class EV3Motors:
def __init__(self, left=0, right=1):
self.left = LargeMotor('outA')
self.right = LargeMotor('outB')
self.pos = 0.0
self.speed = 0.0
self.diff = 0
self.target_diff = 0
self.drive = 0
self.steer = 0
self.prev_sum = 0
self.prev_deltas = [0, 0, 0]
def get_data(self, interval):
left_pos = self.left.position
right_pos = self.right.position
pos_sum = right_pos + left_pos
self.diff = left_pos - right_pos
delta = pos_sum - self.prev_sum
self.pos += delta
self.speed = (delta + sum(self.prev_deltas)) / (4 * interval)
self.prev_sum = pos_sum
self.prev_deltas = [delta] + self.prev_deltas[0:2]
return self.speed, self.pos
def go(self):
self.left.run_direct()
self.right.run_direct()
def stop(self):
self.left.stop()
self.right.stop()
def set_power(self, power):
self.left.duty_cycle_sp = -power
self.right.duty_cycle_sp = power
# import nxt
#
# # brick = nxt.locator.find_one_brick(name = 'Hooper')
# b = nxt.locator.find_one_brick(
# name="NXT", strict=True,
# method=nxt.locator.Method(
# bluetooth=False, fantomusb=True, fantombt=False, usb=False))
from ev3dev.auto import OUTPUT_D, LargeMotor
import time
m = LargeMotor(OUTPUT_D)
print(m)
m.run_forever(speed_sp=360)
time.sleep(1)
m.stop()
print('Hooray')
# import nxt
#
# # brick = nxt.locator.find_one_brick(name = 'Hooper')
# b = nxt.locator.find_one_brick(
# name="NXT", strict=True,
# method=nxt.locator.Method(
# bluetooth=False, fantomusb=True, fantombt=False, usb=False))
from ev3dev.auto import OUTPUT_D, LargeMotor
import time
m = LargeMotor(OUTPUT_D)
print(m)
m.run_forever(speed_sp = 360)
time.sleep(1)
m.stop()
print('Hooray')
colorSensor = ColorSensor(INPUT_3)
clawMotor = MediumMotor(OUTPUT_A)
armMotor = LargeMotor(OUTPUT_B)
baseMotor = LargeMotor(OUTPUT_C)
# Claw Opening
ev3.Sound.speak("Now opening claw.").wait()
clawMotor.run_forever(speed_sp=100)
time.sleep(.5)
clawMotor.stop()
# Arm Moving to down position
ev3.Sound.speak("Now moving arm down.").wait()
armMotor.run_forever(speed_sp=120)
time.sleep(2.5)
armMotor.stop()
# Claw closing on object to pick up
ev3.Sound.speak("Now closing claw.").wait()
clawMotor.run_forever(speed_sp=-100)
time.sleep(2)
# Arm moving to the up position
ev3.Sound.speak("Now moving arm up.").wait()
armMotor.run_forever(speed_sp=-360)
time.sleep(.85)
armMotor.stop()
# Base moving to center position
ev3.Sound.speak("Now moving base.").wait()
baseMotor.run_forever(speed_sp=-130)
