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.parameters import Port, Direction, Stop, Button
from pybricks.tools import wait
# Initialize the motors.
steer = Motor(Port.B)
front = Motor(Port.A, Direction.COUNTERCLOCKWISE)
# Lower the acceleration so the car starts and stops realistically.
front.control.limits(acceleration=1000)
# Connect to the remote.
remote = Remote()
# Find the steering endpoint on the left and right.
# The middle is in between.
left_end = steer.run_until_stalled(-200, then=Stop.HOLD)
right_end = steer.run_until_stalled(200, then=Stop.HOLD)
# We are now at the right. Reset this angle to be half the difference.
# That puts zero in the middle.
steer.reset_angle((right_end - left_end) / 2)
steer.run_target(speed=200, target_angle=0, wait=False)
# Now we can start driving!
while True:
# Check which buttons are pressed.
pressed = remote.buttons.pressed()
# Choose the steer angle based on the left controls.
steer_angle = 0
if Button.LEFT_PLUS in pressed:
# Connect to the remote. remote = Remote() # Initialize the drive motors. drive_motor1 = Motor(Port.A) drive_motor2 = Motor(Port.B) # Lower the acceleration so it starts and stops realistically. drive_motor1.control.limits(acceleration=1000) drive_motor2.control.limits(acceleration=1000) # Find the steering endpoint on the left and right. # The middle is in between. steer_motor = Motor(Port.D, Direction.COUNTERCLOCKWISE) left_end = steer_motor.run_until_stalled(-400) right_end = steer_motor.run_until_stalled(400) # Return to the center. max_steering = (right_end - left_end) / 2 steer_motor.reset_angle(max_steering) steer_motor.run_target(speed=200, target_angle=0) # Initialize the differential as unlocked. lock_motor = DCMotor(Port.C) LOCK_POWER = 60 lock_motor.dc(-LOCK_POWER) wait(600) lock_motor.stop() locked = True
from pybricks.pupdevices import Motor from pybricks.parameters import Port from pybricks.tools import wait # Initialize a motor on port A. example_motor = Motor(Port.A) # Please have a look at the previous example first. This example # finds two endspoints and then makes the middle the zero point. # The run_until_stalled gives us the angle at which it stalled. # We want to know this value for both endpoints. left_end = example_motor.run_until_stalled(-200, duty_limit=30) right_end = example_motor.run_until_stalled(200, duty_limit=30) # We have just moved to the rightmost endstop. So, we can reset # this angle to be half the distance between the two endpoints. # That way, the middle corresponds to 0 degrees. example_motor.reset_angle((right_end - left_end) / 2) # From now on we can simply run towards zero to reach the middle. example_motor.run_target(200, 0) wait(1000)
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)
print("Done")
wait(1500)
# Hand-Controlled Grabber:
# press the Force Sensor to grab objects,
# and release the Force Sensor to let go.
from pybricks.hubs import PrimeHub
from pybricks.pupdevices import ForceSensor, Motor
from pybricks.parameters import Port
# Configure the Hub, the Force Sensor and the Motor
hub = PrimeHub()
force_sensor = ForceSensor(Port.E)
motor = Motor(Port.A)
while True:
# Grab when the Force Sensor is pressed
if force_sensor.pressed():
motor.run(speed=-1000)
# else let go
else:
motor.run_until_stalled(speed=1000)
from pybricks.hubs import MoveHub
from pybricks.pupdevices import Motor
from pybricks.parameters import Port, Stop, Color
from pybricks.tools import wait
# Initialize the arm motor
arm = Motor(Port.D)
arm.run_until_stalled(-100, duty_limit=30)
arm.reset_angle(0)
# Initialize the belt motor
belt = Motor(Port.B)
belt.run_until_stalled(-100, duty_limit=30)
belt.reset_angle(0)
# Component positions
FEET = 0
BELLY = 365
HEAD = 128
ARMS = 244
NECK = 521
BASE = 697
# Place all the elements
for element in (FEET, BELLY, ARMS, NECK, HEAD):
# Go to the element
belt.run_target(speed=200, target_angle=element)
# Grab the element
arm.run_time(speed=300, time=2000)
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()
from pybricks.pupdevices import Motor
from pybricks.parameters import Port
# Initialize a motor on port A.
example_motor = Motor(Port.A)
# We'll use a speed of 200 deg/s in all our commands.
speed = 200
# Run the motor in reverse until it hits a mechanical stop.
# The duty_limit=30 setting means that it will apply only 30%
# of the maximum torque against the mechanical stop. This way,
# you don't push against it with too much force.
example_motor.run_until_stalled(-speed, duty_limit=30)
# Reset the angle to 0. Now whenever the angle is 0, you know
# that it has reached the mechanical endpoint.
example_motor.reset_angle(0)
# Now make the motor go back and forth in a loop.
# This will now work the same regardless of the
# initial motor angle, because we always start
# from the mechanical endpoint.
for count in range(10):
example_motor.run_target(speed, 180)
example_motor.run_target(speed, 90)
