def code():
rightArm = Motor('A')
rightArm.start(50)
wait_for_seconds(2)
rightArm.stop()
print("Skiing...")
# Original value is 6.
# I set this to 3 due to space constraints.
n_pushes = 3
for ii in range(0, n_pushes):
# Now, we move the arm motors back to position 0 sequentially.
# This doesn't affect the movement, but looks a bit clumsy.
# An alternative to this could be using coroutines to
# make them run "parallel", as in the drum_solo project.
motor_left_arm.run_to_position(0, direction='shortest path')
motor_right_arm.run_to_position(0, direction='shortest path')
motors_arms.move(85, unit='degrees')
motor_right_arm.start()
t_wait = 0.1
wait_for_seconds(t_wait)
motor_right_arm.stop()
motor_left_arm.run_to_position(0, direction='shortest path')
motor_right_arm.run_to_position(0, direction='shortest path')
app.play_sound('Skid')
print("DONE!")
# %%
print("-" * 15 + " Execution ended " + "-" * 15 + "\n")
class AutonomousCar:
def __init__(self, settings):
self.settings = settings
self.go_ahead = True
self.turn = False
self.turn_angle = 30
if bool(random.getrandbits(1)):
self.turn_angle *= -1
self.initiate_objects()
if settings['run_test']:
self.test_function()
else:
self.calibrate()
self.the_loop()
def initiate_objects(self):
self.hub = MSHub()
self.hub.status_light.on('orange')
self.motor_front = Motor(self.settings['motor_front_port'])
self.motor_rear = Motor(self.settings['motor_rear_port'])
self.dist_sens = DistanceSensor(self.settings['dist_sens_port'])
def calibrate(self):
self.motor_front.run_to_position(self.settings['motor_front_angle'])
def test_function(self):
self.hub.light_matrix.show_image('PACMAN')
sounds_and_colors = [(65, "blue"), (70, "azure"), (60, "cyan")]
for i in sounds_and_colors:
self.hub.speaker.beep(i[0], 0.3)
self.hub.status_light.on(i[1])
self.hub.light_matrix.off()
def end_turn(self):
self.turn = False
self.motor_front.run_for_degrees(self.turn_angle * -1)
def the_loop(self):
self.hub.light_matrix.write('GO')
self.hub.status_light.on('green')
loop_time_diff = 0
loop_start_time = time.time()
turn_time_diff = 0
turn_start_time = None
while loop_time_diff < self.settings['how_long_run']:
how_far = self.dist_sens.get_distance_cm()
rear_speed = self.settings.get('motor_rear_speed')
if self.turn:
self.hub.status_light.on('yellow')
turn_time_control = time.time()
turn_time_diff = turn_time_control - turn_start_time
if isinstance(
how_far, int
) and how_far <= self.settings['dist_threshold_low']:
self.go_ahead = False
self.end_turn()
elif turn_time_diff >= self.settings['turn_in_seconds']:
self.end_turn()
elif self.go_ahead:
self.hub.status_light.on('green')
rear_speed = rear_speed * -1
if isinstance(
how_far, int
) and how_far <= self.settings['dist_threshold_low']:
self.go_ahead = False
else:
self.hub.status_light.on('blue')
if isinstance(
how_far, int
) and how_far >= self.settings['dist_threshold_high']:
self.turn = True
turn_start_time = time.time()
self.motor_front.run_for_degrees(self.turn_angle)
self.go_ahead = True
self.motor_rear.start(rear_speed)
wait_for_seconds(0.25)
loop_time_control = time.time()
loop_time_diff = loop_time_control - loop_start_time
self.motor_rear.stop()
self.calibrate()
self.hub.light_matrix.write('STOP')
print("Steering...")
motor_steer.run_to_position(POSITION, speed=35)
print("DONE!")
# %% [markdown]
# The tank speed is given by `SPEED`. It should have a value between `-100` and `100`.
# * A negative value will move the tank forward.
# * A positive value will move the tank backwards.
#
# Recommended value is `-50`
# %%
SPEED = -50
print("Moving...")
motor_power.start(SPEED)
print("DONE!")
# %% [markdown]
# # Configure the patrolling
# We will move the turret constantly. It will go from left to right and from
# right to left. When an obstacle is detected, the turret will go back to the
# initial position and "fire".
#
#
#
# ## Define distance function
# As part of the program, we need to continuously check if the
# measured distance is less than 10 cm.
# %%
