def main():
start = timeit.default_timer()
print "Looking for brick"
b = nxt.find_one_brick()
print "found it"
l = nxt.Motor(b, nxt.PORT_B)
r = nxt.Motor(b, nxt.PORT_C)
m = nxt.SynchronizedMotors(l, r, 0)
#move forward
for i in range(3):
print "image:", i
m.turn(100, 14400)
#take_img()
time.sleep(2)
for i in range(3):
print "image:", i
m.turn(-100, 14400)
#take_img()
time.sleep(2)
stop = timeit.default_timer()
print "time taken:", stop - start
def __init__(self,
turn_ratio=0,
power_up=10,
power_down=-10,
power_left=20,
tacho_left=30,
power_right=20,
tacho_right=30,
bluetooth=False):
if bluetooth:
self.sock, self.brick = nxt_bluetooth.connectCar(
) # noqa PKSM '00:16:53:17:B4:04'
else:
self.brick = nxt.locator.find_one_brick()
self.leftMotor = nxt.Motor(self.brick, nxt.PORT_B)
self.rightMotor = nxt.Motor(self.brick, nxt.PORT_A)
self.both = nxt.SynchronizedMotors(self.leftMotor, self.rightMotor,
turn_ratio)
self.power_up = power_up
self.power_down = power_down
self.power_left = power_left
self.tacho_left = tacho_left
self.power_right = power_right
self.tacho_right = tacho_right
self.btCon = bluetooth
def initBrick():
global b
global right
global left
b = nxt.find_one_brick()
right = nxt.Motor(b, nxt.PORT_C)
left = nxt.Motor(b, nxt.PORT_B)
def setUp(cls):
ID = '00:16:53:17:EF:0A' # MAC address NXT11
cls.sock = BlueSock(ID)
brick = cls.sock.connect()
cls.leftMotor = nxt.Motor(brick, nxt.PORT_B)
cls.rightMotor = nxt.Motor(brick, nxt.PORT_A)
cls.leftMotor.reset_position(False)
cls.rightMotor.reset_position(False)
def __init__(self, node_name="nxt_motion_control"):
self.node_name = node_name
rospy.init_node(self.node_name)
rospy.Subscriber('/cmd', Command, self.new_cmd_callback)
self.current_cmd = Command(0, 0)
self.brick = nxt.find_one_brick()
self.motor_a = nxt.Motor(self.brick, nxt.PORT_A)
self.motor_b = nxt.Motor(self.brick, nxt.PORT_B)
def __init__(self):
threading.Thread.__init__(self)
self.stopping = False
self.powerLeft = 0.0
self.powerRight = 0.0
self.miniTick = 0
self.motorPlan = []
self.brick = nxt.find_one_brick(method=nxt.locator.Method(bluetooth=False))
self.leftMotor=nxt.Motor(self.brick, nxt.PORT_C)
self.rightMotor=nxt.Motor(self.brick, nxt.PORT_A)
def callback(cmd):
l = nxt.Motor(b, nxt.PORT_A)
r = nxt.Motor(b, nxt.PORT_B)
if cmd.linear.x != 0.0:
m = nxt.SynchronizedMotors(l, r, 0) #the last arg is turn ratio
m.turn(90, (cmd.linear.x * 10)) #forward
m.idle()
elif cmd.angular.z > 0.0:
m = nxt.SynchronizedMotors(r, l, 127)
m.turn(90, (cmd.angular.z * 10))
m.idle()
elif cmd.angular.z < 0.0:
m = nxt.SynchronizedMotors(l, r, 127)
m.turn(90, abs(cmd.angular.z * 10))
m.idle()
def light_callback(msg):
#def light_callback():
l = nxt.Motor(b, nxt.PORT_C)
i = 0
intensity = 0
global direction
if direction:
try:
while i <= 8:
l.turn(50, 20)
time.sleep(.15)
sample = light.get_sample()
if sample > intensity:
intensity = sample
i = i + 1
except:
print "Blocked"
l.idle()
direction = False
else:
try:
while i <= 8:
l.turn(-50, 20)
time.sleep(.15)
sample = light.get_sample()
if sample > intensity:
intensity = sample
i = i + 1
except:
print "Blocked"
l.idle()
direction = True
pub_intensity.publish(intensity)
def move_to(self, port, power, tachocount, speedreg=1, smoothstart=0, brake=0):
'''
Same as cmd(), except that the tachocount is subtracted from the motor's
current position and that value is used to turn the motor. Power is
-100-100, but the sign is rewritten as needed.'''
tacho = nxt.Motor(self.brick, port).get_tacho().block_tacho_count
tacho = tachocount-tacho
tsign = int(tacho >= 0) * 2 - 1
tacho = abs(tacho)
power = abs(power)*tsign
self.cmd(port, power, tacho, speedreg, smoothstart, brake)
def __init__(self):
self.brick = nxt.find_one_brick()
#set up sensors
for p in range(4):
try:
s = self.brick.get_sensor(p)
if isinstance(s, nxt.sensor.hitechnic.Compass):
self.compass = s
elif isinstance(s, nxt.sensor.hitechnic.Accelerometer):
self.accel = s
elif isinstance(s, nxt.sensor.generic.Ultrasonic):
self.us = s
except:
# we assume the only other thing connected is a color sensor
self.color = nxt.sensor.Color20(self.brick, p)
#set up motors
self.m_left = nxt.Motor(self.brick, nxt.PORT_C)
self.m_right = nxt.Motor(self.brick, nxt.PORT_B)
def moveCar(bk):
'''
Remote control function to NXT robot with keyboard inputs.
:param bk: brick
:type bk: brick object
'''
leftMotor = nxt.Motor(bk, nxt.PORT_B)
rightMotor = nxt.Motor(bk, nxt.PORT_A)
# both = nxt.SynchronizedMotors(leftMotor, rightMotor, 0)
# rightboth = nxt.SynchronizedMotors(leftMotor, rightMotor, 100)
# leftboth = nxt.SynchronizedMotors(rightMotor, leftMotor, 100)
while True:
try:
if key.is_pressed('q'):
print('Exiting...')
break
elif key.is_pressed('up'):
rightMotor.weak_turn(20, 100)
leftMotor.weak_turn(20, 100)
elif key.is_pressed('down'):
rightMotor.weak_turn(-20, 30)
leftMotor.weak_turn(-20, 30)
elif key.is_pressed('left'):
rightMotor.weak_turn(20, 30)
leftMotor.weak_turn(-20, 30)
elif key.is_pressed('right'):
rightMotor.weak_turn(-20, 30)
leftMotor.weak_turn(20, 30)
elif key.is_pressed('space'):
leftMotor.idle()
rightMotor.idle()
leftMotor.brake()
rightMotor.brake()
else:
pass
except:
break
def main():
if len(sys.argv) < 2:
print "usage: python rotate2.py foldername"
exit()
foldername = sys.argv[1]
start = timeit.default_timer()
print "Looking for brick"
b = nxt.find_one_brick()
print "found it"
l = nxt.Motor(b, nxt.PORT_B)
r = nxt.Motor(b, nxt.PORT_C)
m = nxt.SynchronizedMotors(l, r, 0)
for i in range(100):
print "image:",i
m.turn(80,75)
time.sleep(2)
take_img()
stop = timeit.default_timer()
print "time taken:", stop - start
execute_command("mkdir " + foldername)
execute_command("mv *.jpg " + foldername)
def __enter__(self):
self.brick = nxt.find_one_brick(method=nxt.locator.Method(bluetooth=False))
self.leftMotor=nxt.Motor(self.brick, nxt.PORT_C)
self.rightMotor=nxt.Motor(self.brick, nxt.PORT_A)
return self
# this find_one_brick method is unreliable #b = nxt.find_one_brick(host=ID) from nxt.bluesock import BlueSock # connection to first brick "JAWS" ID1 = '00:16:53:17:52:EE' # MAC address sock1 = BlueSock(ID1) b1 = sock1.connect() # connection to 2nd brick "pie" #ID2 = '00:16:53:0A:4B:2B' # MAC address #sock2 = BlueSock(ID2) #b2 = sock2.connect() mx = nxt.Motor(b1, nxt.PORT_A) # left-side my = nxt.Motor(b1, nxt.PORT_B) # right-side d = drive.Drive(mx,my) marm = nxt.Motor(b1, nxt.PORT_C) # arm motor a = arm.Arm(marm) marm.turn(power=-100,tacho_units=200,brake=True) marm.turn(power=100,tacho_units=200,brake=True) # this waved the arm around turn_arm = lambda x: marm.turn(power=-x,tacho_units=180,brake=True) [ turn_arm(_x) for _x in power ]
import time
import nxt
FORWARD_SPEED = 50
TURN_SPEED = 50
LEFT = -1
RIGHT = 1
brick = nxt.find_one_brick()
motors = [nxt.Motor(brick, nxt.PORT_B),
nxt.Motor(brick, nxt.PORT_C)]
def stop(secs=0.2):
for motor in motors:
motor.idle()
if secs:
time.sleep(secs)
def forward(secs=0.2):
for motor in motors:
motor.run(FORWARD_SPEED, regulated=True)
if secs:
time.sleep(secs)
stop(0)
#!/usr/bin/env python3
#Script to control a NXT 2-axis CNC "Pancake maker"
#Illustrates controlling more than one motor at the same time without trying to
#sync them. Uses the thread module.
#Written 2/3/11 by Marcus Wanner
#
#For more info and warnings see:
#http://groups.google.com/group/nxt-python/browse_thread/thread/f6ef0865ae768ef
import nxt, _thread, time
b = nxt.find_one_brick()
mx = nxt.Motor(b, nxt.PORT_A)
my = nxt.Motor(b, nxt.PORT_B)
motors = [mx, my]
def turnmotor(m, power, degrees):
m.turn(power, degrees)
#here are the instructions...
#the first value is the time to start the instruction
#the second is the axis (0 for x, 1 for y)
#the third is the power
#the fourth is the degrees
#it's probably not a good idea to run simultaneous turn
#functions on a single motor, so be careful with this
instructions = (
[0, 0, 80, 180],
[0, 1, -40, 1080],
# checkEdge()
logFile = open('robot.log', 'a+')
log('')
log('starting...')
log('NXT brick acquiring')
#nxt.locator.make_config()
b = nxt.locator.find_one_brick(host=myBrickHost, debug=True)
#b = nxt.locator.find_one_brick()
left_motor = nxt.Motor(b, nxt.PORT_A)
right_motor = nxt.Motor(b, nxt.PORT_B)
left_lock = thread.allocate_lock()
right_lock = thread.allocate_lock()
log('NXT brick acquired')
log('sensors acquiring')
leftEdgeSensor = nxt.Ultrasonic(b, nxt.PORT_4, False)
rightEdgeSensor = nxt.Ultrasonic(b, nxt.PORT_3, False)
endSensor = nxt.Touch(b, nxt.PORT_1)
log('sensors acquired')
def init_drive_motors(brick):
ma = nxt.Motor(brick, nxt.PORT_A)
mb = nxt.Motor(brick, nxt.PORT_B)
bm = nxt.SynchronizedMotors(ma, mb, 0)
return ma, mb, bm
import json
import requests
from flask import Flask, jsonify, abort, request, make_response
from threading import Thread, Lock
import logging
import nxt
app = Flask(__name__, static_url_path="")
discoveryURL = 'http://192.168.1.80:8070/ngsi9'
brokerURL = ''
profile = {}
subscriptionID = ''
b = nxt.find_one_brick()
mxA = nxt.Motor(b, nxt.PORT_A)
mxB = nxt.Motor(b, nxt.PORT_B)
@app.route('/notifyContext', methods=['POST'])
def notifyContext():
if not request.json:
abort(400)
objs = readContextElements(request.json)
handleNotify(objs)
return jsonify({'responseCode': 200})
def readContextElements(data):
import nxt.bluesock
import nxt.usbsock
global motorX, motorY
FPS = 5
#setting up the nxt and the cascade classifiers
try:
face_cascade = cv2.CascadeClassifier('haarcascade_frontalface_default.xml')
eye_cascade = cv2.CascadeClassifier('haarcascade_eye.xml')
print("Attempting to connect to NXT...")
b = nxt.bluesock.BlueSock('00:16:53:11:58:AB').connect()
#b = nxt.usbsock.find_bricks(name="Dan's NXT")
print("Connected!")
print("Initializing motors...")
motorX = nxt.Motor(b, nxt.PORT_A)
motorY = nxt.Motor(b, nxt.PORT_B)
print("Testing motors...")
#motorX.run(50) #nunber from -100 to 100
#motorY.run(50)
motorX.brake()
motorY.brake()
except:
print("Something went wrong")
quit()
class VideoStreamWidget(object):
wScreen = 0
hScreen = 0
p1 = []
# # key press info here: # https://stackoverflow.com/questions/16044229/how-to-get-keyboard-input-in-pygame from __future__ import print_function import nxt, thread, time import numpy as np import drive from nxt.bluesock import BlueSock # configure NXT brick for drive ID1 = '00:16:53:17:52:EE' # MAC address sock1 = BlueSock(ID1) b1 = sock1.connect() mx = nxt.Motor(b1, nxt.PORT_A) # left-side my = nxt.Motor(b1, nxt.PORT_B) # right-side d = drive.Drive(mx, my) import pygame pygame.init() window_w = 800 window_h = 600 white = (255, 255, 255) black = (0, 0, 0) FPS = 120
import nxt import sys import time #b = nxt.locator.find_one_brick() b = nxt.find_one_brick() mx = nxt.Motor(b, nxt.PORT_A) mx.run(int(sys.argv[1])) time.sleep(int(sys.argv[2])) mx.brake()
import nxt, thread, time
b = nxt.find_one_brick()
mA = nxt.Motor(b, nxt.PORT_B)
mB = nxt.Motor(b, nxt.PORT_C)
lux = nxt.sensor.Color20(b, nxt.PORT_4)
#mA.run(100) ; mB.run(100) ; time.sleep(1); mA.brake(); mB.brake()
#mA.weak_turn(100,90)
while 1:
intensite = lux.get_reflected_light(nxt.sensor.Type.COLORNONE)
if intensite < 6:
print str(intensite) + " noir"
mA.run(100)
mB.run(100)
time.sleep(1)
mA.brake()
mB.brake()
angle = 0
else:
print str(intensite) + " blanc"
angle = 10
mA.turn(100, angle)
if intensite < 6:
mA.run(100)
mB.run(100)
time.sleep(1)
mA.brake()
mB.brake()
else:
mA.turn(100, -2 * angle)
def __init__(self,Brick,PortOfDrive):
threading.Thread.__init__(self) # создаем, но не запускаем поток
self.brick=Brick
self.PofDrv=PortOfDrive
self.motor=nxt.Motor(self.brick,self.PofDrv)
self.Start=False
#!/usr/bin/env python # import nxt import sys import tty, termios import nxt.locator from nxt.sensor import * from nxt.motor import * brick = nxt.locator.find_one_brick() left = nxt.Motor(brick, PORT_B) right = nxt.Motor(brick, PORT_C) both = nxt.SynchronizedMotors(left, right, 0) camera = nxt.Motor(brick, PORT_A) leftboth = nxt.SynchronizedMotors(left, right, 100) rightboth = nxt.SynchronizedMotors(right, left, 100) guideLight = nxt.Color20(brick, PORT_4) backSense = nxt.Ultrasonic(brick, PORT_1) sens = 360 sensTurn = 90 curSens = 5 power = 100 blue = Type.COLORBLUE green = Type.COLORGREEN red = Type.COLORRED off = Type.COLORNONE curCol = off guideLight.set_light_color(curCol) curCol = green camDeg = 0
