pass
self.off()
def turn(self, degrees, speed=20):
"""Turn robot a number of degrees.
:param degrees: Degrees to rotate the robot.
:param speed: Power with which wheels turn.
"""
if degrees >= 0:
self.tank_pair.on_for_degrees(left_speed=speed,
right_speed=-speed,
degrees=degrees * 1.987)
else:
self.tank_pair.on_for_degrees(left_speed=-speed,
right_speed=speed,
degrees=-degrees * 1.987)
def run(self):
"""Run robot through course.
"""
self.initialize_start()
self.count_tiles()
self.bump_tower()
def initialize_start(self):
"""Move robot from start to first black tile.
"""
self.move_degrees(80)
self.skip_black()
self.skip_white()
self.move_degrees(self.tile_length / 2 + self.sensor_dist)
self.turn(degrees=90)
self.skip_white(speed=-20)
self.skip_black(speed=-20)
self.skip_white()
def count_tiles(self):
"""Move across 15 black tiles while counting
"""
tile_count = 0
turn_angle = 0
prev_turn_angle = 0
while tile_count < 14:
tile_count += 1
self.sound.play_tone(100 + (50 * tile_count), 0.5)
self.move_degrees(135)
self.turn(90)
right_is_black_1 = self.on_black()
self.move_degrees(40)
right_is_black_2 = self.on_black()
self.move_degrees(-40)
self.turn(-180)
left_is_black_1 = self.on_black()
self.move_degrees(40)
left_is_black_2 = self.on_black()
self.move_degrees(-40)
self.turn(90)
turn_angle = self.get_angle_from_color(left_is_black_2,
left_is_black_1,
right_is_black_1,
right_is_black_2)
if prev_turn_angle > 0 and turn_angle > 0:
turn_angle = 3.5
elif prev_turn_angle < 0 and turn_angle < 0:
turn_angle = -3.5
elif turn_angle == 0:
self.turn(-prev_turn_angle, speed=8)
self.turn(turn_angle, speed=8)
prev_turn_angle = turn_angle
self.skip_black()
self.skip_white()
tile_count += 1
self.sound.play_tone(100 + (50 * tile_count), 0.5)
self.move_degrees(self.tile_length)
def get_angle_from_color(self, left2, left1, right1, right2):
"""Get adjustment angle from color readings.
:param left2: Whether left outer color is black.
:param left1: Whether left inner color is black.
:param right1: Whether right inner color is black.
:param right2: Whether right outer color is black.
:return: Angle to adjust by.
"""
# treat color booleans as a binary number to get an index in angle_list
index = 0
if left2:
index += 8
if left1:
index += 4
if right1:
index += 2
if right2:
index += 1
angle_list = [
0, -7, 3.5, 7, -3.5, -7, 0, 3.5, 7, 0, 7, 7, -7, -7, -3.5, 0
]
return angle_list[index]
def turn_370(self):
"""Turn robot 370 degrees.
"""
self.turn(degrees=370)
def search_for_tower(self):
"""Point robot at tower.
:return: Distance to tower.
"""
min_dist = 255
start_time = time.time()
min_time = start_time
turn_thread = Thread(target=self.turn_370)
turn_thread.start()
while turn_thread.is_alive():
cur_dist = self.ultrasonic.distance_centimeters
if cur_dist < min_dist:
min_dist = cur_dist
min_time = time.time()
end_time = time.time()
self.turn(degrees=-370)
self.turn(degrees=370 * (min_time - start_time) /
(end_time - start_time))
return min_dist
def cm_to_degrees(self, cm):
"""Convert cm to degrees.
:param cm: Amount to convert.
:return: Amount in degrees.
"""
return (360 / (6 * math.pi)) * cm
def bump_tower(self):
"""Find tower and knock it off its base.
"""
self.turn(degrees=90)
self.move_degrees(self.tile_length * 18)
while True:
distance = self.search_for_tower()
if distance / 2 <= 20:
self.move_degrees(self.cm_to_degrees(distance - 20))
self.search_for_tower()
break
self.move_degrees(self.cm_to_degrees(distance / 2))
self.move_degrees(self.cm_to_degrees(10), speed=20)
for i in range(40, 101, 10):
self.move_degrees(self.tile_length * 2, speed=i)
self.move_degrees(-self.tile_length, speed=50)
for i in range(5):
self.move_degrees(self.tile_length * 2, speed=100)
self.move_degrees(-self.tile_length, speed=50)
self.on(speed=100)
time.sleep(5)
self.off()
self.sound.play_tone(400, 1)
class MindstormsGadget(AlexaGadget):
"""
A Mindstorms gadget that operates a lego safe.
"""
def __init__(self, passwordFile):
"""
Performs Alexa Gadget initialization routines and ev3dev resource allocation.
"""
super().__init__()
# Ev3dev initialization
self.leds = Leds()
self.sound = Sound()
self.safe = access.Safe()
self.passwordFile = passwordFile
with open(passwordFile, "r") as f:
self.password = f.read().strip()
def on_connected(self, device_addr):
"""
Gadget connected to the paired Echo device.
:param device_addr: the address of the device we connected to
"""
self.leds.set_color("LEFT", "GREEN")
self.leds.set_color("RIGHT", "GREEN")
logger.info("{} connected to Echo device".format(self.friendly_name))
self.sound.speak("connected to echo device")
def on_disconnected(self, device_addr):
"""
Gadget disconnected from the paired Echo device.
:param device_addr: the address of the device we disconnected from
"""
self.leds.set_color("LEFT", "BLACK")
self.leds.set_color("RIGHT", "BLACK")
logger.info("{} disconnected from Echo device".format(
self.friendly_name))
self.sound.speak("disconnected from echo device")
def on_custom_smartsafe_gadget_control(self, directive):
"""
Handles the Custom.Smartsafe.Gadget control directive.
:param directive: the custom directive with the matching namespace and name
"""
try:
payload = json.loads(directive.payload.decode("utf-8"))
print("Control payload: {}".format(payload), file=sys.stderr)
control_type = payload["type"]
# Handle the open command
if control_type == "open":
if payload["pass"] == self.password:
self.sound.play_tone(700, 0.3)
self.safe.open()
else:
self.sound.play_tone(200, 0.5)
# Handle the close command
if control_type == "close":
self.sound.play_tone(700, 0.3)
self.safe.close()
# Handle the change password command
if control_type == "change_password":
if payload["oldpass"] == self.password:
self.password = payload["newpass"]
with open(self.passwordFile, "w") as f:
f.write(self.password)
self.sound.play_tone(700, 0.3)
else:
self.sound.play_tone(200, 0.5)
# Handle the history command (not implemented)
if control_type == "history":
self.sound.speak("Warning: history " + payload["count"] +
" not implemented.")
# Handle the say command
if control_type == "say":
self.sound.speak(payload["text"])
# Handle the control command (used for debugging)
if control_type == "control":
verb = payload["verb"]
if payload["pass"] == self.password:
self.sound.play_tone(700, 0.3)
if verb in verbs:
self.sound.speak(verbs[verb])
else:
self.sound.speak("control verb " + verb +
" not recognized.")
if verb == "0":
os.system("echo maker | sudo -S shutdown now")
elif verb == "1":
os.system("echo maker | sudo -S reboot now")
elif verb == "2":
os.system("/home/robot/alexa/smartSafe/_disable.sh")
elif verb == "3":
os.system("/home/robot/alexa/smartSafe/_display.sh")
elif verb == "4":
os.system("/home/robot/alexa/smartSafe/_nodisplay.sh")
else:
self.sound.play_tone(200, 0.5)
except KeyError:
print("Missing expected parameters: {}".format(directive),
file=sys.stderr)
#!/usr/bin/env python3
import time
from ev3dev2.motor import LargeMotor, OUTPUT_B, OUTPUT_C, OUTPUT_D, SpeedPercent, MoveTank, MediumMotor
from ev3dev2.sensor import INPUT_1, INPUT_2, INPUT_3, INPUT_4
from ev3dev2.sensor.lego import ColorSensor, GyroSensor
import ev3dev2.fonts as fonts
from ev3dev2.button import Button
from ev3dev2.sound import Sound
from ev3dev2.display import Display
btn = Button()
color = ColorSensor(INPUT_4)
tank_drive = MoveTank(OUTPUT_B, OUTPUT_C) #This is the template whenever we code
gyro = GyroSensor(INPUT_1)
Sound_ = Sound()
Display_ = Display()
Sound_.play_tone(frequency=400, duration=0.5, volume=50) #plays a note so we know when the code starts
#------------------------------------------------Distance conversion--------------------------------------------------------------------------------
# Distance Conversion
wheelDiameter_mm = 56 # Look at the first number on the NUMBERxNUMBER on wheel
wheelCircumference_cm = (wheelDiameter_mm/10) * 3.14159265358979323846284338 # Convert to cm and multiply by pi for circumference
wheelCircumference_in = (wheelDiameter_mm/25.4) * 3.14159265358979323846284338 # Convert to in and multiply by pi for circumference
# inches to rotations:
# example: drive.on_for_rotations(SpeedPercent(100), SpeedPrecent(100), inToRotations(5))
# to go 5 inches
def inToRotations(inches):
return inches/wheelCircumference_in
# centimeters to rotations:
# example: drive.on_for_rotations(SpeedPercent(100), SpeedPrecent(100), cmToRotations(5))
# to go 5 centimeters
def cmToRotations(cm):
return cm/wheelCircumference_cm
#!/usr/bin/env python3
from ev3dev2.sensor.lego import ColorSensor
from ev3dev2.sound import Sound
from time import sleep
cl = ColorSensor()
sound = Sound()
while True:
freq = 110 * 2**(cl.ambient_light_intensity / 12)
sound.play_tone(frequency=freq, duration=0.5)
sleep(0.1)
#!/usr/bin/env python3 from ev3dev2.sound import Sound sound = Sound() sound.beep() # 비프 음 재생#!/usr/bin/env python3 from ev3dev2.sound import Sound sound = Sound() sound.play_tone(700, 1) #700Hz 주파수 1초간 재생
from ev3dev2.sound import Sound
from time import sleep
sound = Sound()
sound.play_tone(1500, 2)
sound.play_file('/home/robot/sounds/Dog bark 1.wav')
sound.beep()
import spockbots.robot as robot
def run_test1():
robot.beep()
robot.led("LEFT", "RED")
robot.led("RIGHT", "YELLOW")
robot.flash()
robot.sleep(1)
robot.beep()
def press_tone(self):
player = Sound()
player.play_tone(750, 0.2, delay=0.0, volume=100, play_type=Sound.PLAY_NO_WAIT_FOR_COMPLETE)
player.play_tone(1250, 0.2, delay=0.0, volume=100, play_type=Sound.PLAY_NO_WAIT_FOR_COMPLETE)
s.beep(play_type=Sound.PLAY_NO_WAIT_FOR_COMPLETE)
sleep(3)
for x in range(4):
drive()
s.speak("testjes tests tests tests")
sleep(3)
for x in range(4):
drive()
s.speak("testjes tests tests tests",
play_type=Sound.PLAY_NO_WAIT_FOR_COMPLETE)
sleep(3)
for x in range(4):
drive()
s.play_tone(500, duration=2, volume=50, play_type=1)
sleep(3)
for x in range(4):
drive()
s.play_tone(500, duration=2, volume=50, play_type=0)
sleep(3)
for x in range(4):
drive()
s.tone([(392, 350, 100), (492, 350), (292, ), ()])
sleep(3)
for x in range(4):
drive()
s.tone([(392, 350, 100), (492, 350), (292, ), ()],
sound.speak("O, A, O, A")
print("OKOKOKOKOKOKOKOKOKOKOK")
'''
while True:
if ts.is_pressed:
mt.off()
break
if btn.check_buttons(buttons=['up']):
mt.on(-50, -50)
elif btn.check_buttons(buttons=['up']) == False:
mt.off()
'''
ts.wait_for_bump()
sound.play_tone(2500, 0.1)
os.system("echo 0 > RESTART_TRAFFIC_LIGHT")
print("RESTART_TRAFFIC_LIGHT")
'''
sleep(0.1)
os.system("echo 0 > RESTART_TRAFFIC_LIGHT")
sleep(2)
Grabber_angle = 1000
Jack_angle = 3.9
speed = -100
balance_ang_limit = 35 * math.pi / 180 # allowed balancing angle limit in degrees each side
balance_x_limit = 1.2 # allowed horizontal movement of cart in x10 cms each side
readings = 500
episodes = 2
summary = [] # To store the Balance time and average loop latency
try:
for episode in range(501):
record_latency = [
] # container -- [iteration, loop_t, N_t, A_t, G_t, Us_t, S_t, Ns_t, App_t]
print('######## Episode : ', episode, ' ########')
audio.play_tone(4000, 0.1, volume=1, play_type=0)
init(drive, 'drive')
init(grabber, 'grabber')
init(jack, 'jack')
reference_dist = init(U, 'U')
record_transitions = [
] # container -- [state, action, reward, state_next, terminal, run]
# audio.speak('Initialized',volume=50)
audio.play_tone(3000, 0.05, volume=1, play_type=0)
# Close and open the grabber
grabber.on_for_degrees(-70, Grabber_angle, brake=True, block=True)
sleep(1)
def error_tone(self):
player = Sound()
player.play_tone(750, 0.2, delay=0.0, volume=100, play_type=Sound.PLAY_NO_WAIT_FOR_COMPLETE)
player.play_tone(250, 0.3, delay=0.0, volume=100, play_type=Sound.PLAY_NO_WAIT_FOR_COMPLETE)
player.play_tone(750, 0.5, delay=0.0, volume=100, play_type=Sound.PLAY_NO_WAIT_FOR_COMPLETE)
player.play_tone(250, 0.7, delay=0.0, volume=100, play_type=Sound.PLAY_NO_WAIT_FOR_COMPLETE)
from ev3dev2.sensor.lego import TouchSensor, UltrasonicSensor
from ev3dev2.sound import Sound
from time import sleep
us = UltrasonicSensor()
us.mode = 'US-DIST-CM'
ts = TouchSensor()
sound = Sound()
tank_pair = MoveTank(OUTPUT_B, OUTPUT_C)
#tank_pair.on(left_speed=30, right_speed=30)
tank_pair.on_for_seconds(left_speed=-50,
right_speed=-25,
seconds=1.6,
brake=True,
block=True)
tank_pair.on(left_speed=25, right_speed=50)
while True:
Distance = us.value() / 10
if Distance < 7:
tank_pair.off(brake=True)
sleep(1)
sound.play_tone(440, 1)
tank_pair.on_for_seconds(left_speed=-50,
right_speed=-50,
seconds=1,
brake=True,
block=True)
break
else:
sleep(0.01)
from ev3dev2.button import Button
from ev3dev2.sound import Sound
from ev3dev2.display import Display
import time
import sys
btn = Button() # variable so we can get buttons pressed on EV3
color = ColorSensor(INPUT_4) # color sensor for checking attachment color
tank_drive = MoveTank(
OUTPUT_B, OUTPUT_C) # Creates a variable so we can control the drivetrain
motorA = MediumMotor(OUTPUT_A) # left medium motor
motorD = MediumMotor(OUTPUT_D) # right medium motor
gyro = GyroSensor(INPUT_1) # gyro variable
Sound_ = Sound() # beepity beep
Display_ = Display() # for displaying text
Sound_.play_tone(frequency=400, duration=0.5,
volume=50) #plays a note so we know when the code starts
#---------------------------------------------------------------------------------------------------------------------------------------------------
#------------------------------------------------Distance conversion--------------------------------------------------------------------------------
# Distance Conversion
wheelDiameter_mm = 56 # Look at the first number on the NUMBERxNUMBER on wheel
wheelCircumference_cm = (
wheelDiameter_mm / 10
) * 3.14159265358979323846284338 # Convert to cm and multiply by pi for circumference
wheelCircumference_in = (
wheelDiameter_mm / 25.4
) * 3.14159265358979323846284338 # Convert to in and multiply by pi for circumference
# inches to rotations:
# example: drive.on_for_rotations(SpeedPercent(100), SpeedPrecent(100), inToRotations(5))
def test():
sounds = Sound()
sounds.set_volume(100)
sounds.beep()
sounds.play_tone(300, 0.2)
sleep(1)
sounds.play_tone(500, 0.2)
sleep(1)
sounds.speak('start runing:')
sleep(1)
sounds.play_song((
('D4', 'e3'), # intro anacrouse
('D4', 'e3'),
('D4', 'e3'),
('G4', 'h'), # meas 1
('D5', 'h'),
('C5', 'e3'), # meas 2
('B4', 'e3'),
('A4', 'e3'),
('G5', 'h'),
('D5', 'q'),
('C5', 'e3'), # meas 3
('B4', 'e3'),
('A4', 'e3'),
('G5', 'h'),
('D5', 'q'),
('C5', 'e3'), # meas 4
('B4', 'e3'),
('C5', 'e3'),
('A4', 'h.'),
))
sleep(1)
sounds.tone([(392, 350, 100), (392, 350, 100), (392, 350, 100),
(311.1, 250, 100), (466.2, 25, 100), (392, 350, 100),
(311.1, 250, 100), (466.2, 25, 100), (392, 700, 100),
(587.32, 350, 100), (587.32, 350, 100), (587.32, 350, 100),
(622.26, 250, 100), (466.2, 25, 100), (369.99, 350, 100),
(311.1, 250, 100), (466.2, 25, 100), (392, 700, 100),
(784, 350, 100), (392, 250, 100), (392, 25, 100),
(784, 350, 100), (739.98, 250, 100), (698.46, 25, 100),
(659.26, 25, 100), (622.26, 25, 100), (659.26, 50, 400),
(415.3, 25, 200), (554.36, 350, 100), (523.25, 250, 100),
(493.88, 25, 100), (466.16, 25, 100), (440, 25, 100),
(466.16, 50, 400), (311.13, 25, 200), (369.99, 350, 100),
(311.13, 250, 100), (392, 25, 100), (466.16, 350, 100),
(392, 250, 100), (466.16, 25, 100), (587.32, 700, 100),
(784, 350, 100), (392, 250, 100), (392, 25, 100),
(784, 350, 100), (739.98, 250, 100), (698.46, 25, 100),
(659.26, 25, 100), (622.26, 25, 100), (659.26, 50, 400),
(415.3, 25, 200), (554.36, 350, 100), (523.25, 250, 100),
(493.88, 25, 100), (466.16, 25, 100), (440, 25, 100),
(466.16, 50, 400), (311.13, 25, 200), (392, 350, 100),
(311.13, 250, 100), (466.16, 25, 100), (392.00, 300, 150),
(311.13, 250, 100), (466.16, 25, 100), (392, 700)])
sounds.play_file('resources/xiaohuamao.wav')
sleep(2)
def menu_tone(self):
player = Sound()
player.play_tone(1000, 0.5, delay=0.0, volume=100, play_type=Sound.PLAY_NO_WAIT_FOR_COMPLETE)
class Robot:
def __init__(self):
self.tank_pair = MoveTank(OUTPUT_B, OUTPUT_C)
self.color_sensor = ColorSensor()
self.ultrasonic = UltrasonicSensor()
self.sound = Sound()
self.tile_length = 200
# Ranges for color intensities
self.black_range = range(0, 30)
self.white_range = range(30, 100)
self.sensor_dist = 86
def move_degrees(self, degrees, speed=20):
if degrees >= 0:
self.tank_pair.on_for_degrees(left_speed=speed,
right_speed=speed,
degrees=degrees)
else:
self.tank_pair.on_for_degrees(left_speed=-speed,
right_speed=-speed,
degrees=-degrees)
def steer_on(self, steering, speed=20):
if steering >= 0:
self.tank_pair.on(left_speed=speed, right_speed=0)
else:
self.tank_pair.on(left_speed=0, right_speed=speed)
def on(self, speed=20):
self.tank_pair.on(left_speed=speed, right_speed=speed)
def off(self):
self.tank_pair.off()
def on_white(self):
return self.color_sensor.reflected_light_intensity in self.white_range
def on_black(self):
return self.color_sensor.reflected_light_intensity in self.black_range
def skip_white(self, speed=20):
self.on(speed=speed)
while self.on_white():
pass
self.off()
def skip_black(self, speed=20):
self.on(speed=speed)
while self.on_black():
pass
self.off()
def turn(self, degrees, speed=20):
if degrees >= 0:
self.tank_pair.on_for_degrees(left_speed=speed,
right_speed=-speed,
degrees=degrees * 1.987)
else:
self.tank_pair.on_for_degrees(left_speed=-speed,
right_speed=speed,
degrees=-degrees * 1.987)
def run(self):
self.on(speed=80)
while True:
pass
def initialize_start(self):
self.move_degrees(80)
self.skip_black()
self.skip_white()
self.move_degrees(self.tile_length / 2 + self.sensor_dist)
self.turn(degrees=90)
self.skip_black(speed=-20)
self.skip_white()
def count_tiles(self):
tile_count = 0
turn_angle = 0
prev_turn_angle = 0
robot_angle = 0
while tile_count < 14:
tile_count += 1
self.sound.play_tone(100 + (50 * tile_count), 0.5)
self.move_degrees(120)
self.turn(90)
self.move_degrees(40)
right_is_white = self.on_white()
self.move_degrees(-40)
self.turn(-180)
self.move_degrees(40)
left_is_white = self.on_white()
self.move_degrees(-40)
self.turn(90)
if left_is_white and not (right_is_white):
turn_angle = 7
elif not (left_is_white) and right_is_white:
turn_angle = -7
else:
turn_angle = 0
self.turn(-prev_turn_angle)
if abs(robot_angle + turn_angle) >= 14:
turn_angle /= 2
self.turn(turn_angle)
robot_angle += turn_angle
prev_turn_angle = turn_angle
self.skip_black()
self.skip_white()
tile_count += 1
self.sound.play_tone(100 + (50 * tile_count), 0.5)
self.move_degrees(-self.tile_length * 0.5)
def cm_to_degrees(self, cm):
return (360 / (6 * math.pi)) * cm
def turn_360(self):
self.turn(degrees=360)
# point robot towards tower; return distance in cm
def search_for_tower(self):
min_dist = 255
start_time = time.time()
min_time = start_time
turn_thread = Thread(target=self.turn_360)
turn_thread.start()
while turn_thread.is_alive():
cur_dist = self.ultrasonic.distance_centimeters
if cur_dist < min_dist:
min_dist = cur_dist
min_time = time.time()
end_time = time.time()
self.turn(degrees=-360)
self.turn(degrees=360 * (min_time - start_time) /
(end_time - start_time))
return min_dist
def bump_tower(self):
self.turn(degrees=90)
self.move_degrees(self.tile_length * 18)
while True:
distance = self.search_for_tower()
if distance / 2 <= 20:
self.move_degrees(self.cm_to_degrees(distance - 20))
self.search_for_tower()
break
self.move_degrees(self.cm_to_degrees(distance / 2))
self.on(speed=100)
time.sleep(5)
self.off()
self.sound.speak("Mission Completed")
#!/usr/bin/env python3
from ev3dev2.sound import Sound
from time import sleep
sound = Sound()
#play a standard beep
sound.beep()
sleep(2) # pause for 2 seconds
# Play a SINGLE 2000 Hz tone for 1.5 seconds
sound.play_tone(2000, 1.5)
sleep(2)
# Play a SEQUENCE of tones
sound.tone([(200, 2000, 400), (800, 1800, 2000)])
sleep(2)
# Play a 500 Hz tone for 1 second and then wait 0.4 seconds
# before playing the next tone
# Play the tone three times
# [(500, 1000, 400)] * 3 is the same as
# [(500, 1000, 400), (500, 1000, 400), (500, 1000, 400)]
sound.tone([(500, 1000, 400)] * 3)
sleep(2)
#text to speech
sound.speak('Hello, my name is E V 3!')
leds = Leds()
sound = Sound()
while loop:
if btn.left == True:
leds.set_color('LEFT', 'RED')
elif btn.right == True:
leds.set_color('RIGHT', 'RED')
elif btn.up == True:
leds.set_color('RIGHT', 'YELLOW')
elif btn.down == True:
leds.set_color('LEFT', 'AMBER')
elif btn.enter == True:
loop = False
else:
print('Do something!')
sound.play_tone(1500, 1)
sleep(0.5)
sound.play_tone(1400, 1)
sleep(0.5)
sound.play_tone(1300, 1)
sleep(0.5)
sound.play_tone(1400, 1)
sleep(0.5)
sound.play_tone(1500, 1)
sleep(0.5)
sound.play_tone(1500, 1)
sleep(0.5)
sound.play_tone(1500, 1)
sleep(0.5)
sound.play_tone(1400, 1)
sleep(0.5)