def main():
uartComm = UARTDevice(Port.S2, 9600, 100)
uartComm.clear()
xlimits = [-310, 310]
while True:
reflection = light.reflection()
try:
data_raw = uartComm.read(24).decode().replace('B', '')
data = ujson.loads(data_raw)
except Exception as e:
uartComm.clear()
print(e)
print('Read Failed')
data = {'x': 0, 'y': 0} #need this or robot.drive throws an error
try:
signal = reading(reflection)
uartComm.write(signal)
print(signal) #prints json signal
except Exception as e:
print(e)
print("Write Failed")
#print(data['x'], data['y'])
robot.drive(data['y'] / 2, 0)
print(horz.angle())
horiz_dist = data['x'] * (360 / 90)
constrain(horiz_dist, xlimits)
horz.run_target(100, horiz_dist)
def VibrateMotor():
joystick.run_angle(1400, 180)
def CompletionVibrate():
indicator.run_time(1400, 700)
uart.clear()
while True:
while not (xBut.pressed() | yBut.pressed()):
wait(100)
if uart.waiting() > 0:
msg = uart.read(1)
uart.clear() #should clear automatically, but needed some help
msg = str(msg)
if msg[2] == 'T':
VibrateMotor()
print('|', end='')
elif msg[2] == 'F':
print('.', end='')
elif msg[2] == 'C':
CompletionVibrate()
while (xBut.pressed() | yBut.pressed()):
if xBut.pressed():
uart.write('x') #send uart 'x'
#print('wrote x')
rightMotor.run(Motor_input)
leftMotor.run(Motor_input)
if error < 10:
print('Over!')
reset()
break
#Main Code
travel = waiting()
while travel == 'on':
#Checking for obstacles
if dist.distance() > 150:
Motor_input = -150
if dist.distance() <= 150:
Motor_input = -10
#Serial Commands from cam
if uart.waiting() >= 1:
data = uart.read()
if data.decode('utf-8') == 'y':
print('Fire')
wait(1000)
release()
break
#Keeps Motors rolling
rightMotor.run(Motor_input)
leftMotor.run(Motor_input)
cleanUp()
SystemLink.Put_SL('Start27', 'BOOLEAN', 'false')
if touch1.pressed() == True:
throw_ball()
SystemLink.Put_SL('Start28', 'BOOLEAN', 'true')
if len(ev3.buttons.pressed()) > 0:
print("Catching Ball")
wait(3000)
motorD.track_target(40)
# collect data from serial port and move armw
while (1):
serial.clear()
ang1 = ""
ang2 = ""
curr_byte = serial.read()
#print(curr_byte)
# decode instructions once b'a' is seen
if curr_byte == b'a':
# get angles
curr_byte = serial.read()
while (curr_byte != b'b'):
ang1 += curr_byte.decode('utf-8')
curr_byte = serial.read()
curr_byte = serial.read()
while (curr_byte != b'y' and curr_byte != b'n'):
ang2 += curr_byte.decode('utf-8')
curr_byte = serial.read()
if curr_byte == b'y':
# move motor and close gripper
direction = 1
print('????')
uart = UARTDevice(Port.S1, 9600, timeout=10000)
wait(500)
uart.write('a')
while uart.waiting() == 0:
wait(10)
curr = ""
previous = 'q'
uart.write('q')
while True:
xangle = xmotor.angle()
yangle = ymotor.angle()
holder = uart.read(1)
#print(str(xangle) + " " + str(yangle))
if yangle > 20 and xangle > 20:
curr = 'x'
elif yangle > 20 and (xangle < 20 and xangle > -20):
curr = 'y'
elif yangle > 20 and (xangle < -20):
curr = 'z'
elif (yangle < 20 and yangle > -20) and xangle < -20:
curr = 's'
elif (yangle < -20) and xangle < -20:
curr = 't'
elif (yangle < -20) and (xangle < 20 and xangle > -20):
curr = 'u'
elif (yangle < -20) and (xangle > 20):
curr = 'v'
from pybricks.robotics import DriveBase
from pybricks.iodevices import AnalogSensor, UARTDevice
brick.sound.beep()
minimotor = Motor(Port.C)
leftmotor = Motor(Port.A, Direction.CLOCKWISE)
rightmotor = Motor(Port.D, Direction.CLOCKWISE)
robot = DriveBase(leftmotor, rightmotor, 40, 200)
button = TouchSensor(Port.S1)
color = ColorSensor(Port.S2)
#sense = AnalogSensor(Port.S3, False)
uart = UARTDevice(Port.S3, 9600, timeout=10000)
direction = 1
#initial waiting phase:
handshake = "f"
while uart.waiting() == 0:
wait(10)
handshake = uart.read(1)
print(handshake)
while True:
if uart.waiting() != 0:
print(uart.read(1))
wait(0.1)
#!/usr/bin/env pybricks-micropython
#brickrun -r -- pybricks-micropython
from pybricks.hubs import EV3Brick
from pybricks.tools import wait, StopWatch, DataLog
from pybricks.parameters import Color, Port
from pybricks.ev3devices import Motor
from pybricks.iodevices import AnalogSensor, UARTDevice
# Initialize the EV3
ev3 = EV3Brick()
ev3.speaker.beep()
uart = UARTDevice(Port.S1, 9600, timeout=2000)
# short pins 5/6 (blue and yellow)
uart.write('Test')
wait(10)
data = uart.read_all(
) #if you connect Pin 5 & 6 you should see Test on the screen
ev3.screen.print(data)
uart.write('Test')
uart.waiting() # how many bytes on the port
uart.read(uart.waiting())
# Turn the light off
ev3.light.off()
fobj = open(filename, 'w')
for up in range(20):
print(up)
watch.reset()
watch.resume()
while watch.time() < 200:
robot.drive(20, 0)
robot.drive(0, 0)
for side in range(80):
watchside.reset()
watchside.resume()
while watchside.time() < 150:
minimotor.run(direction * -50)
colorcheck(side, up, direction)
direction *= -1
while True:
colorcheck()
direction = 1
if uart.waiting() != 0:
holder = uart.read(1).decode("utf-8")
print(holder)
if holder == 'q': #forward
motorspeed = 0
minispeed = 0
#robot.drive(motorspeed,0)
#minimotor.run(minispeed)
wait(0.1)
fobj.close()
uart = UARTDevice(Port.S4, 9600, timeout=200)
paddle = Motor(Port.C)
belt = Motor(Port.D)
pusher = Motor(Port.B)
ev3.speaker.beep()
wait(500)
paddle_closed = 0
message = ''
while True:
belt.dc(23)
pusher.dc(10)
try:
# uart.write('PLEASE WORK'.encode())
# wait(50)
if(uart.waiting() > 1):
message = uart.read(1)
# print(message)
# print(type(message))
# message = message.decode('utf-8') # not too many options on pybricks micropython
print("The Message is: ", message)
except:
# message = uart.read()
print("FAILED MESSAGE: ", message)
print(type(message))
if(message == b'2' and paddle_closed == 0):
paddle.run_angle(100, 90, stop_type = Stop.HOLD, wait = False)
belt.run_time(100, 2500)
paddle.run_angle(100, -90, stop_type = Stop.HOLD, wait = False)
paddle_closed = 1
reflectMean = reflectMeanNum / meanSize
if reflectMean > 0.5:
if wasBrick == 0:
sendData = bytes('1', 'utf-8')
uart.write(sendData)
wasBrick = 1
brickQueue.append(time.time())
reflectMean = 0
reflectMeanNum = 0
else:
if wasBrick == 1:
wasBrick = 0
# Try to read from serial port
try:
getData = uart.read(1).decode('utf-8')
isRed = True if getData == "0" else False
print(isRed)
except Exception:
#print("Read Failed")
pass
try:
if (time.time() > (brickQueue[0] + 9500)):
brickQueue.pop(0)
if isRed == True:
if currPos == 180:
bucketMotor.run_target(150, redPos)
currPos = redPos
else:
pass
