def __init__(self):
self.hub = PrimeHub()
self.colorsensor = ColorSensor('B')
self.force = ForceSensor('A')
self.boundary = None# Initial Decision boundary
self.ATraining = []# Initial A examples
self.BTraining = []# Initial B examples
self.averageA = None# Initial average for the A training
self.averageB = None# Initial average for the B training
def go_until_black(hub, motor_pair):
right_sensor = ColorSensor('F')
left_sensor = ColorSensor('B')
motor_pair.start(0, 30)
while True:
right_color = right_sensor.get_color()
left_color = left_sensor.get_color()
if right_color == 'black':
motor_pair.stop()
motor_pair.start_tank(left_speed=30, right_speed=-10)
if left_color == 'black':
motor_pair.stop()
if left_color == 'black':
motor_pair.stop()
motor_pair.start_tank(left_speed=-10, right_speed=30)
if right_color == 'black':
motor_pair.stop()
if right_color == 'black' and left_color == 'black':
motor_pair.stop()
break
from spike import PrimeHub, LightMatrix, Button, StatusLight, ForceSensor, MotionSensor, Speaker, ColorSensor, App, DistanceSensor, Motor, MotorPair
from spike.control import wait_for_seconds, wait_until, Timer
from math import *
hub = PrimeHub()
color_sensor_E = ColorSensor('E')
color_sensor_F = ColorSensor('F')
motor_A = Motor('A') # Set the motor port to the motor.
motor_B = Motor('B') # Set the motor port to the motor.
motor_A.set_default_speed(-30) # Set the default speed of the motor.
motor_B.set_default_speed(30) # Set the default speed of the motor.
motor_A.set_stop_action('brake') # Activate the brakes when the motor stops. The other conditions are 'hold' and 'coast'.
motor_B.set_stop_action('brake') # Activate the brakes when the motor stops.
motor_A_flag = 0 # Create a flag for motor A and set it to OFF.
motor_B_flag = 0 # Create a flag for motor B and set it to OFF.
def stop_at(color):
motor_A_flag = 0 # Reset the flag for motor A to OFF.
motor_B_flag = 0 # Reset the flag for motor B to OFF.
# Move forward.
motor_A.start()
motor_B.start()
while (motor_A_flag == 0) or (motor_B_flag == 0): # Repeat while both sensors ever detect black color.
if color_sensor_E.get_color() == color: # If the color sensor on port E detect the desired color
motor_A.stop() # stop the motor an port A and
from spike import PrimeHub, LightMatrix, Button, StatusLight, ForceSensor, MotionSensor, Speaker, ColorSensor, App, \
DistanceSensor, Motor, MotorPair
from spike.control import wait_for_seconds, wait_until, Timer
import math
g_hub = PrimeHub()
g_right_sensor = ColorSensor('D')
g_motor_pair = MotorPair('A', 'E')
g_wheel_distance_apart = 14.5
g_wheel_radius = 4.25
g_wheel_circumference = 2 * math.pi * g_wheel_radius
g_motor_pair.set_motor_rotation(g_wheel_circumference, 'cm')
g_motor_pair.set_default_speed(-50)
g_motor_pair.set_stop_action('break')
def line_follow(hub, motor_pair, right_sensor, num):
count = 0
while count < num:
if right_sensor.get_reflected_light() > 50:
motor_pair.start_tank(-25, 15)
else:
motor_pair.start_tank(20, 15)
count += 1
line_follow(g_hub, g_motor_pair, g_right_sensor, 200)
from spike import ColorSensor
# Initialize the Color Sensor.
paper_scanner = ColorSensor('E')
# Measure the color.
color = paper_scanner.get_color()
# Print the color name to the console
print('Detected:', color)
# Check if it is a specific color
# Values: 'black','violet','blue','cyan','green','yellow','red','white', None
if color == 'red':
print('It is red!')
elif color == 'white':
print('It is white!')
from spike import ColorSensor
from spike.control import wait_for_seconds
# Initialize the Color Sensor.
paper_scanner = ColorSensor('E')
while True:
# Measure the intensity.
red = paper_scanner.get_red()
green = paper_scanner.get_green()
blue = paper_scanner.get_blue()
# Print the color name to the console
print('Red intensity', red)
print('Green intensity', green)
print('Blue intensity', blue)
wait_for_seconds(2)
from spike import ColorSensor
from spike.control import wait_until
from spike.operator import equal_to
color_sensor = ColorSensor('E')
print("Waiting")
# wait for the Color Sensor to detect red
wait_until(color_sensor.get_color, equal_to, 'red')
print("Yay! Found Red")
from util.print_override import spikeprint
print = spikeprint
from spike import PrimeHub, LightMatrix, Button, StatusLight, ForceSensor, MotionSensor, Speaker, ColorSensor, App, DistanceSensor, Motor, MotorPair
from spike.control import wait_for_seconds, wait_until, Timer
hub = PrimeHub()
from util.print_override import spikeprint
print = spikeprint
from spike import PrimeHub, LightMatrix, Button, StatusLight, ForceSensor, MotionSensor, Speaker, ColorSensor, App, DistanceSensor, Motor, MotorPair
from spike.control import wait_for_seconds, wait_until, Timer
hub = PrimeHub()
color = ColorSensor('D')
del print # removes print to console functionality; restores standard implementation
x = 0
def printSP(input): #use to filter pi serial
print("TXTSPTXT" + str(input) + "TXTSPTXT")
while True:
# Check for win condition
if (color.get_color() == 'red'):
# tell pi that mario has won"
printSP("9;red:(1,2)")
# cheer to show Mario wins
hub.light_matrix.write('M')
from spike import ColorSensor
from spike.control import wait_for_seconds
# Initialize the Color Sensor.
color_sensor = ColorSensor('E')
while True:
color_sensor.wait_until_color('red')
print("Red object found")
from spike import PrimeHub, LightMatrix, Button, StatusLight, ForceSensor, MotionSensor, Speaker, ColorSensor, App, \
DistanceSensor, Motor, MotorPair
from spike.control import wait_for_seconds, wait_until, Timer
import math
hub = PrimeHub()
motor_pair = MotorPair('A', 'E')
right_motor = Motor('E')
left_color = ColorSensor('B')
right_color = ColorSensor('D')
wheel_distance_apart = 14.5
wheel_radius = 4.25
wheel_circumference = 2 * math.pi * wheel_radius
motor_pair.set_motor_rotation(wheel_circumference, 'cm')
right_motor.set_default_speed(15)
i = 0
motor_pair.start_tank(25, 25)
while i < 200:
if left_color.get_color() == 'black':
print('l')
motor_pair.start_tank(5, 25)
elif right_color.get_color() == 'black':
print('r')
motor_pair.start_tank(25, 5)
i += 1
motor_pair.stop()
motor_pair.move_tank(165, 'cm', left_speed=15, right_speed=15)
right_motor.run_for_rotations(20)
motor_pair.start_tank(-25, -25)
def closeGrip():
motor_e.set_default_speed(50)
motor_e.run_for_rotations(+1.50)
def openGrip():
motor_e.set_default_speed(50)
motor_e.run_for_rotations(-1.50)
# set up hub, motors and sensors
hub = PrimeHub()
motor_pair = MotorPair('A', 'B')
motor_pair.set_motor_rotation(17.5, 'cm')
motor_pair.set_default_speed(20)
colour_c = ColorSensor('C')
distance = DistanceSensor('D')
motor_e = Motor('E')
# create a peripheral object
remote = BLEPeripheral()
# scan for the target device and connect if found
utime.sleep(1)
remote.on_connect(callback=on_connect)
remote.on_disconnect(callback=on_disconnect)
remote.connect()
grabberOpen = True
while remote.is_connected() is not None: