def endOfCalibrationSound():
# crrrrr
count = 0
while count < 6:
Ed.PlayTone(5000, 80)
Ed.PlayTone(100, 50)
count = count + 1
def middle_path():
if Ed.ReadLineState() == Ed.LINE_ON_BLACK:
Ed.Drive(Ed.BACKWARD_LEFT, Ed.SPEED_5, 2)
elif Ed.ReadLineState() == Ed.Ed.LINE_ON_BLACK:
Ed.Drive(Ed.BACKWARD_RIGHT, Ed.SPEED_5, 2)
else:
Ed.Drive(Ed.FORWARD, Ed.SPEED_5, 5)
def _irSeek(mode):
global obstacleDetectionOn
if (obstacleDetectionOn == True):
Ed.ObstacleDetectionBeam(Ed.OFF)
obstacleDetectionOn = False
if (mode == 0): return Ed.ReadIRData()
elif (mode == 1): return Ed.ReadRemote()
def calibrateTone():
global tone, density
if tone >= TONE_COUNT:
return
tracker = Ed.ReadLineTracker()
density[tone] = tracker
Ed.PlayTone(tones[tone], 300)
tone = tone + 1
def calibrateDensities():
global densityIndex, density
if densityIndex >= DENSITY_COUNT:
return
tracker = Ed.ReadLineTracker()
density[densityIndex] = tracker
Ed.PlayTone(tones[0], 200);
densityIndex = densityIndex + 1
def waitToRoundButton():
global round_button
round_button = False
Ed.PlayTone(15289, 100)
while round_button == False:
pass
Ed.PlayTone(7644, 100)
Ed.TimeWait(PAUSE_LENGTH, Ed.TIME_SECONDS)
def _diffDrive(direction, speed, distance):
_reverse = False
if speed < 0:
_reverse = True
_speed = _shorten(-speed)
else:
_speed = _shorten(speed)
if (_speed == 0): Ed.Drive(Ed.STOP, 1, 1)
else: Ed.Drive(_getDirection(direction, _reverse), _speed, distance)
def detectRight():
#turn a little to the right and continue forwards
Ed.RightLed(Ed.ON)
Ed.Drive(Ed.FORWARD_RIGHT, Ed.SPEED_10, 30)
Ed.Drive(Ed.FORWARD, Ed.SPEED_5, Ed.DISTANCE_UNLIMITED)
Ed.RightLed(Ed.OFF)
#To use this code with Edison Version 1:
#change the version in the setup to Ed.EdisonVersion = Ed.V1
#change Ed.DistanceUnits = Ed.CM to Ed.DistanceUnits = Ed.TIME
#change the duration for backwards drive and drives in functions to a larger value
def _diffTurn(direction, speed, degree):
_reverse = False
if speed < 0:
_reverse = True
_speed = _shorten(-speed)
else:
_speed = _shorten(speed)
if (_speed == 0): Ed.Drive(Ed.STOP, 1, 1)
elif _reverse:
if direction == Ed.SPIN_RIGHT: Ed.Drive(Ed.SPIN_LEFT, _speed, degree)
else: Ed.Drive(Ed.SPIN_RIGHT, _speed, degree)
else: Ed.Drive(direction, _speed, degree)
def control():
global ___numberVar, ___booleanVar, ___numberList
if ___booleanVar:
pass
elif ___booleanVar:
pass
if ___booleanVar:
pass
elif ___booleanVar:
pass
while True:
pass
for ___k0 in range(___numberVar):
pass
while not ___booleanVar:
break
while ___booleanVar:
continue
while True:
if ___booleanVar:
break
if ___booleanVar:
break
pass
Ed.TimeWait(___numberVar, Ed.TIME_MILLISECONDS)
while True:
if ___booleanVar:
break
pass
def _motorOn(motor, power, distance):
_dir = Ed.FORWARD
_reverse = False
if (power < 0):
_power = _shorten(-power)
_reverse = True
else:
_power = _shorten(power)
if (motor == Ed.MOTOR_LEFT):
if (_power == 0): Ed.DriveLeftMotor(Ed.STOP, 0, 0)
else:
Ed.DriveLeftMotor(_getDirection(_dir, _reverse), _power, distance)
if (motor == Ed.MOTOR_RIGHT):
if (_power == 0): Ed.DriveRightMotor(Ed.STOP, 0, 0)
else:
Ed.DriveRightMotor(_getDirection(_dir, _reverse), _power, distance)
def sendPlayMessage(previousColor, currentColor):
testButton()
if currentColor == 0:
message = MESSAGE_LOW
elif currentColor == 1:
if previousColor == 0:
message = MESSAGE_LOW
else:
message = MESSAGE_HIGH
else:
message = MESSAGE_HIGH
if previousColor > -1:
Ed.SendIRData(message) # \
Ed.SendIRData(message) # send three messages, because one message per 20 is lost
Ed.SendIRData(message) # /
Ed.TimeWait(slowingPause, Ed.TIME_MILLISECONDS)
Ed.DriveRightMotor(Ed.FORWARD, 1, Ed.DISTANCE_UNLIMITED)
def playTone(length, tone):
# turn on or off LEDs
Ed.WriteModuleRegister8Bit(Ed.MODULE_LEFT_LED, Ed.REG_LED_OUTPUT_8,
length >> 7)
Ed.WriteModuleRegister8Bit(Ed.MODULE_RIGHT_LED, Ed.REG_LED_OUTPUT_8,
length >> 7)
# transpose and set tone
Ed.WriteModuleRegister16Bit(Ed.MODULE_BEEPER, Ed.REG_BEEP_FREQ_16,
tones[tone + TRANSPOSITION])
# real duration (1,2,4,8,16) is separate from input by masked upper bits
# expression ((length & 127) * A + B) must be changed carefully together with length of empty cycle and with new commands
Ed.WriteModuleRegister16Bit(Ed.MODULE_BEEPER, Ed.REG_BEEP_DURATION_16,
(length & 127) * 7 + 1)
# length constant for playing (LENGTH_1 .. LENGTH_16) has 7th bit == 1, LENGTH_0 has 7th bit == 0
# we convert it by shift to 2 (for playing) or 0 (for do nothing)
Ed.WriteModuleRegister8Bit(Ed.MODULE_BEEPER, Ed.REG_BEEP_ACTION_8,
length >> 6)
t = 0
# turn off LEDs
Ed.WriteModuleRegister8Bit(Ed.MODULE_LEFT_LED, Ed.REG_LED_OUTPUT_8, 0)
Ed.WriteModuleRegister8Bit(Ed.MODULE_RIGHT_LED, Ed.REG_LED_OUTPUT_8, 0)
# empty cycle for decreasing tempo
while t < 5:
t = t + 1
def waitClap():
#loop around, waiting for a clap to be detected
while Ed.ReadClapSensor() != Ed.CLAP_DETECTED:
pass
#To use this code with Edison Version 1:
#change the version in the setup to Ed.EdisonVersion = Ed.V2
#change Ed.DistanceUnits = Ed.CM to Ed.DistanceUnits = Ed.TIME
def vypis(hodnota):
Ed.SendIRData(255)
Ed.TimeWait(300, Ed.TIME_MILLISECONDS)
Ed.SendIRData(hodnota // 255)
Ed.TimeWait(300, Ed.TIME_MILLISECONDS)
Ed.SendIRData(hodnota % 255)
Ed.TimeWait(300, Ed.TIME_MILLISECONDS)
def scanAndPlayNewTone():
Ed.PlayTone(100, 1)
tr = Ed.ReadLineTracker()
if tr > interval[3]:
if tr > interval[7]:
if tr > interval[9]:
if tr > interval[10]:
new_tone = 11
else:
new_tone = 10
else:
if tr > interval[8]:
new_tone = 9
else:
new_tone = 8
else:
if tr > interval[5]:
if tr > interval[6]:
new_tone = 7
else:
new_tone = 6
else:
if tr > interval[4]:
new_tone = 5
else:
new_tone = 4
else:
if tr > interval[1]:
if tr > interval[2]:
new_tone = 3
else:
new_tone = 2
else:
if tr > interval[0]:
new_tone = 1
else:
new_tone = 0
Ed.TimeWait(50, Ed.TIME_MILLISECONDS)
Ed.PlayTone(tones[new_tone], 30000)
def turnBlack(): global SideTurn Ed.LeftLed(Ed.ON) Ed.RightLed(Ed.ON) Ed.PlayBeep() Ed.Drive(Ed.BACKWARD, Speed, mazeWidth+1) if SideTurn ==1: Ed.Drive(Ed.SPIN_RIGHT, Speed, turnAngle) SideTurn = 0 else: SideTurn = 1 Ed.Drive(Ed.SPIN_LEFT, Speed, turnAngle) obstaclePos = Ed.OBSTACLE_NONE Ed.LeftLed(Ed.OFF) Ed.RightLed(Ed.OFF)
def drive():
global ___n, ___b, ___nl
_diffDrive(Ed.FORWARD, ___n, ___n)
_diffDrive(Ed.BACKWARD, ___n, ___n)
_diffDrive(Ed.FORWARD, ___n, Ed.DISTANCE_UNLIMITED)
_diffDrive(Ed.BACKWARD, ___n, Ed.DISTANCE_UNLIMITED)
Ed.Drive(Ed.STOP, Ed.SPEED_1, 1)
_diffTurn(Ed.SPIN_RIGHT, ___n, ___n)
_diffTurn(Ed.SPIN_LEFT, ___n, ___n)
_diffTurn(Ed.SPIN_RIGHT, ___n, Ed.DISTANCE_UNLIMITED)
_diffTurn(Ed.SPIN_LEFT, ___n, Ed.DISTANCE_UNLIMITED)
_diffCurve(Ed.FORWARD, ___n, ___n, ___n)
_diffCurve(Ed.BACKWARD, ___n, ___n, ___n)
_diffCurve(Ed.FORWARD, ___n, ___n, Ed.DISTANCE_UNLIMITED)
_diffCurve(Ed.BACKWARD, ___n, ___n, Ed.DISTANCE_UNLIMITED)
def sensorWaitUntil():
global ___numberVar, ___booleanVar, ___numberList
while True:
if (Ed.ReadKeypad() == Ed.KEYPAD_TRIANGLE) == True:
break
pass
while True:
if (Ed.ReadKeypad() == Ed.KEYPAD_ROUND) == True:
break
pass
while True:
if (_obstacleDetection(Ed.OBSTACLE_LEFT)) == True:
break
pass
while True:
if (_obstacleDetection(Ed.OBSTACLE_RIGHT)) == True:
break
pass
while True:
if (_obstacleDetection(Ed.OBSTACLE_AHEAD)) == True:
break
pass
while True:
if (_irSeek(1)) < 30:
break
pass
while True:
if (Ed.ReadLeftLightLevel() / 10) < 30:
break
pass
while True:
if (Ed.ReadRightLightLevel() / 10) < 30:
break
pass
while True:
if (Ed.ReadLineTracker() / 10) < 30:
break
pass
while True:
if (Ed.ReadLineState() == Ed.LINE_ON_BLACK) == True:
break
pass
while True:
if (Ed.ReadClapSensor() == Ed.CLAP_DETECTED) == True:
break
pass
def readAndCalibrate(validationStep):
global previousTracker, density0, density1, density2
Ed.Drive(Ed.FORWARD_LEFT, 1, 20)
currentTracker = Ed.ReadModuleRegister16Bit(Ed.MODULE_LINE_TRACKER, Ed.REG_LT_LEVEL_16)
if validationStep > 0:
Ed.SendIRData(MESSAGE_CALIBRATE) # \
Ed.SendIRData(MESSAGE_CALIBRATE) # send three messages, because one message per 20 is lost
Ed.SendIRData(MESSAGE_CALIBRATE) # /
if validationStep == 1: # start from 1 (second calibration reading), we reduce the possibility of reading value from border
density0 = currentTracker
elif validationStep == 2:
density1 = currentTracker
elif validationStep == 3:
density2 = currentTracker
previousTracker = currentTracker
Ed.TimeWait(250, Ed.TIME_MILLISECONDS)
Ed.DriveRightMotor(Ed.FORWARD, 1, Ed.DISTANCE_UNLIMITED)
#-------------Setup---------------- import Ed Ed.EdisonVersion = Ed.V2 Ed.DistanceUnits = Ed.INCH Ed.Tempo = Ed.TEMPO_MEDIUM #--------Your code below----------- #Turn Lights On Ed.LeftLed(Ed.ON) Ed.RightLed(Ed.ON) #Turn lights off Ed.LeftLed(Ed.OFF) Ed.RightLed(Ed.OFF)
def buttonEvent():
global round_button
round_button = True
def waitToRoundButton():
global round_button
round_button = False
Ed.PlayTone(15289, 100)
while round_button == False:
pass
Ed.PlayTone(7644, 100)
Ed.TimeWait(PAUSE_LENGTH, Ed.TIME_SECONDS)
Ed.RegisterEventHandler(Ed.EVENT_KEYPAD_ROUND, "buttonEvent")
# >> E <<
Ed.PlayTone(7644, 100)
Ed.TimeWait(PAUSE_LENGTH, Ed.TIME_SECONDS)
Ed.DriveRightMotor(Ed.BACKWARD, Ed.SPEED_1, Ed.DISTANCE_UNLIMITED)
Ed.DriveLeftMotor(Ed.BACKWARD, Ed.SPEED_9, Ed.DISTANCE_UNLIMITED)
Ed.TimeWait(1500, Ed.TIME_MILLISECONDS)
Ed.Drive(Ed.STOP, 1, 1)
waitToRoundButton()
Ed.Drive(Ed.BACKWARD, 1, 15)
waitToRoundButton()
# >> d <<
Ed.Drive(Ed.SPIN_LEFT, 1, 180)
Ed.Drive(Ed.STOP, 1, 1)
#Move in White surface
#Stop when find black line
import Ed
Ed.EdisonVersion = Ed.V2
Ed.DistanceUnits = Ed.CM
Ed.Tempo = Ed.TEMPO_MEDIUM
Ed.LineTrackerLed(Ed.ON)
Ed.Drive(Ed.FORWARD, Ed.SPEED_7, Ed.DISTANCE_UNLIMITED)
while True:
if (Ed.ReadLineState() == Ed.LINE_ON_BLACK):
Ed.PlayBeep()
Ed.Drive(Ed.STOP, Ed.SPEED_1, 0)
import Ed
Ed.EdisonVersion = Ed.V2
Ed.DistanceUnits = Ed.CM
Ed.Tempo = Ed.TEMPO_SLOW
obstacleDetectionOn = False
Ed.LineTrackerLed(Ed.ON)
Ed.ReadClapSensor()
Ed.ReadLineState()
Ed.TimeWait(250, Ed.TIME_MILLISECONDS)
___numberVar = 0
___booleanVar = True
___numberList = Ed.List(3, [0, 0, 0])
def math():
global ___numberVar, ___booleanVar, ___numberList
___numberVar = 0
___numberVar = ___numberVar + ___numberVar
___numberVar = ___numberVar - ___numberVar
___numberVar = ___numberVar * ___numberVar
___numberVar = ___numberVar / ___numberVar
___numberVar = _pow(___numberVar, ___numberVar)
___numberVar = _abs(___numberVar)
___numberVar = -(___numberVar)
___numberVar = _pow(10, ___numberVar)
___booleanVar = (___numberVar % 2) == 0
___booleanVar = (___numberVar % 2) == 1
___booleanVar = _isPrime(___numberVar)
___booleanVar = ___numberVar > 0
___booleanVar = ___numberVar < 0
def _obstacleDetection(mode):
global obstacleDetectionOn
if (obstacleDetectionOn == False):
Ed.ObstacleDetectionBeam(Ed.ON)
obstacleDetectionOn = True
return Ed.ReadObstacleDetection() == mode
def sensors():
global ___numberVar, ___booleanVar, ___numberList
___booleanVar = Ed.ReadKeypad() == Ed.KEYPAD_TRIANGLE
___booleanVar = Ed.ReadKeypad() == Ed.KEYPAD_ROUND
___booleanVar = _obstacleDetection(Ed.OBSTACLE_LEFT)
___booleanVar = _obstacleDetection(Ed.OBSTACLE_RIGHT)
___booleanVar = _obstacleDetection(Ed.OBSTACLE_AHEAD)
___numberVar = _irSeek(1)
___numberVar = Ed.ReadLeftLightLevel() / 10
___numberVar = Ed.ReadRightLightLevel() / 10
___numberVar = Ed.ReadLineTracker() / 10
___booleanVar = Ed.ReadLineState() == Ed.LINE_ON_BLACK
___booleanVar = Ed.ReadClapSensor() == Ed.CLAP_DETECTED
Ed.ReadObstacleDetection()
Ed.ReadKeypad()
Ed.ReadClapSensor()
Ed.ReadRemote()
Ed.ReadIRData()
def Wait():
Ed.TimeWait(100, Ed.TIME_MILLISECONDS)
#-------------Setup----------------
import Ed
Ed.PlayMyBeep(8000)
Ed.EdisonVersion = Ed.V2
Ed.DistanceUnits = Ed.CM
Ed.Tempo = Ed.TEMPO_MEDIUM
#--------Your code below-----------
moves = Ed.List(15)
for x in range(15):
moves[x] = -1
moves_index = 0
start = 0
Ed.PlayBeep()
Ed.ReadKeypad()
#Ed.ReadRemote()
Ed.LeftLed(Ed.ON)
Ed.RightLed(Ed.ON)
while start == 0:
pressed_button = Ed.ReadKeypad()
ir_code = Ed.ReadRemote()
# Ed.REMOTE_CODE_0 --> Up Arrow
# Ed.REMOTE_CODE_1 --> Down Arrow
# Ed.REMOTE_CODE_2 --> Left Arrow
# Ed.REMOTE_CODE_3 --> Right Arrow
#-------------Setup----------------
import Ed
Ed.EdisonVersion = Ed.V2
Ed.DistanceUnits = Ed.CM
Ed.Tempo = Ed.TEMPO_MEDIUM
#--------Your code below-----------
Ed.LineTrackerLed(Ed.ON)
while True:
if Ed.ReadLineState() == Ed.LINE_ON_WHITE:
Ed.Drive(Ed.FORWARD_RIGHT, Ed.SPEED_1, Ed.DISTANCE_UNLIMITED)
else:
Ed.Drive(Ed.FORWARD_LEFT, Ed.SPEED_1, Ed.DISTANCE_UNLIMITED)
#
# Description: Robot Edison is used as a musical instrument. He plays tones by shades on paper.
# Notes: You can see result here: https://www.youtube.com/watch?v=iucFzno07uA
# You can upload program to Edison robot by online EdPy environment http://edpyapp.com/#
# Here is PDF for printing: https://github.com/ales-eri/edison-robot-ideas/raw/master/episode04-piano/piano_for_edison_robot.pdf
# If you have some questions, ask me in comments of the video: https://www.youtube.com/watch?v=iucFzno07uA
#
import Ed
Ed.EdisonVersion = Ed.V2
Ed.DistanceUnits = Ed.CM
Ed.Tempo = Ed.TEMPO_FAST
Ed.LineTrackerLed(Ed.ON)
TONE_COUNT = 12
density = Ed.List(12, [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0])
interval = Ed.List(11, [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0])
# G6 A6 B6 C7 D7 E7 F7 G7 A7 B7 C8 R
tones = Ed.List(12, [
20408, 18181, 16202, 15289, 13622, 12135, 11457, 10207, 9090, 8099, 7644,
100
])
def scanAndPlayNewTone():
Ed.PlayTone(100, 1)
tr = Ed.ReadLineTracker()
if tr > interval[3]:
if tr > interval[7]: