def __init__(self, dsPort):
self.prime_hub = PrimeHub()
self.hub.speaker.beep(72,0.5)
self.hand_distance = DistanceSensor(dsPort)
self.boundary = None # Initial Decision boundary
self.ATraining = [] # Initial A examples
self.BTraining = [] # Initial B example
self.averageA = None # Initial average for the A training
self.averageB = None # Initial average for the B training
import spike
from spike import DistanceSensor
distance_sensor = DistanceSensor('B')
last_distance = DistanceSensor('B').get_distance_cm()
from spike import MotorPair
from spike import DistanceSensor
import utime
# small wheel to spike wheel ratio
wheel_gain = 55 / 30
# other init
target_dist = 10
last_dist = 10
kp = 5
wall_detector = DistanceSensor('E')
motor_pair = MotorPair('B', 'A')
# move panda forward
while True:
try:
dist = wall_detector.get_distance_percentage()
if dist == None:
dist = target_dist
else:
last_dist = dist
except:
dist = last_dist
motor_power = (int(dist) - target_dist) * kp
if motor_power > 50:
motor_power = 50
elif motor_power < -50:
motor_power = -50
print('speed:{} dist:{}'.format(dist, motor_power))
import hub,utime
from spike import DistanceSensor
from spike.control import wait_for_seconds
distance_sensor = DistanceSensor('A')
while True:
last_distance = distance_sensor.get_distance_cm()
wait_for_seconds(1)
new_distance = distance_sensor.get_distance_cm()
while last_distance != new_distance:
hub.port.C.motor.run_at_speed(speed = new_distance, max_power = 100, acceleration = 100, deceleration = 100, stall = False)
motor_e.set_default_speed(50)
motor_e.run_for_rotations(+1.50)
def openGrip():
motor_e.set_default_speed(50)
motor_e.run_for_rotations(-1.50)
# set up hub, motors and sensors
hub = PrimeHub()
motor_pair = MotorPair('A', 'B')
motor_pair.set_motor_rotation(17.5, 'cm')
motor_pair.set_default_speed(20)
colour_c = ColorSensor('C')
distance = DistanceSensor('D')
motor_e = Motor('E')
# create a peripheral object
remote = BLEPeripheral()
# scan for the target device and connect if found
utime.sleep(1)
remote.on_connect(callback=on_connect)
remote.on_disconnect(callback=on_disconnect)
remote.connect()
grabberOpen = True
while remote.is_connected() is not None:
# when an object detection notification is received, go and pickup the object