コード例 #1
0
ファイル: multiplexerTest.py プロジェクト: nriaziat/PMR-2016
import nxt
import nxtConnect  # has to be in search path
import time

brickName = "Team60"
useUSB = False

if useUSB:
    brick = nxt.find_one_brick(name=brickName,
                               strict=True,
                               method=nxt.locator.Method(usb=True,
                                                         bluetooth=True))
else:
    # the bluetooth function of the nxt library works too, but "wastes"
    # time searching for devices.
    brick = nxtConnect.btConnect(brickName)

print(brick.get_device_info())  # check what brick you connected to
from time import sleep
from nxt.motor import Motor, PORT_A, PORT_B, PORT_C
from nxt.sensor import Touch, PORT_4, PORT_3, PORT_2, Light, PORT_1, Ultrasonic

turningMotor = Motor(brick, PORT_B)
walkingMotor = Motor(brick, PORT_C)
armMotor = Motor(brick, PORT_A)
legPosition = Touch(brick, PORT_3)
touch = Touch(brick, PORT_1)

while True:
    print(touch.get_input_values().calibrated_value)
コード例 #2
0
ファイル: demoFinal.py プロジェクト: nriaziat/PMR-2016
else:
    # the bluetooth function of the nxt library works too, but "wastes"
    # time searching for devices.
    brick = nxtConnect.btConnect(brickName)

print(brick.get_device_info())  # check what brick you connected to
from time import sleep

from nxt.motor import Motor, PORT_A, PORT_B, PORT_C
from nxt.sensor import Touch, PORT_4, PORT_3, PORT_2, Light, PORT_1, Ultrasonic

light = Light(brick, PORT_4)
turningMotor = Motor(brick, PORT_B)
walkingMotor = Motor(brick, PORT_C)
armMotor = Motor(brick, PORT_A)
touch = Touch(brick, PORT_1)
ultrasonic = Ultrasonic(brick, PORT_2)
compass = Ultrasonic(brick, PORT_3)

# LINE FOLLOW VARIABLES
turningPower = 65  # 70, normalized, motor power used when turning in line follow
negInertiaPower = 70  # 65, normalized, motor power for negative inertia
findLineTimeOut = 0.5  # 0.5, time between switching motor to the opposite direction
negInertiaLengthOnWhite = 0.07  # 0.2, time before braking on negative inertia when originally on white
negInertiaLengthOnBlack = 0.07  # 0.05, time before braking on ngative inertia when originally on black (should be smaller than white to prevent overshooting the line)

# CALIBRATION VARIABLES
calTurningPower = 70  # 70, normalized, motor power used to turn when calibrate
calFirstTurnTime = 0.2  # 0.2, time to turn on first turn
calSecondTurnTme = 0.1  # 0.15, time to turn on second turn
calDelta = 10  # no default since it's new, range of light values for which line follow continues going straight (range is 2 * delta)
コード例 #3
0
def touch(port):
    t = Touch(b, SENSORS[port])
    return '1' if t.is_pressed() else '0'
コード例 #4
0
ファイル: example.py プロジェクト: nriaziat/PMR-2016
#######################################################################
## Then, you can specify what you want the NXT to do
#######################################################################
from time import sleep

# see files in library ( /usr/local/lib/python2.7/dist-packages/nxt )
# for a more comprehensive list of ports / commands available 
from nxt.motor import Motor, PORT_A, PORT_B, PORT_C
from nxt.sensor import Light, Sound, Touch, Ultrasonic
from nxt.sensor import PORT_1, PORT_2, PORT_3, PORT_4

# use try with finally to stop motors at end, even if program
# encountered an (programming) error.
try:
    touchSensor = Touch(brick, PORT_1) # plug touch sensor into Port 1
    motor = Motor(brick, PORT_A) # plug motor into Port A
    
    # Note: |Power| <50 might not be strong enough to turn motor / 
    # overcome the internal friction
    motor.run(power = 70) # go forward
    sleep(2.5) # let NXT do its thing for 2.5 seconds
    motor.run(power = -70) # go backward
    sleep(2)
    
    # will read when this line of code is reached, so KEEP sensor
    # pressed till then
    print("Current touch sensor state: {}".format(
            touchSensor.get_sample()))
    
finally:
コード例 #5
0
    brick = nxtConnect.btConnect(brickName)

print(brick.get_device_info())  # check what brick you connected to

#######################################################################
## Then, you can specify what you want the NXT to do
#######################################################################

from time import sleep

from nxt.motor import Motor, PORT_A, PORT_B, PORT_C
from nxt.sensor import Touch, PORT_4, PORT_3

turningMotor = Motor(brick, PORT_B)
walkingMotor = Motor(brick, PORT_C)
turnerSwitch = Touch(brick, PORT_4)
legPosition = Touch(brick, PORT_3)

while True:
    if turnerSwitch.is_pressed() == False:
        turningMotor.run(power=0)
        a = 0
        walkingMotor.run(power=120)

    else:
        if legPosition.is_pressed() == False:
            walkingMotor.run(power=100)
        else:
            a = 1
        if a == 1:
            walkingMotor.run(power=0)