def turn(n, x):
robot = rb.Snatch3rRobot()
robot.go(x, None)
start = time.time()
while True:
now = time.time()
if now - start == n:
robot.stop(rb.StopAction.BRAKE.value)
break
def follow_black_circle():
""" Runs YOUR specific part of the project """
robot = rb.Snatch3rRobot()
drive = robot.drive_system
color = robot.color_sensor
turn_right = True
while True:
# Moving forward until light is reflected
drive.start_moving()
color.wait_until_intensity_is_greater_than(10)
# Try turning clockwise (to the right)
counter = 0
while True:
if turn_right is True:
drive.start_moving(100, 0)
else:
drive.start_moving(0, 100)
# Runs if robot is back on black within 0.25 seconds (implying that robot is turning in right direction)
if color.get_reflected_intensity() < 10:
break
# Runs if robot has not encountered black after 0.25 seconds in direction it's turning
if counter > 0.5 and color.get_reflected_intensity() > 10:
print('No black detected, turn around!')
# Revert to original position
if turn_right is True:
drive.move_for_seconds(1, -100, 0)
else:
drive.move_for_seconds(1, 0, -100)
# Changes direction to turn in the future
if turn_right is True:
turn_right = False
else:
turn_right = True
print('Turn direction changed! Now turn_right is :', turn_right)
# Turn for certain amount of time
while True:
if turn_right is True:
drive.start_moving(100, 0)
else:
drive.start_moving(0, 100)
if color.get_reflected_intensity() < 10:
break
counter = counter + 0.05
print(counter, color.get_reflected_intensity())
time.sleep(0.05)
def turn(n,x):
robot = rb.Snatch3rRobot()
time_start = time.time()
deltatime = n
while True:
robot.left_wheel.start_spinning(x)
robot.right_wheel.start_spinning(0)
if time.time() >= time_start() + deltatime:
break
robot.left_wheel.stop_spinning()
robot.right_wheel.stop_spinning()
def run_test_go_stop():
""" Tests the go and stop Snatch3rRobot methods. """
robot = rb.Snatch3rRobot()
robot.forward(20)
robot.stop()
robot.turn(90, 'right')
robot.stop()
robot.spin('right')
time.sleep(2)
robot.stop()
def spin_seconds(n, x):
""" Causes the robot to spin for N seconds at duty cycle x. """
robot = rb.Snatch3rRobot()
robot.go(x, -x)
start = time.time()
while True:
current = time.time()
if current - start >= n:
robot.stop(rb.StopAction.BRAKE.value)
break
def run_test_touch_sensor():
""" Tests the touch_sensor of the Snatch3rRobot. """
robot = rb.Snatch3rRobot()
print()
print("Testing the touch_sensor of the robot.")
print("Repeatedly press and release the touch sensor.")
print("Press Control-C when you are ready to stop testing.")
time.sleep(1)
count = 1
while True:
print("{:4}.".format(count), "Touch sensor value is: ",
robot.touch_sensor.get_value())
time.sleep(0.5)
count = count + 1
def run_test_forward():
""" Tests the forward Snatch3rRobot method. """
robot = rb.Snatch3rRobot()
robot.forward(10, 25)
print(robot.right_wheel.get_degrees_spun())
print(robot.left_wheel.get_degrees_spun())
robot.left_wheel.reset_degrees_spun(0)
time.sleep(2)
robot.forward(5, 100)
print(robot.right_wheel.get_degrees_spun())
print(robot.left_wheel.get_degrees_spun())
def run_test_spin():
robot = rb.Snatch3rRobot()
robot.spin(3, 'left')
print(robot.right_wheel.get_degrees_spun())
print(robot.left_wheel.get_degrees_spun())
robot.left_wheel.reset_degrees_spun(0)
robot.spin()
print(robot.right_wheel.get_degrees_spun())
print(robot.left_wheel.get_degrees_spun())
robot.left_wheel.reset_degrees_spun(0)
robot.spin(1, 'blah')
print(robot.right_wheel.get_degrees_spun())
print(robot.left_wheel.get_degrees_spun())
def run_test_go_stop():
""" Tests the go and stop Snatch3rRobot methods. """
robot = rb.Snatch3rRobot()
robot.go(50, 25)
time.sleep(2)
robot.stop()
print(robot.right_wheel.get_degrees_spun())
print(robot.left_wheel.get_degrees_spun())
robot.left_wheel.reset_degrees_spun(0)
time.sleep(2)
robot.go(100, 100)
time.sleep(3)
robot.stop(rb.StopAction.COAST.value)
def advanced_line_following():
robot = rb.Snatch3rRobot()
drivesystem = robot.drive_system
colorsensor = robot.color_sensor
drivesystem.start_moving(50,50)
while True:
if colorsensor.get_reflected_intensity() > 10:
drivesystem.stop_moving()
direction = test_water(robot,drivesystem,colorsensor)
if direction == 0:
print("There is no more line")
drivesystem.stop_moving()
else:
drivesystem.spin_in_place_degrees(direction)
drivesystem.start_moving(50,50)
def run_test_color_sensor():
""" Tests the color_sensor of the Snatch3rRobot. """
robot = rb.Snatch3rRobot()
print()
print("Testing the color_sensor of the robot.")
print("Repeatedly move the robot to different surfaces.")
print("Press Control-C when you are ready to stop testing.")
time.sleep(1)
count = 1
while True:
print(
"{:4}.".format(count), "Color sensor value/color/intensity is: ",
"{:3} {:3} {:3}".format(robot.color_sensor.get_value()[0],
robot.color_sensor.get_value()[1],
robot.color_sensor.get_value()[2]),
"{:4}".format(robot.color_sensor.get_color()),
"{:4}".format(robot.color_sensor.get_reflected_intensity()))
time.sleep(0.5)
count = count + 1
def run_test_go_stop(n):
""" Tests the go and stop Snatch3rRobot methods. """
robot = rb.Snatch3rRobot()
while True:
robot.go(50, -50)
if time.time() == time.time() + n:
break
print(robot.right_wheel.get_degrees_spun())
print(robot.left_wheel.get_degrees_spun())
robot.left_wheel.reset_degrees_spun(0)
time.sleep(2)
robot.go(100, 100)
time.sleep(3)
robot.stop(rb.StopAction.COAST.value)
print(robot.right_wheel.get_degrees_spun())
print(robot.left_wheel.get_degrees_spun())
def run_test_drive_system():
""" Tests the drive_system of the Snatch3rRobot. """
robot = rb.Snatch3rRobot()
print()
print("Testing the drive_system of the robot.")
print("Move at (20, 50) - that is, veer left slowly")
robot.drive_system.start_moving(20, 50)
time.sleep(2)
robot.drive_system.stop_moving()
print("Left/right wheel positions:",
robot.drive_system.left_wheel.get_degrees_spun(),
robot.drive_system.right_wheel.get_degrees_spun())
time.sleep(1)
print()
print("Spin clockwise at half speed for 2.5 seconds")
robot.drive_system.move_for_seconds(2.5, 50, -50)
print("Left/right wheel positions:",
robot.drive_system.left_wheel.get_degrees_spun(),
robot.drive_system.right_wheel.get_degrees_spun())
robot.drive_system.left_wheel.reset_degrees_spun()
robot.drive_system.right_wheel.reset_degrees_spun(2000)
time.sleep(1)
print()
# print("Move forward at full speed for 1.5 seconds, coast to stop")
# robot.drive_system.start_moving()
# time.sleep(1.5)
# robot.drive_system.stop_moving(rb.StopAction.COAST)
print("Left/right wheel positions:",
robot.drive_system.left_wheel.get_degrees_spun(),
robot.drive_system.right_wheel.get_degrees_spun())
robot.drive_system.go_straight_inches(10)
def go_forward(left_wheel_duty_cycle_percent, right_wheel_duty_cycle_percent):
robot = rb.Snatch3rRobot()
dl = left_wheel_duty_cycle_percent
d2 = right_wheel_duty_cycle_percent
robot.go(dl, d2)
def run_test_forward():
robot = rb.Snatch3rRobot()
robot.forward(3)
def run_tests():
""" Runs various tests. """
run_test_go_stop()
def run_test_go_stop():
""" Tests the go and stop Snatch3rRobot methods. """
robot = rb.Snatch3rRobot()
robot.go(50, 25)
time.sleep(2)
robot.stop()
print(robot.right_wheel.get_degrees_spun())
print(robot.left_wheel.get_degrees_spun())
robot.left_wheel.reset_degrees_spun(0)
time.sleep(2)
robot.go(100, 100)
time.sleep(3)
robot.stop(rb.StopAction.COAST.value)
print(robot.right_wheel.get_degrees_spun())
print(robot.left_wheel.get_degrees_spun())
#main()
robot = rb.Snatch3rRobot()
robot.turn(100, 120, 'right')
def turn_test():
robot = rb.Snatch3rRobot()
turn(robot,20,20)
def turning(x, N):
robot = rb.Snatch3rRobot()
robot.left_wheel.start_spinning(x)
robot.right_wheel.start_spinning(-x)
time.sleep(N)
robot.stop(rb.StopAction.COAST.value)
def run_test_turn():
robot = rb.Snatch3rRobot()
seconds = 5
duty_cycle = 50
robot.turn(seconds, duty_cycle)
def spin_test():
robot = rb.Snatch3rRobot()
spin(robot, 5,100)
def run_test_turn_for_N_seconds():
robot = rb.Snatch3rRobot()
robot.right_wheel.turn("clockwise", 10, 5)
print(robot.right_wheel.get_degrees_spun())
print(robot.left_wheel.get_degrees_spun())
def forward_test():
robot = rb.Snatch3rRobot()
robot.forward_for_n_seconds(5, 25)
robot.stop()
def run_test_forward_for():
robot = rb.Snatch3rRobot()
robot.forward_for(6, 75)
def test():
testrobot = rb.Snatch3rRobot()
testrobot.go_forward()
def test_forward(seconds):
robot = rb.Snatch3rRobot()
robot.move_forward(seconds)
def run_test_spin():
rob = rb.Snatch3rRobot()
rob.forward(4)
rob.turn(69)
def run_test_spinning():
robot = rb.Snatch3rRobot()
robot.spinning(100, -100)
robot.left_wheel.motor.duty_cycle
