class Blast:
WHEEL_DIAMETER = 44
AXLE_TRACK = 100
def __init__(self):
self.hub = InventorHub()
# Configure the drive base
self.left_motor = Motor(Port.C, Direction.COUNTERCLOCKWISE)
self.right_motor = Motor(Port.A)
self.drive_base = DriveBase(self.left_motor,
self.right_motor,
wheel_diameter=self.WHEEL_DIAMETER,
axle_track=self.AXLE_TRACK)
# Configure other motors and sensors
self.arm_movement_motor = Motor(Port.D)
self.action_motor = Motor(Port.B)
self.color_sensor = ColorSensor(Port.E)
self.distance_sensor = UltrasonicSensor(Port.F)
def activate_display(self):
self.hub.display.orientation(up=Side.RIGHT)
for _ in range(10):
self.hub.display.image(
image=[[00, 11, 33, 11, 00], [11, 33, 66, 33, 11],
[33, 66, 99, 66, 33], [11, 33, 66, 33, 11],
[00, 11, 33, 11, 00]])
self.hub.light.on(color=Color.RED)
wait(100)
self.hub.display.off()
self.hub.light.off()
wait(100)
def calibrate_arms(self):
self.arm_movement_motor.run_until_stalled(speed=1000, then=Stop.HOLD)
for _ in range(10):
self.distance_sensor.lights.on(100)
wait(100)
self.distance_sensor.lights.off()
wait(100)
self.arm_movement_motor.run_angle(speed=1000,
rotation_angle=-850,
then=Stop.HOLD,
wait=True)
from pybricks.pupdevices import Motor from pybricks.parameters import Port, Stop from pybricks.tools import wait # Initialize a motor on port A. example_motor = Motor(Port.A) # By default, the motor holds the position. It keeps # correcting the angle if you move it. example_motor.run_angle(500, 360) wait(1000) # This does exactly the same as above. example_motor.run_angle(500, 360, then=Stop.HOLD) wait(1000) # You can also brake. This applies some resistance # but the motor does not move back if you move it. example_motor.run_angle(500, 360, then=Stop.BRAKE) wait(1000) # This makes the motor coast freely after it stops. example_motor.run_angle(500, 360, then=Stop.COAST) wait(1000)
# Basic trajectories starting from zero. It would be nice to compute them
# here in the loop so we can also include random tests, vary acceleration, etc.
trajectories = [
((500, 90), (0, 244, 244, 488, 0, 45, 45, 90, 0, 367, 1500, -1500)),
((1000, 720), (0, 666, 720, 1386, 0, 333, 387, 720, 0, 1000, 1500, -1500)),
((2000, 720), (0, 666, 720, 1386, 0, 333, 387, 720, 0, 1000, 1500, -1500)),
((10, 720), (0, 6, 72006, 72012, 0, 0, 720, 720, 0, 10, 1500, -1500)),
((-500, 360), (0, 333, 721, 1054, 0, -83, -277, -360, 0, -500, -1500,
1500)),
((500, -360), (0, 333, 721, 1054, 0, -83, -277, -360, 0, -500, -1500,
1500)),
((-500, -360), (0, 333, 721, 1054, 0, 83, 277, 360, 0, 500, 1500, -1500)),
((500, 1), (0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 1500, -1500)),
((500, 0), (0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0)),
]
# Assert that all trajectories are correct.
for (speed, angle), trajectory in trajectories:
# Start from 0.
motor.reset_angle(0)
# Initiate run_target command, stopping immediately.
motor.run_angle(speed, angle, wait=False)
result = motor.control.trajectory()
motor.stop()
# Compare generated trajectory to saved trajectory.
assert trajectory == result, "Bad trajectory: {0} for {1}".format(
result, (speed, angle))
from pybricks.pupdevices import Motor from pybricks.parameters import Port # Initialize motors on port A and B. track_motor = Motor(Port.A) gripper_motor = Motor(Port.B) # Make the track motor start moving, # but don't wait for it to finish. track_motor.run_angle(500, 360, wait=False) # Now make the gripper motor rotate. This # means they move at the same time. gripper_motor.run_angle(200, 720)
# Run at 70% duty cycle ("power") and then stop by coasting.
print("Demo of dc")
example_motor.dc(50)
wait(1500)
example_motor.stop()
wait(1500)
# Run at 500 deg/s for two seconds.
print("Demo of run_time")
example_motor.run_time(500, 2000)
wait(1500)
# Run at 500 deg/s for 90 degrees.
print("Demo of run_angle")
example_motor.run_angle(500, 180)
wait(1500)
# Run at 500 deg/s back to the 0 angle
print("Demo of run_target to 0")
example_motor.run_target(500, 0)
wait(1500)
# Run at 500 deg/s back to the -90 angle
print("Demo of run_target to -90")
example_motor.run_target(500, -90)
wait(1500)
# Run at 500 deg/s until the motor stalls
print("Demo of run_until_stalled")
example_motor.run_until_stalled(500)
mDrive = Motor(Port.D)
mSteer = Motor(Port.B)
mSteer.reset_angle()
SPEED_DRIVE = 100
TIME_DRIVE = 30
STEP_STEER = 15
SPEED_STEER = 720
MAX_STEER = 75
mSteer.run_target(SPEED_STEER, 0, then=Stop.BRAKE)
while True:
c = getchar()
if c == ord('q'):
mDrive.dc(SPEED_DRIVE)
wait(TIME_DRIVE)
elif c == ord('a'):
mDrive.dc(-SPEED_DRIVE)
wait(TIME_DRIVE)
elif c == ord('o'):
if mSteer.angle() > -MAX_STEER:
mSteer.run_angle(SPEED_STEER, -STEP_STEER, then=Stop.BRAKE)
elif c == ord('p'):
if mSteer.angle() < MAX_STEER:
mSteer.run_angle(SPEED_STEER, STEP_STEER, then=Stop.BRAKE)
elif c == ord('r') or c == ord('0'):
mSteer.run_target(SPEED_STEER, 0, then=Stop.BRAKE)
else:
mDrive.stop()
from pybricks.pupdevices import Motor, ColorDistanceSensor
from pybricks.parameters import Port, Stop
from pybricks.tools import wait
# The number of degrees the motor must rotate to move the test rig by 1m
DEGREES_PER_METRE = 4822
TEST_DISTANCE_MM = 100
TEST_INCREMENT_MM = 5
DEGREES_PER_INCREMENT = round(DEGREES_PER_METRE * TEST_INCREMENT_MM / 1000)
motor = Motor(Port.D)
sensor = ColorDistanceSensor(Port.B)
results = {}
distanceFromTarget = 0
while distanceFromTarget <= TEST_DISTANCE_MM:
wait(500)
newReading = sensor.hsv()
results[distanceFromTarget] = newReading
motor.run_angle(100, -DEGREES_PER_INCREMENT, Stop.HOLD)
distanceFromTarget += TEST_INCREMENT_MM
motor.run_angle(150, 0, Stop.COAST)
sortedResultKeys = sorted(results)
for key in sortedResultKeys:
print("%s" % (results[key]))
print("Last reading was at %smm" % (sortedResultKeys[-1]))
class TrickyPlayingSoccer:
WHEEL_DIAMETER = 44
AXLE_TRACK = 88
KICK_SPEED = 1000
def __init__(self):
# Configure the hub, the kicker motor, and the sensors.
self.hub = InventorHub()
self.kicker_motor = Motor(Port.C)
self.distance_sensor = UltrasonicSensor(Port.D)
self.color_sensor = ColorSensor(Port.E)
# Configure the drive base.
left_motor = Motor(Port.B, Direction.COUNTERCLOCKWISE)
right_motor = Motor(Port.A)
self.drive_base = DriveBase(left_motor, right_motor,
self.WHEEL_DIAMETER, self.AXLE_TRACK)
# Prepare tricky to start kicking!
self.distance_sensor.lights.off()
self.reset_kicker_motor()
self.distance_sensor.lights.on(100)
def reset_kicker_motor(self):
# Prepare the kicker motor for kicking.
self.hub.light.off()
self.kicker_motor.run_until_stalled(-self.KICK_SPEED, Stop.HOLD)
self.kicker_motor.run_angle(self.KICK_SPEED, 325)
def kick(self):
# Kick the ball!
self.kicker_motor.track_target(360)
def run_to_and_kick_ball(self):
# Drive until we see the red ball.
self.drive_base.drive(speed=1000, turn_rate=0)
while self.color_sensor.color() != Color.RED:
wait(10)
self.hub.light.on(Color.RED)
self.hub.speaker.beep(frequency=100, duration=100)
self.kick()
self.drive_base.stop()
self.hub.light.off()
def celebrate(self):
# Celebrate with light and sound.
self.hub.display.image([[00, 11, 33, 11, 00], [11, 33, 66, 33, 11],
[33, 66, 99, 66, 33], [11, 33, 66, 33, 11],
[00, 11, 33, 11, 00]])
self.hub.speaker.beep(frequency=1000, duration=1000)
self.hub.light.animate([Color.CYAN, Color.GREEN, Color.MAGENTA],
interval=100)
# Celebrate by dancing around.
self.drive_base.drive(speed=0, turn_rate=360)
self.kicker_motor.run_angle(self.KICK_SPEED, 5 * 360)
# Party's over! Let's stop everything.
self.hub.display.off()
self.hub.light.off()
self.drive_base.stop()
""" This program is for CNC Machine (in the "Invention Squad: Broken" lesson unit). Follow the corresponding building instructions in the LEGO® SPIKE™ Prime App. This program will draw a rectangle. """ from pybricks.hubs import PrimeHub from pybricks.pupdevices import Motor from pybricks.parameters import Port # Configure the Hub, the Force Sensor and the Motor hub = PrimeHub() horizontal_motor = Motor(Port.A) vertical_motor = Motor(Port.C) # Draw a rectangle horizontal_motor.run_angle(speed=1000, rotation_angle=400) # go right vertical_motor.run_angle(speed=1000, rotation_angle=100) # go down horizontal_motor.run_angle(speed=1000, rotation_angle=-400) # go left vertical_motor.run_angle(speed=1000, rotation_angle=-100) # go up
