def doLifter(): """Test code for operating lifter""" lifter = MediumMotor() lifter.reset() lifter.run_to_rel_pos(position_sp=60, speed_sp=100, stop_action='hold') lifter.wait_while('running') sleep(1) lifter.run_to_rel_pos(position_sp=-60, speed_sp=100, stop_action='hold') lifter.wait_while('running')
class TrashBot(MoveTank): """ To enable the medium motor toggle the beacon button on the EV3 remote. """ CLAW_DEGREES_OPEN = 225 CLAW_DEGREES_CLOSE = 920 CLAW_SPEED_PCT = 50 def __init__(self, left_motor_port=OUTPUT_B, right_motor_port=OUTPUT_C, medium_motor_port=OUTPUT_A): MoveTank.__init__(self, left_motor_port, right_motor_port) self.set_polarity(MediumMotor.POLARITY_NORMAL) self.medium_motor = MediumMotor(medium_motor_port) self.sound = Sound() #self.ts = TouchSensor() #self.shutdown_event = Event() def signal_term_handler(self, signal, frame): log.info('Caught SIGTERM') self.shutdown_robot() def signal_int_handler(self, signal, frame): log.info('Caught SIGINT') self.shutdown_robot() def move(self): print('Move') self.on(SpeedPercent(80), SpeedPercent(80)) def rotate_left(self): print('Left') self.on_for_rotations(SpeedPercent(50), SpeedPercent(70), 2) def rotate_right(self): print('Right') self.on_for_rotations(SpeedPercent(70), SpeedPercent(50), 2) def throw_trah(self): print('Throw') self.medium_motor.run_to_rel_pos(speed_sp=400, position_sp=75) def reset_throw(self): print('Reset') self.medium_motor.run_to_rel_pos(speed_sp=400, position_sp=-75) def say(self): self.sou == ("speech.wav")
#!/usr/bin/env python3 # So program can be run from Brickman from ev3dev2.ev3 import * from time import sleep from ev3dev2.motor import MediumMotor, OUTPUT_C, SpeedPercent, MoveTank from ev3dev2.sensor import INPUT_1 from ev3dev2.sensor.lego import TouchSensor from ev3dev2.led import Leds m = MediumMotor(OUTPUT_C) while (True): m.run_to_rel_pos(position_sp=1000, speed_sp=900, stop_action="hold")
txt = "exit" if robot.button('backspace'): break elif robot.button('up'): #run_swing() robot.forward(-20, 36) robot.forward(20, 36) elif robot.button('down'): #run_tree() robot.forward(-20, 60) robot.forward(20, 60) elif robot.button('left'): robot.forward(-20, 55) robot.left_degrees(10, 70) robot.forward(-10, 8) robot.forward(10, 5) robot.forward(-10, 6) elif robot.button('right'): #run_test2() #robot.forward(-30, 100) #robot.right_degrees(30, 180) #robot.forward(-50, 110) motorD = MediumMotor(OUTPUT_D) motorD.run_to_rel_pos(position_sp=50, speed_sp=50) #motorD.run_to_rel_pos(position_sp=-360, speed_sp=50, stop_action="coast") print(txt) robot.flash()