def main(robot):
# Définition des moteurs / capteurs
m_left = Motor(robot, PORT_B)
m_right = Motor(robot, PORT_A)
touch_right = Touch(robot, PORT_2)
touch_left = Touch(robot, PORT_1)
ultrason = Ultrasonic(robot, PORT_3)
DEFAULT_POWER = 80
DISTANCE_LIMIT = 20
TURN_TIME = 1.5
# Début
while True:
m_left.run(power=DEFAULT_POWER)
m_right.run(power=DEFAULT_POWER)
while not touch_right.is_pressed() and not touch_left.is_pressed() and ultrason.get_distance() > DISTANCE_LIMIT:
sleep(0.01)
print("Aieee")
if touch_right.is_pressed():
m_left.run(power=DEFAULT_POWER)
m_left.run(power=-DEFAULT_POWER)
else:
m_left.run(power=-DEFAULT_POWER)
m_left.run(power=DEFAULT_POWER)
sleep(TURN_TIME)
def main(robot):
# Définition des moteurs / capteurs
m_left = Motor(robot, PORT_B)
m_right = Motor(robot, PORT_A)
touch_right = Touch(robot, PORT_2)
touch_left = Touch(robot, PORT_1)
ultrason = Ultrasonic(robot, PORT_3)
DEFAULT_POWER = 80
DISTANCE_LIMIT = 20
TURN_TIME = 1.5
# Début
while True:
m_left.run(power=DEFAULT_POWER)
m_right.run(power=DEFAULT_POWER)
while not touch_right.is_pressed() and not touch_left.is_pressed(
) and ultrason.get_distance() > DISTANCE_LIMIT:
sleep(0.01)
print("Aieee")
if touch_right.is_pressed():
m_left.run(power=DEFAULT_POWER)
m_left.run(power=-DEFAULT_POWER)
else:
m_left.run(power=-DEFAULT_POWER)
m_left.run(power=DEFAULT_POWER)
sleep(TURN_TIME)
def initialize(self):
super(DrivarNxt, self).initialize()
self.m_block = nxt.locator.find_one_brick()
self.m_leftMotor = Motor(self.m_block, PORT_A)
self.m_rightMotor = Motor(self.m_block, PORT_C)
self.m_ultrasonicSensor = Ultrasonic(self.m_block, PORT_4)
self.m_initialized = True
def initialize(self):
super(DrivarNxt, self).initialize()
self.block = nxt.locator.find_one_brick()
self.leftMotor = Motor(self.block, PORT_A)
self.rightMotor = Motor(self.block, PORT_C)
self.penMotor = Motor(self.block, PORT_B)
self.ultrasonicSensor = Ultrasonic(self.block, PORT_4)
self.lightSensor = Light(self.block, PORT_3)
self.initialized = True
def ConnectToNxt():
brick = nxt.bluesock.BlueSock('00:16:53:04:17:F1').connect()
motor_right = Motor(brick, PORT_A)
motor_left = Motor(brick, PORT_C)
ultrasonic_front = Ultrasonic(brick, PORT_2)
ultrasonic_left = Ultrasonic(brick, PORT_1)
ultrasonic_right = Ultrasonic(brick, PORT_3)
return motor_right, motor_left, ultrasonic_front, ultrasonic_left, ultrasonic_right
class Robot:
def __init__(self):
print 'Searching for NXT bricks...'
self.robot = nxt.locator.find_one_brick()
print 'NXT brick found'
self.right_motor = Motor(self.robot, PORT_B)
self.left_motor = Motor(self.robot, PORT_C)
self.locator = Ultrasonic(self.robot, PORT_1)
self.haptic = Touch(self.robot, PORT_4)
def forward(self):
if(random.random() > .5):
self.right_motor.run(-STRAIGHT_POWER)
self.left_motor.run(-STRAIGHT_POWER)
else:
self.left_motor.run(-STRAIGHT_POWER)
self.right_motor.run(-STRAIGHT_POWER)
sleep(SECONDS)
if(random.random() > .5):
self.right_motor.idle()
self.left_motor.idle()
else:
self.left_motor.idle()
self.right_motor.idle()
def back(self):
self.right_motor.run(STRAIGHT_POWER)
self.left_motor.run(STRAIGHT_POWER)
sleep(SECONDS)
self.right_motor.idle()
self.left_motor.idle()
def right(self):
self.left_motor.turn(-TURN_POWER, ANGLE)
def left(self):
self.right_motor.turn(-TURN_POWER, ANGLE)
def distance(self):
return self.locator.get_sample()
def is_touching(self):
return self.haptic.get_sample()
def beep_ok(self):
self.robot.play_tone_and_wait(FREQ_C, DURATION)
self.robot.play_tone_and_wait(FREQ_D, DURATION)
self.robot.play_tone_and_wait(FREQ_E, DURATION)
def beep_not_ok(self):
self.robot.play_tone_and_wait(FREQ_E, DURATION)
self.robot.play_tone_and_wait(FREQ_D, DURATION)
self.robot.play_tone_and_wait(FREQ_C, DURATION)
class Car:
brick = None
left = None
right = None
def __init__ (self):
brick = nxt.locator.find_one_brick()
self.brick = brick
self.left = Motor(brick, PORT_A)
self.right = Motor(brick, PORT_C)
self.light = Light(brick, PORT_3)
self.ultrasonic = Ultrasonic(brick, PORT_4)
print "Connection established."
def turn (self, angle=100, speed = 30):
if angle > 0:
self.left.turn(angle, speed)
elif angle < 0:
self.right.turn(-angle, speed)
def forward (self, distance=50, speed=30):
self.left.run(power=speed)
self.right.run(power=speed)
sleep(distance/speed)
self.left.idle()
self.right.idle()
def range(self):
return self.ultrasonic.get_sample()
def surface(self):
return self.light.get_sample()
def initialize(self):
super(DrivarNxt,self).initialize()
self.m_block = nxt.locator.find_one_brick()
self.m_leftMotor = Motor(self.m_block, PORT_A)
self.m_rightMotor = Motor(self.m_block, PORT_C)
self.m_ultrasonicSensor = Ultrasonic(self.m_block, PORT_4)
self.m_initialized = True
def main():
b = find_one_brick()
eyes = Motor(b, PORT_A)
wheels = [Motor(b, PORT_B), Motor(b, PORT_C)]
ultrasonic = Ultrasonic(b, PORT_4)
phizic(eyes, wheels, ultrasonic)
def getDistance(self, port):
if self._bricks:
try:
port = int(port)
except:
pass
if (port in NXT_SENSOR_PORTS):
try:
port_aux = NXT_SENSOR_PORTS[port]
sensor = Ultrasonic(self._bricks[self.active_nxt], port_aux)
return sensor.get_sample()
except:
return ERROR
else:
raise logoerror(ERROR_PORT_S % port)
else:
raise logoerror(ERROR_BRICK)
def __init__ (self):
brick = nxt.locator.find_one_brick()
self.brick = brick
self.left = Motor(brick, PORT_A)
self.right = Motor(brick, PORT_C)
self.light = Light(brick, PORT_3)
self.ultrasonic = Ultrasonic(brick, PORT_4)
print "Connection established."
def __init__(self):
print 'Searching for NXT bricks...'
self.robot = nxt.locator.find_one_brick()
print 'NXT brick found'
self.right_motor = Motor(self.robot, PORT_B)
self.left_motor = Motor(self.robot, PORT_C)
self.locator = Ultrasonic(self.robot, PORT_1)
self.haptic = Touch(self.robot, PORT_4)
def getCompass(self, port):
if self._bricks:
try:
port = int(port)
except:
pass
if (port in NXT_SENSOR_PORTS):
try:
port_aux = NXT_SENSOR_PORTS[port]
sensor = Ultrasonic(self._bricks[self.active_nxt], port_aux)
return sensor.get_sample()
except:
return ERROR
else:
raise logoerror(ERROR_PORT_S % port)
else:
raise logoerror(ERROR_BRICK)
def __init__(self, brick='NXT'):
r'''Creates a new Alpha Rex controller.
brick
Either an nxt.brick.Brick object, or an NXT brick's name as a
string. If omitted, a Brick named 'NXT' is looked up.
'''
if isinstance(brick, basestring):
brick = find_one_brick(name=brick)
self.brick = brick
self.arms = Motor(brick, PORT_C)
self.left = Motor(brick, PORT_A)
self.right = Motor(brick, PORT_B)
self.direction = HTCompass(brick, PORT_2)
self.ultrasonic = Ultrasonic(brick, PORT_4)
def see(self, ultrasonicPort='PORT_4', ultrasonicDistance=25, operator='<', initial=False):
"""
Use the ultrasonic sensor to see obstacles (0-255) with 25 being about a foot away
ultrasonicPort (str): The port used for the ultrasonic sensor (default='PORT_4')
ultrasonicDistance (int): The distance that the ultrasonic returns true [0-255, 25~1foot] (default=25)
operator (str): The operator for comparing distance ['<','>','=','!='] (default='<')
"""
ultrasonic=Ultrasonic(self.nxt.brick, eval(ultrasonicPort))
if initial:
return False #don't return true until actually checked sensor value
else:
data = ultrasonic.get_sample() #integer between 0 and 255
output = operation(data,operator,ultrasonicDistance)
if output:
print 'Ultrasonic Distsance is '+operator+' '+str(ultrasonicDistance)
return output
def __init__(self, brick='NXT'):
r'''Creates a new Alpha Rex controller.
brick
Either an nxt.brick.Brick object, or an NXT brick's name as a
string. If omitted, a Brick named 'NXT' is looked up.
'''
if isinstance(brick, str):
brick = find_one_brick(name=brick)
self.brick = brick
self.arms = Motor(brick, PORT_A)
self.legs = [Motor(brick, PORT_B), Motor(brick, PORT_C)]
self.touch = Touch(brick, PORT_1)
self.sound = Sound(brick, PORT_2)
self.light = Light(brick, PORT_3)
self.ultrasonic = Ultrasonic(brick, PORT_4)
def __init__(self, world):
Robot.__init__(self, world, 2, Orientation.NORTH)
self.noise = 0
self.brick = find_one_brick()
self.motor1 = Motor(self.brick, PORT_B)
self.motor2 = Motor(self.brick, PORT_C)
self.ultrasonic = Ultrasonic(self.brick, PORT_4)
self.motor1.reset_position(False)
self.motor2.reset_position(False)
def see(self, ultrasonicPort='PORT_4', ultrasonicDistance=25, operator='<', initial=False):
"""
Use the ultrasonic sensor to see obstacles (0-255) with 25 being about a foot away
ultrasonicPort (str): The port used for the ultrasonic sensor (default='PORT_4')
ultrasonicDistance (int): The distance that the ultrasonic returns true [0-255, 25~1foot] (default=25)
operator (str): The operator for comparing distance ['<','>','=','!='] (default='<')
"""
ultrasonic=Ultrasonic(self.nxt.brick, eval(ultrasonicPort))
if initial:
return False #don't return true until actually checked sensor value
else:
data = ultrasonic.get_sample() #integer between 0 and 255
output = operation(data,operator,ultrasonicDistance)
if output:
print 'Ultrasonic Distsance is '+operator+' '+str(ultrasonicDistance)
return output
def getDistance(self, port):
if self._bricks:
time.sleep(0.5)
try:
port = int(port)
except:
pass
if (port in NXT_SENSOR_PORTS):
res = ERROR
#try:
port_aux = NXT_SENSOR_PORTS[port]
sensor = Ultrasonic(self._bricks[self.active_nxt], port_aux)
res = sensor.get_sample()
#except:
#pass
return res
else:
pass
else:
pass
def __init__(self):
self.brick = nxt.bluesock.BlueSock('00:16:53:08:51:40').connect()
self.right = Motor(self.brick, PORT_A)
self.left = Motor(self.brick, PORT_C)
self.legs = Legs(self.right, self.left)
#self.ear = Sound(self.brick, PORT_2)
self.sonic = Ultrasonic(self.brick, PORT_4)
self.owner_distance = 0
self.stamina = 200
def __init__(self):
self.brick = nxt.bluesock.BlueSock("00:16:53:08:51:40").connect()
# self.brick = nxt.locator.find_one_brick()
self.right = Motor(self.brick, PORT_A)
self.left = Motor(self.brick, PORT_C)
self.legs = Legs(self.right, self.left)
# self.ear = Sound(self.brick, PORT_2)
self.sonic = Ultrasonic(self.brick, PORT_4)
self.owner_distance = 0
self.last_distance = 255
def __init__(self, brick='NXT'):
r'''Creates a new Alpha Rex controller.
brick
Either an nxt.brick.Brick object, or an NXT brick's name as a
string. If omitted, a Brick named 'NXT' is looked up.
'''
if isinstance(brick, str):
brick = find_one_brick(name=brick)
self.brick = brick
self.arms = Motor(brick, PORT_A)
self.legs = [Motor(brick, PORT_B), Motor(brick, PORT_C)]
self.touch = Touch(brick, PORT_1)
self.sound = Sound(brick, PORT_2)
self.light = Light(brick, PORT_3)
self.ultrasonic = Ultrasonic(brick, PORT_4)
def __init__(self, brick="NXT"):
r"""Creates a new Robot controller.
brick
Either an nxt.brick.Brick object, or an NXT brick's name as a
string. If omitted, a Brick named 'NXT' is looked up.
"""
if isinstance(brick, basestring):
brick = find_one_brick(name=brick)
self.brick = brick
self.tool = Motor(brick, PORT_B)
self.tracks = [Motor(brick, PORT_A), Motor(brick, PORT_C)]
self.ultrasonic = Ultrasonic(brick, PORT_1)
self.sound = Sound(brick, PORT_2)
self.light = Light(brick, PORT_3)
self.touch = Touch(brick, PORT_4)
def __init__(self, brick="NXT"):
if isinstance(brick, basestring):
brick = find_one_brick(name=brick)
self.motor = True
self.sensor = True
try:
self.brick = brick
except:
print("No brick found")
try:
self.wheels = [Motor(brick, PORT_A), Motor(brick, PORT_B)]
except:
self.motor = False
print("No motors detected!")
try:
self.bat_eyes = Ultrasonic(brick, PORT_1)
except Exception as e:
self.sensor = False
print(e)
print("No sensor found")
# the bluetooth function of the nxt library works too, but "wastes"
# time searching for devices.
brick = nxtConnect.btConnect(brickName)
print(brick.get_device_info()) # check what brick you connected to
from time import sleep
from nxt.motor import Motor, PORT_A, PORT_B, PORT_C
from nxt.sensor import Touch, PORT_4, PORT_3, PORT_2, Light, PORT_1, Ultrasonic
light = Light(brick, PORT_4)
turningMotor = Motor(brick, PORT_B)
walkingMotor = Motor(brick, PORT_C)
armMotor = Motor(brick, PORT_A)
touch = Touch(brick, PORT_1)
ultrasonic = Ultrasonic(brick, PORT_2)
compass = Ultrasonic(brick, PORT_3)
#TODO
# calibrate sleep times might need adjusting
# find bin is probably non functional, and VERY necessary (very short range when picking up bin)
# additional bin ID data to get more accurate values
# line follow data
# LINE FOLLOW VARIABLES
turningPower = 70 # 70, motor power used when turning in line follow
negInertiaPower = 65 # 65, motor power for negative inertia
findLineTimeOut = 0.5 # 0.5, time between switching motor to the opposite direction
negInertiaLengthOnWhite = 0.2 # 0.2, time before braking on negative inertia when originally on white
negInertiaLengthOnBlack = 0.05 # 0.05, time before braking on negative inertia when originally on black (should be smaller than white to prevent overshooting the line)
brick = nxtConnect.btConnect(brickName)
print(brick.get_device_info()) # check what brick you connected to
from time import sleep
from nxt.motor import Motor, PORT_A, PORT_B, PORT_C
from nxt.sensor import Touch, PORT_4, PORT_3, PORT_2, Light, PORT_1, Ultrasonic
#from basicFunctions import step, calibrate
light = Light(brick, PORT_1)
turningMotor = Motor(brick, PORT_B)
walkingMotor = Motor(brick, PORT_C)
armMotor = Motor(brick, PORT_A)
legPosition = Touch(brick, PORT_3)
ultrasonic = Ultrasonic(brick, PORT_4)
def step(forwardPower):
#print('stepping')
walkingMotor.run(power = forwardPower)
sleep(.1)
while True:
if legPosition.is_pressed() == True:
walkingMotor.run(power = 0)
walkingMotor.brake()
return
def lineFollow():
step(120)
pass
class DrivarNxt(Drivar):
def __init__(self):
self.m_initialized = False
self.m_block = None
self.m_leftMotor = None
self.m_rightMotor = None
self.m_ultrasonicSensor = None
self.m_moving = False
def initialize(self):
super(DrivarNxt,self).initialize()
self.m_block = nxt.locator.find_one_brick()
self.m_leftMotor = Motor(self.m_block, PORT_A)
self.m_rightMotor = Motor(self.m_block, PORT_C)
self.m_ultrasonicSensor = Ultrasonic(self.m_block, PORT_4)
self.m_initialized = True
def move(self, direction=Drivar.DIR_FORWARD,durationInMs=1000, callback = None):
durationInMs = max(durationInMs,100)
_direct = direction
self.rotateWheels(direction = _direct)
time.sleep(durationInMs/1000)
self.stop()
if callback is not None:
callback()
def rotateWheels(self, wheelSet = Drivar.WHEELS_BOTH, direction = Drivar.DIR_FORWARD, speedLevel = Drivar.SPEED_FAST, callback = None):
power = self._getNxtSpeed(speedLevel)
# Correct the power (positive vs negative) depending on the direction
if(direction == Drivar.DIR_FORWARD):
if(power < 0):
power = power * -1
if(direction == Drivar.DIR_BACKWARD):
if(power > 0):
power = power * -1
# Get the wheels turning
if(wheelSet == Drivar.WHEELS_LEFT or wheelSet == Drivar.WHEELS_BOTH):
self.m_leftMotor.run(power)
if(wheelSet == Drivar.WHEELS_RIGHT or wheelSet == Drivar.WHEELS_BOTH):
self.m_rightMotor.run(power)
self.m_moving = True
if callback is not None:
callback()
def turn(self, direction = Drivar.DIR_LEFT, angle = 90):
left_power = -100
right_power = 100
if(direction == Drivar.DIR_RIGHT):
left_power *= -1
right_power *= -1
self.m_leftMotor.turn(left_power, angle)
self.m_rightMotor.turn(right_power, angle)
def stop(self, callback = None):
self.m_leftMotor.idle()
self.m_rightMotor.idle()
self.m_moving = False
if callback is not None:
callback()
'''
Return the distance to the nearest obstacle, in centimeters
'''
def getDistanceToObstacle(self):
return self.m_ultrasonicSensor.get_sample()
'''
Indicate with a boolean whether there is an obstacle within the given distance
'''
def isObstacleWithin(self, distance):
dist = self.m_ultrasonicSensor.get_sample()
if(dist <= distance):
return True
else:
return False
'''
Return the NXT speed equivalent for the given DRIVAR speed flag
'''
@staticmethod
def _getNxtSpeed(speed):
if(speed==Drivar.SPEED_SLOW):
return 70
elif(speed==Drivar.SPEED_MEDIUM):
return 100
elif(speed==Drivar.SPEED_FAST):
return 127
else :
return 100
class Seng(object):
def __init__(self, brick='NXT'):
r'''Creates a new Alpha Rex controller.
brick
Either an nxt.brick.Brick object, or an NXT brick's name as a
string. If omitted, a Brick named 'NXT' is looked up.
'''
if isinstance(brick, basestring):
brick = find_one_brick(name=brick)
self.brick = brick
self.arms = Motor(brick, PORT_C)
self.left = Motor(brick, PORT_A)
self.right = Motor(brick, PORT_B)
self.direction = HTCompass(brick, PORT_2)
self.ultrasonic = Ultrasonic(brick, PORT_4)
def echolocate(self):
r'''Reads the Ultrasonic sensor's output.
'''
return self.ultrasonic.get_sample()
def compass(self):
return self.direction.get_sample()
def walk_seng(self, secs, power):
r'''Simultaneously activates the leg motors, causing Alpha Rex to walk.
secs
How long the motors will rotate.
power
The strength effected by the motors. Positive values will cause
Alpha Rex to walk forward, while negative values will cause it
to walk backwards. If you are unsure about how much force to
apply, the special values FORTH and BACK provide reasonable
defaults. If omitted, FORTH is used.
'''
self.left.run(power=power)
self.right.run(power=power)
sleep(secs)
self.left.idle()
self.right.idle()
def walk_seng_start(self, power):
self.left.run(power=power)
self.right.run(power=power)
def walk_seng_stop(self):
self.left.idle()
self.right.idle()
def turn_seng(self, secs, power):
self.left.run(power=power)
self.right.run(power=-power)
sleep(secs)
self.left.idle()
self.right.idle()
def turn_seng_start(self, power):
self.left.run(power=power)
self.right.run(power=-power)
def turn_seng_stopp(self):
self.left.idle()
self.right.idle()
def ultrasonic(self):
us = Ultrasonic(self.brick, PORT_3)
return us.get_distance()
class Dog(object):
MIN_OWNER_DISTANCE = 30
MAX_OWNER_DISTANCE = 40
LOST_DISTANCE = 100
def __init__(self):
self.brick = nxt.bluesock.BlueSock("00:16:53:08:51:40").connect()
# self.brick = nxt.locator.find_one_brick()
self.right = Motor(self.brick, PORT_A)
self.left = Motor(self.brick, PORT_C)
self.legs = Legs(self.right, self.left)
# self.ear = Sound(self.brick, PORT_2)
self.sonic = Ultrasonic(self.brick, PORT_4)
self.owner_distance = 0
self.last_distance = 255
@property
def distance_ahead(self):
sample = self.sonic.get_distance()
if sample == 255:
self.last_distance += 20
return self.last_distance
self.last_distance = sample
return sample
def wait(self):
print "Waiting"
self.stop()
while True:
distance = self.distance_ahead
if distance > 30 and distance < 40:
self.owner_distance = distance
print "owner distance: %d" % distance
return self.follow()
def follow(self):
print "Following"
while True:
distance = self.distance_ahead
if distance > self.owner_distance + 50:
return self.search()
if distance > self.owner_distance:
self.legs.walk(50 + distance - self.owner_distance)
elif distance < self.owner_distance:
self.legs.walk_back(50 + self.owner_distance - distance)
else:
self.stop()
time.sleep(0.5)
def search(self):
print "Searching"
angle = 0.5
max_angle = 64
direction = random.choice((-1, 1))
while angle < max_angle:
start = time.time()
while self.distance_ahead > 100 and time.time() < start + angle:
self.legs.turn(direction)
self.legs.stop()
if self.distance_ahead <= 100:
return self.follow()
direction *= -1
angle *= 2
return self.wait()
def stop(self):
self.legs.stop()
print(brick.get_device_info()) # check what brick you connected to
from time import sleep
from nxt.sensor import Light, Touch, Ultrasonic
from nxt.sensor import PORT_1, PORT_2, PORT_3, PORT_4
from nxt.motor import Motor, PORT_A, PORT_B, PORT_C
"""##########################################################################################
################################ IMPORT MOTORS AND SENSORS HERE ################################
###########################################################################################"""
motorLeft = Motor(brick, PORT_B)
motorRight = Motor(brick, PORT_C)
armMotor = Motor(brick, PORT_A)
light = Light(brick, PORT_3)
touch = Touch(brick, PORT_4)
sonar = Ultrasonic(brick, PORT_2)
led = Light(brick, PORT_1) # experimental
"""########################################################################################"""
def binIdent():
n = 50
#wait .25 seconds after the kill-switch is released
sleep(.25)
while n > 0:
print("Bin Identification Running, power = %d" % n)
# print(sonar.get_distance())
armMotor.run(power=n)
class Robot(object):
def __init__(self, brick="NXT"):
r"""Creates a new Robot controller.
brick
Either an nxt.brick.Brick object, or an NXT brick's name as a
string. If omitted, a Brick named 'NXT' is looked up.
"""
if isinstance(brick, basestring):
brick = find_one_brick(name=brick)
self.brick = brick
self.tool = Motor(brick, PORT_B)
self.tracks = [Motor(brick, PORT_A), Motor(brick, PORT_C)]
self.ultrasonic = Ultrasonic(brick, PORT_1)
self.sound = Sound(brick, PORT_2)
self.light = Light(brick, PORT_3)
self.touch = Touch(brick, PORT_4)
def turn(self, power, angle):
for motor in self.tracks:
motor.turn(power, angle)
def move(self, power=FORTH):
r"""Simultaneously activates the tracks motors, causing Robot to move.
power
The strength effected by the motors. Positive values will cause
Robot to move forward, while negative values will cause it
to move backwards. If you are unsure about how much force to
apply, the special values FORTH and BACK provide reasonable
defaults. If omitted, FORTH is used.
"""
for motor in self.tracks:
motor.run(power=power)
def wait(self, seconds):
""" secsonds
How long the motors will rotate.
Will this take values < 0? Most motor commands work in ms.
Try passing sleep 1/seconds (miliseconds)
"""
sleep(seconds)
def stop(self):
for motor in self.tracks:
motor.idle()
def tacho(self):
"""
returns an array of two elements which are the motor tacho readings
"""
tachos = []
for motor in self.tracks:
# tachos.append(motor.get_tacho())
tachos.append(motor.tacho_count) # , rotation_count
return tachos
def act(self, power=FORTH):
r"""Make Robot move its tool.
power
The strength effected by the motor. If omitted, (100) is used.
"""
self.tool.run(power=power)
def echolocate(self):
r"""Reads the Ultrasonic sensor's output.
"""
return self.ultrasonic.get_sample()
def feel(self):
r"""Reads the Touch sensor's output.
"""
return self.touch.get_sample()
def hear(self):
r"""Reads the Sound sensor's output.
"""
return self.sound.get_sample()
def say(self, line, times=1):
r"""Plays a sound file named (line + '.rso'), which is expected to be
stored in the brick. The file is played (times) times.
line
The name of a sound file stored in the brick.
times
How many times the sound file will be played before this method
returns.
"""
for i in range(0, times):
self.brick.play_sound_file(False, line + ".rso")
sleep(1)
def see(self):
r"""Reads the Light sensor's output.
"""
return self.light.get_sample()
class NxtRobot(Robot):
FULL_ROTATE_FACTOR = 5.5
CELL_MOVE_FACTOR = 2.35
def __init__(self, world):
Robot.__init__(self, world, 2, Orientation.NORTH)
self.noise = 0
self.brick = find_one_brick()
self.motor1 = Motor(self.brick, PORT_B)
self.motor2 = Motor(self.brick, PORT_C)
self.ultrasonic = Ultrasonic(self.brick, PORT_4)
self.motor1.reset_position(False)
self.motor2.reset_position(False)
def move(self, direction):
if direction == Direction.FORWARD:
pass
elif direction == Direction.RIGHT:
self._rotate(-0.25)
pass
elif direction == Direction.BACK:
self._rotate(0.5)
pass
elif direction == Direction.LEFT:
self._rotate(0.25)
pass
m = self.ultrasonic.get_sample()
if m > 26:
t1 = threading.Thread(target=self.motor1.turn, args=(50, self.CELL_MOVE_FACTOR * 360))
t2 = threading.Thread(target=self.motor2.turn, args=(50, self.CELL_MOVE_FACTOR * 360))
t1.start()
t2.start()
t1.join()
t2.join()
def measure(self):
m = []
for i in range(4):
m.append(self.ultrasonic.get_sample())
self._rotate(0.25)
return m
def sync(self):
m = self.ultrasonic.get_sample()
while m == 255:
self._rotate(0.17)
m = self.ultrasonic.get_sample()
def _rotate(self, degree):
if degree == 0:
return
sign = 1
if degree < 0:
sign = -1
degree = abs(degree)
t1 = threading.Thread(target=self.motor1.turn, args=(sign * 50, self.FULL_ROTATE_FACTOR * 360 * degree))
t2 = threading.Thread(target=self.motor2.turn, args=(sign * -50, self.FULL_ROTATE_FACTOR * 360 * degree))
t1.start()
t2.start()
t1.join()
t2.join()
def sonar_reading():
x = [Ultrasonic(brick, PORT_1).get_sample(), 0]
return x
# the bluetooth function of the nxt library works too, but "wastes"
# time searching for devices.
brick = nxtConnect.btConnect(brickName)
print(brick.get_device_info()) # check what brick you connected to
from time import sleep
from nxt.motor import Motor, PORT_A, PORT_B, PORT_C
from nxt.sensor import Touch, PORT_4, PORT_3, PORT_2, Light, PORT_1, Ultrasonic
light = Light(brick, PORT_4)
turningMotor = Motor(brick, PORT_B)
walkingMotor = Motor(brick, PORT_C)
armMotor = Motor(brick, PORT_A)
touch = Touch(brick, PORT_1)
ultrasonic = Ultrasonic(brick, PORT_2)
compass = Ultrasonic(brick, PORT_3)
#turningMotor.run(70)
def legPosition():
touchState = touch.get_input_values().calibrated_value
if touchState == 829 or touchState == 810:
return True
else:
return False
def step(forwardPower = 120):
walkingMotor.run(forwardPower)
sleep(.2) # give it time to move off touch sensor
class DrivarNxt(Drivar):
def __init__(self):
self.m_initialized = False
self.m_block = None
self.m_leftMotor = None
self.m_rightMotor = None
self.m_penMotor = None
self.m_ultrasonicSensor = None
self.m_lightSensor = None
self.m_moving = False
def initialize(self):
super(DrivarNxt, self).initialize()
self.m_block = nxt.locator.find_one_brick()
self.m_leftMotor = Motor(self.m_block, PORT_A)
self.m_rightMotor = Motor(self.m_block, PORT_C)
self.m_penMotor = Motor(self.m_block, PORT_B)
self.m_ultrasonicSensor = Ultrasonic(self.m_block, PORT_4)
self.m_lightSensor = Light(self.m_block, PORT_3)
self.m_initialized = True
def move(self,
direction=Drivar.DIR_FORWARD,
durationInMs=1000,
callback=None):
durationInMs = max(durationInMs, 100)
_direct = direction
self.rotateWheels(direction=_direct)
time.sleep(durationInMs / 1000)
self.stop()
if callback is not None:
callback()
def rotateWheels(self,
wheelSet=Drivar.WHEELS_BOTH,
direction=Drivar.DIR_FORWARD,
speedLevel=Drivar.SPEED_FAST,
callback=None):
power = self._getNxtSpeed(speedLevel)
# Correct the power (positive vs negative) depending on the direction
if (direction == Drivar.DIR_FORWARD):
if (power < 0):
power = power * -1
if (direction == Drivar.DIR_BACKWARD):
if (power > 0):
power = power * -1
# Get the wheels turning
if (wheelSet == Drivar.WHEELS_LEFT or wheelSet == Drivar.WHEELS_BOTH):
self.m_leftMotor.run(power)
if (wheelSet == Drivar.WHEELS_RIGHT or wheelSet == Drivar.WHEELS_BOTH):
self.m_rightMotor.run(power)
self.m_moving = True
if callback is not None:
callback()
def turn(self, direction=Drivar.DIR_LEFT, angle=90, callback=None):
left_power = -100
right_power = 100
if (direction == Drivar.DIR_RIGHT):
left_power *= -1
right_power *= -1
self.m_leftMotor.turn(left_power, angle)
self.m_rightMotor.turn(right_power, angle)
def stop(self, callback=None):
self.m_leftMotor.idle()
self.m_rightMotor.idle()
self.m_moving = False
if callback is not None:
callback()
'''
Return the distance to the nearest obstacle, in centimeters
'''
def getDistanceToObstacle(self):
return self.m_ultrasonicSensor.get_sample()
'''
Indicate with a boolean whether there is an obstacle within the given distance
'''
def isObstacleWithin(self, distance):
dist = self.m_ultrasonicSensor.get_sample()
if (dist <= distance):
return True
else:
return False
def rotatePen(self, angle):
power = 70
if angle < 0:
angle = -1 * angle
power = -70
self.m_penMotor.turn(power, angle)
def getReflectivityMeasurement(self):
self.m_lightSensor.set_illuminated(True)
return self.m_lightSensor.get_sample()
def wait(self, milliseconds):
time.sleep(milliseconds / 1000)
'''
Return the NXT speed equivalent for the given DRIVAR speed flag
'''
@staticmethod
def _getNxtSpeed(speed):
if (speed == Drivar.SPEED_SLOW):
return 70
elif (speed == Drivar.SPEED_MEDIUM):
return 100
elif (speed == Drivar.SPEED_FAST):
return 127
else:
return 100
def ultrasonic(port):
u = Ultrasonic(b, SENSORS[port])
return str(u.get_distance())
class AlphaRex(object):
r'''A high-level controller for the Alpha Rex model.
This class implements methods for the most obvious actions performable
by Alpha Rex, such as walk, wave its arms, and retrieve sensor samples.
Additionally, it also allows direct access to the robot's components
through public attributes.
'''
def __init__(self, brick='NXT'):
r'''Creates a new Alpha Rex controller.
brick
Either an nxt.brick.Brick object, or an NXT brick's name as a
string. If omitted, a Brick named 'NXT' is looked up.
'''
if isinstance(brick, str):
brick = find_one_brick(name=brick)
self.brick = brick
self.arms = Motor(brick, PORT_A)
self.legs = [Motor(brick, PORT_B), Motor(brick, PORT_C)]
self.touch = Touch(brick, PORT_1)
self.sound = Sound(brick, PORT_2)
self.light = Light(brick, PORT_3)
self.ultrasonic = Ultrasonic(brick, PORT_4)
def echolocate(self):
r'''Reads the Ultrasonic sensor's output.
'''
return self.ultrasonic.get_sample()
def feel(self):
r'''Reads the Touch sensor's output.
'''
return self.touch.get_sample()
def hear(self):
r'''Reads the Sound sensor's output.
'''
return self.sound.get_sample()
def say(self, line, times=1):
r'''Plays a sound file named (line + '.rso'), which is expected to be
stored in the brick. The file is played (times) times.
line
The name of a sound file stored in the brick.
times
How many times the sound file will be played before this method
returns.
'''
for i in range(0, times):
self.brick.play_sound_file(False, line + '.rso')
sleep(1)
def see(self):
r'''Reads the Light sensor's output.
'''
return self.light.get_sample()
def walk(self, secs, power=FORTH):
r'''Simultaneously activates the leg motors, causing Alpha Rex to walk.
secs
How long the motors will rotate.
power
The strength effected by the motors. Positive values will cause
Alpha Rex to walk forward, while negative values will cause it
to walk backwards. If you are unsure about how much force to
apply, the special values FORTH and BACK provide reasonable
defaults. If omitted, FORTH is used.
'''
for motor in self.legs:
motor.run(power=power)
sleep(secs)
for motor in self.legs:
motor.idle()
def wave(self, secs, power=100):
r'''Make Alpha Rex move its arms.
secs
How long the arms' motor will rotate.
power
The strength effected by the motor. If omitted, (100) is used.
'''
self.arms.run(power=power)
sleep(secs)
self.arms.idle()
class Dog(object):
STATE_WALKING = 0
STATE_SEARCHING = 2
STATE_RESTING = 1
def __init__(self):
self.brick = nxt.bluesock.BlueSock('00:16:53:08:51:40').connect()
self.right = Motor(self.brick, PORT_A)
self.left = Motor(self.brick, PORT_C)
self.legs = Legs(self.right, self.left)
#self.ear = Sound(self.brick, PORT_2)
self.sonic = Ultrasonic(self.brick, PORT_4)
self.owner_distance = 0
self.stamina = 200
@property
def distance_ahead(self):
return self.sonic.get_distance()
def tire(self):
self.stamina -= 1
def rest(self):
self.state = self.STATE_RESTING
print "Resting"
self.stop()
time.sleep(random.randint(30, 90))
self.stamina = 200
return self.walk()
def walk(self):
self.state = self.STATE_WALKING
print "Walking"
self.legs.walk()
while True:
if self.distance_ahead < 40:
return self.search()
self.tire()
if self.stamina == 0:
return self.rest()
def search(self):
self.state = self.STATE_SEARCHING
print "Searching"
angle = 0.5
max_angle = 15
direction = random.choice((-1, 1))
while angle < max_angle:
start = time.time()
while self.distance_ahead > 100 and time.time() < start + angle:
self.legs.turn(direction)
self.legs.stop()
if self.distance_ahead <= 100:
return self.walk()
direction *= -1
angle *= 1.5
self.tire()
if self.stamina == 0:
return self.rest()
return self.walk()
def stop(self):
self.legs.stop()
class AlphaRex(object):
r'''A high-level controller for the Alpha Rex model.
This class implements methods for the most obvious actions performable
by Alpha Rex, such as walk, wave its arms, and retrieve sensor samples.
Additionally, it also allows direct access to the robot's components
through public attributes.
'''
def __init__(self, brick='NXT'):
r'''Creates a new Alpha Rex controller.
brick
Either an nxt.brick.Brick object, or an NXT brick's name as a
string. If omitted, a Brick named 'NXT' is looked up.
'''
if isinstance(brick, str):
brick = find_one_brick(name=brick)
self.brick = brick
self.arms = Motor(brick, PORT_A)
self.legs = [Motor(brick, PORT_B), Motor(brick, PORT_C)]
self.touch = Touch(brick, PORT_1)
self.sound = Sound(brick, PORT_2)
self.light = Light(brick, PORT_3)
self.ultrasonic = Ultrasonic(brick, PORT_4)
def echolocate(self):
r'''Reads the Ultrasonic sensor's output.
'''
return self.ultrasonic.get_sample()
def feel(self):
r'''Reads the Touch sensor's output.
'''
return self.touch.get_sample()
def hear(self):
r'''Reads the Sound sensor's output.
'''
return self.sound.get_sample()
def say(self, line, times=1):
r'''Plays a sound file named (line + '.rso'), which is expected to be
stored in the brick. The file is played (times) times.
line
The name of a sound file stored in the brick.
times
How many times the sound file will be played before this method
returns.
'''
for i in range(0, times):
self.brick.play_sound_file(False, line + '.rso')
sleep(1)
def see(self):
r'''Reads the Light sensor's output.
'''
return self.light.get_sample()
def walk(self, secs, power=FORTH):
r'''Simultaneously activates the leg motors, causing Alpha Rex to walk.
secs
How long the motors will rotate.
power
The strength effected by the motors. Positive values will cause
Alpha Rex to walk forward, while negative values will cause it
to walk backwards. If you are unsure about how much force to
apply, the special values FORTH and BACK provide reasonable
defaults. If omitted, FORTH is used.
'''
for motor in self.legs:
motor.run(power=power)
sleep(secs)
for motor in self.legs:
motor.idle()
def wave(self, secs, power=100):
r'''Make Alpha Rex move its arms.
secs
How long the arms' motor will rotate.
power
The strength effected by the motor. If omitted, (100) is used.
'''
self.arms.run(power=power)
sleep(secs)
self.arms.idle()
class Robot(object):
def __init__(self, brick='NXT'):
r'''Creates a new Robot controller.
brick
Either an nxt.brick.Brick object, or an NXT brick's name as a
string. If omitted, a Brick named 'NXT' is looked up.
'''
if isinstance(brick, basestring):
brick = find_one_brick(name=brick)
self.brick = brick
self.tool = Motor(brick, PORT_B)
self.tracks = [Motor(brick, PORT_A), Motor(brick, PORT_C)]
self.ultrasonic = Ultrasonic(brick, PORT_1)
self.sound = Sound(brick, PORT_2)
self.light = Light(brick, PORT_3)
self.touch = Touch(brick, PORT_4)
def turn(self, power, angle):
for motor in self.tracks:
motor.turn(power, angle)
def move(self, power=FORTH):
r'''Simultaneously activates the tracks motors, causing Robot to move.
power
The strength effected by the motors. Positive values will cause
Robot to move forward, while negative values will cause it
to move backwards. If you are unsure about how much force to
apply, the special values FORTH and BACK provide reasonable
defaults. If omitted, FORTH is used.
'''
for motor in self.tracks:
motor.run(power=power)
def wait(self, seconds):
''' secsonds
How long the motors will rotate.
Will this take values < 0? Most motor commands work in ms.
Try passing sleep 1/seconds (miliseconds)
'''
sleep(seconds)
def stop(self):
for motor in self.tracks:
motor.idle()
def tacho(self):
'''
returns an array of two elements which are the motor tacho readings
'''
tachos = []
for motor in self.tracks:
#tachos.append(motor.get_tacho())
tachos.append(motor.tacho_count) #, rotation_count
return tachos
def act(self, power=FORTH):
r'''Make Robot move its tool.
power
The strength effected by the motor. If omitted, (100) is used.
'''
self.tool.run(power=power)
def echolocate(self):
r'''Reads the Ultrasonic sensor's output.
'''
return self.ultrasonic.get_sample()
def feel(self):
r'''Reads the Touch sensor's output.
'''
return self.touch.get_sample()
def hear(self):
r'''Reads the Sound sensor's output.
'''
return self.sound.get_sample()
def say(self, line, times=1):
r'''Plays a sound file named (line + '.rso'), which is expected to be
stored in the brick. The file is played (times) times.
line
The name of a sound file stored in the brick.
times
How many times the sound file will be played before this method
returns.
'''
for i in range(0, times):
self.brick.play_sound_file(False, line + '.rso')
sleep(1)
def see(self):
r'''Reads the Light sensor's output.
'''
return self.light.get_sample()
# the bluetooth function of the nxt library works too, but "wastes"
# time searching for devices.
brick = nxtConnect.btConnect(brickName)
print(brick.get_device_info()) # check what brick you connected to
from time import sleep
from nxt.motor import Motor, PORT_A, PORT_B, PORT_C
from nxt.sensor import Touch, PORT_4, PORT_3, PORT_2, Light, PORT_1, Ultrasonic
light = Light(brick, PORT_4)
turningMotor = Motor(brick, PORT_B)
walkingMotor = Motor(brick, PORT_C)
armMotor = Motor(brick, PORT_A)
touch = Touch(brick, PORT_1)
ultrasonic = Ultrasonic(brick, PORT_2)
compass = Ultrasonic(brick, PORT_3)
# LINE FOLLOW VARIABLES
turningPower = 65 # 70, normalized, motor power used when turning in line follow
negInertiaPower = 70 # 65, normalized, motor power for negative inertia
findLineTimeOut = 0.5 # 0.5, time between switching motor to the opposite direction
negInertiaLengthOnWhite = 0.07 # 0.2, time before braking on negative inertia when originally on white
negInertiaLengthOnBlack = 0.07 # 0.05, time before braking on ngative inertia when originally on black (should be smaller than white to prevent overshooting the line)
# CALIBRATION VARIABLES
calTurningPower = 70 # 70, normalized, motor power used to turn when calibrate
calFirstTurnTime = 0.2 # 0.2, time to turn on first turn
calSecondTurnTme = 0.1 # 0.15, time to turn on second turn
calDelta = 10 # no default since it's new, range of light values for which line follow continues going straight (range is 2 * delta)
brick = nxtConnect.btConnect(brickName)
from time import sleep
from nxt.motor import SynchronizedMotors
# see files in library ( /usr/local/lib/python2.7/dist-packages/nxt )
# for a more comprehensive list of ports / commands available
from nxt.motor import Motor, PORT_A, PORT_B, PORT_C
from nxt.sensor import Light, Sound, Touch, Ultrasonic
from nxt.sensor import PORT_1, PORT_2, PORT_3, PORT_4
try:
motorLeft = Motor(brick, PORT_A) # plug motor into Port A
motorRight = Motor(brick, PORT_B) # plug motor into Port B
motorBoth = nxt.SynchronizedMotors(motorRight, motorLeft, 0)
ultraSensor = Ultrasonic(brick,
PORT_1) # plug ultrasonic sensor into Port 1
#motorSync = SynchronizedMotors(motorA, motorB, 10000)
#motorSync.idle()
while ultraSensor.get_sample() > 10:
print("Current ultrasonic sensor state: {}".format(
ultraSensor.get_sample()))
motorBoth.run(power=-120)
'''motorA.run(power = -128) #go forward
motorB.run(power = -128) #go forward'''
finally:
Motor(brick, PORT_A).idle() # otherwise motor keeps running
Motor(brick, PORT_B).idle() # otherwise motor keeps running
print("Terminating Program")
brick.sock.close()