class MyMotor(object):
def __init__(self, motor, speed=0):
self._motor = LargeMotor(motor)
assert self._motor.connected
self._motor.reset()
self._motor.position = 0
self._motor.stop_action = 'brake'
self._set_speed(speed)
@property
def speed(self):
return int(self._speed/10)
def _set_speed(self, speed):
assert speed >= -100 and speed <= 100
self._speed = speed*10
def run_forever(self, speed):
if speed is not None:
self._set_speed(speed)
self._motor.run_forever(speed_sp=self._speed)
def run_timed(self, timed, speed):
if speed is not None:
self._set_speed(speed)
runtimed = timed * 1000
self._motor.run_timed(speed_sp=self._speed, time_sp=runtimed)
def run_position(self, postion, speed, lastpostion=False):
if speed is not None:
self._set_speed(speed)
if lastpostion:
self._motor.run_to_abs_pos(speed_sp=self._speed)
else:
self._motor.run_to_rel_pos(speed_sp=self._speed)
def stop(self):
self._motor.stop()
def run_back(self, speed):
if not self._speed:
self.stop()
self._set_speed(speed)
self._motor.run_forever(speed_sp=self._speed)
STING_MOTOR.wait_while(Motor.STATE_RUNNING)
for i in range(3):
GO_MOTOR.run_forever(speed_sp=-1000)
SPEAKER.play(wav_file='/home/robot/sound/Blip 2.wav').wait()
while INFRARED_SENSOR.proximity >= 40:
pass
GO_MOTOR.run_forever(speed_sp=250)
SPEAKER.play(wav_file='/home/robot/sound/Blip 4.wav').wait()
STING_MOTOR.run_to_rel_pos(
speed_sp=750,
position_sp=-220,
stop_action=Motor.STOP_ACTION_HOLD)
STING_MOTOR.wait_while(Motor.STATE_RUNNING)
SPEAKER.play(wav_file='/home/robot/sound/Blip 3.wav').wait()
STING_MOTOR.run_timed(
speed_sp=-1000,
time_sp=1000,
stop_action=Motor.STOP_ACTION_HOLD)
STING_MOTOR.wait_while(Motor.STATE_RUNNING)
SPEAKER.play(wav_file='/home/robot/sound/Blip 1.wav').wait()
MEDIUM_MOTOR.run_timed(
speed_sp=750,
from ev3dev.ev3 import (Motor, LargeMotor, MediumMotor, OUTPUT_A, OUTPUT_B,
OUTPUT_C, Sound)
from time import sleep
LEFT_MOTOR = LargeMotor(address=OUTPUT_B)
RIGHT_MOTOR = LargeMotor(address=OUTPUT_C)
MEDIUM_MOTOR = MediumMotor(address=OUTPUT_A)
SPEAKER = Sound()
MEDIUM_MOTOR.run_forever(speed_sp=-1000)
for i in range(2):
LEFT_MOTOR.run_to_rel_pos(
position_sp=2 * 360, # degrees
speed_sp=750, # degrees per second
stop_action=Motor.STOP_ACTION_BRAKE)
RIGHT_MOTOR.run_to_rel_pos(
position_sp=2 * 360, # degrees
speed_sp=750, # degrees per second
stop_action=Motor.STOP_ACTION_BRAKE)
LEFT_MOTOR.wait_while(Motor.STATE_RUNNING)
RIGHT_MOTOR.wait_while(Motor.STATE_RUNNING)
MEDIUM_MOTOR.run_forever(speed_sp=1000)
SPEAKER.play(wav_file='/home/robot/sound/Airbrake.wav').wait()
sleep(0.5)
LEFT_MOTOR.run_to_rel_pos(
class Robot(object):
BASE = 12.3 #base of the tire
RADUIS = 3 #radius of the tire
CIRCUMFERENCE = 17.2 #circumference of the tires
'''
left_motor_port :: left motor port
right_motor_port :: right motor port
front_us_port :: front ultrasonic sensor port
right_us_port ::right ultrasonic sensor port
left_us_port ::left ultrasonic sensor port
'''
def __init__(self, left_motor_port, right_motor_port, front_us_port,
right_us_port, left_us_port):
self.leftMotor = LargeMotor('out' + left_motor_port)
self.rightMotor = LargeMotor('out' + right_motor_port)
self.FRONT_US_SENSOR = UltrasonicSensor('in' + front_us_port)
self.RIGHT_US_SENSOR = UltrasonicSensor('in' + right_us_port)
self.LEFT_US_SENSOR = UltrasonicSensor('in' + left_us_port)
self.TOUCH_SENSOR = TouchSensor()
assert self.leftMotor.connected, "Connect left Motor to port" + \
str(left_motor_port)
assert self.rightMotor.connected, "Connect right Motor to port" + \
str(right_motor_port)
assert self.TOUCH_SENSOR.connected, "Connect a touch sensor"
assert self.FRONT_US_SENSOR.connected, "Connect the ultrasound sensor in the front"
assert self.RIGHT_US_SENSOR.connected, "Connect the ultrasound sensor on the right"
assert self.LEFT_US_SENSOR.connected, "Connect the ultrasound sensor on the left"
#set sensor mode to cm
self.FRONT_US_SENSOR.mode = 'US-DIST-CM'
self.RIGHT_US_SENSOR.mode = 'US-DIST-CM'
self.LEFT_US_SENSOR.mode = 'US-DIST-CM'
#move straight
def moveStraight(self, distance, speed):
n = (360 * distance) / self.CIRCUMFERENCE
self.rightMotor.run_to_rel_pos(position_sp=n,
speed_sp=speed,
stop_action="brake")
self.leftMotor.run_to_rel_pos(position_sp=n,
speed_sp=speed,
stop_action="brake")
self.rightMotor.wait_while('running')
self.leftMotor.wait_while('running')
#move backward
def moveBackward(self, distance, speed):
n = (360 * distance) / self.CIRCUMFERENCE
n = (-1 * n)
self.rightMotor.run_to_rel_pos(position_sp=n,
speed_sp=speed,
stop_action="brake")
self.leftMotor.run_to_rel_pos(position_sp=n,
speed_sp=speed,
stop_action="brake")
self.rightMotor.wait_while('running')
self.leftMotor.wait_while('running')
#left left
def turnLeft(self, distance, speed):
n = (360 * distance) / self.CIRCUMFERENCE
m = (-1 * n)
self.rightMotor.run_to_rel_pos(position_sp=n,
speed_sp=speed,
stop_action="brake")
self.leftMotor.run_to_rel_pos(position_sp=m,
speed_sp=speed,
stop_action="brake")
self.rightMotor.wait_while('running')
self.leftMotor.wait_while('running')
#turn right
def turnRight(self, distance, speed):
n = (360 * distance) / self.CIRCUMFERENCE
m = (-1 * n)
self.rightMotor.run_to_rel_pos(position_sp=m,
speed_sp=speed,
stop_action="brake")
self.leftMotor.run_to_rel_pos(position_sp=n,
speed_sp=speed,
stop_action="brake")
self.rightMotor.wait_while('running')
self.leftMotor.wait_while('running')
#stop robot movement
def stopMotor(self):
self.rightMotor.stop()
self.leftMotor.stop()
#get ultrasonic sensor reading
def getSensorReading(self, sensor):
if sensor == 'front':
reading = self.FRONT_US_SENSOR.value() / 10
elif sensor == 'right':
reading = self.RIGHT_US_SENSOR.value() / 10
elif sensor == 'left':
reading = self.LEFT_US_SENSOR.value() / 10
return reading
pass
GO_MOTOR.run_forever(speed_sp=-200)
while BEACON_SEEKER.heading >= 3:
pass
# FIXME: Spik3r doesn't stop at the correct angle
GO_MOTOR.stop(stop_action=Motor.STOP_ACTION_HOLD)
SPEAKER.play(wav_file='/home/robot/sound/Blip 4.wav').wait()
# FIXME: the following doesn't run
for i in range(3):
GO_MOTOR.run_to_rel_pos(speed_sp=1000,
position=-10,
stop_action=Motor.STOP_ACTION_HOLD)
GO_MOTOR.wait_while(Motor.STATE_RUNNING)
STING_MOTOR.run_to_rel_pos(speed_sp=750,
position=-220,
stop_action=Motor.STOP_ACTION_HOLD)
STING_MOTOR.wait_while(Motor.STATE_RUNNING)
sleep(0.1)
STING_MOTOR.run_timed(speed_sp=-1000,
time_sp=1000,
stop_action=Motor.STOP_ACTION_HOLD)
STING_MOTOR.wait_while(Motor.STATE_RUNNING)
#!/usr/bin/env python3
from ev3dev.ev3 import (Motor, LargeMotor, OUTPUT_D, Sound)
LARGE_MOTOR = LargeMotor(address=OUTPUT_D)
SPEAKER = Sound()
LARGE_MOTOR.run_timed(speed_sp=400,
time_sp=1000,
stop_action=Motor.STOP_ACTION_BRAKE)
LARGE_MOTOR.wait_while(Motor.STATE_RUNNING)
LARGE_MOTOR.run_to_rel_pos(speed_sp=750,
position_sp=-220,
stop_action=Motor.STOP_ACTION_BRAKE)
LARGE_MOTOR.wait_while(Motor.STATE_RUNNING)
SPEAKER.play(wav_file='/home/robot/sound/Blip 3.wav').wait()
LARGE_MOTOR.run_timed(speed_sp=-1000,
time_sp=1000,
stop_action=Motor.STOP_ACTION_BRAKE)
LARGE_MOTOR.wait_while(Motor.STATE_RUNNING)
LARGE_MOTOR.run_timed(
speed_sp=1000, # 400 too weak
time_sp=1000,
stop_action=Motor.STOP_ACTION_BRAKE)
LARGE_MOTOR.wait_while(Motor.STATE_RUNNING)
class Spik3r:
def __init__(self,
sting_motor_port: str = OUTPUT_D,
go_motor_port: str = OUTPUT_B,
claw_motor_port: str = OUTPUT_A,
touch_sensor_port: str = INPUT_1,
color_sensor_port: str = INPUT_3,
ir_sensor_port: str = INPUT_4,
ir_beacon_channel: int = 1):
self.sting_motor = LargeMotor(address=sting_motor_port)
self.go_motor = LargeMotor(address=go_motor_port)
self.claw_motor = MediumMotor(address=claw_motor_port)
self.ir_sensor = InfraredSensor(address=ir_sensor_port)
self.ir_beacon_channel = ir_beacon_channel
self.beacon = RemoteControl(sensor=self.ir_sensor,
channel=self.ir_beacon_channel)
self.touch_sensor = TouchSensor(address=touch_sensor_port)
self.color_sensor = ColorSensor(address=color_sensor_port)
self.dis = Screen()
self.speaker = Sound()
def sting_by_ir_beacon(self):
while True:
if self.beacon.beacon:
self.sting_motor.run_to_rel_pos(
speed_sp=750,
position=-220,
stop_action=Motor.STOP_ACTION_HOLD)
self.sting_motor.wait_while(Motor.STATE_RUNNING)
self.speaker.play(
wav_file='/home/robot/sound/Blip 3.wav').wait()
self.sting_motor.run_timed(speed_sp=-1000,
time_sp=1000,
stop_action=Motor.STOP_ACTION_HOLD)
self.sting_motor.wait_while(Motor.STATE_RUNNING)
self.sting_motor.run_timed(speed_sp=1000,
time_sp=1000,
stop_action=Motor.STOP_ACTION_HOLD)
self.sting_motor.wait_while(Motor.STATE_RUNNING)
while self.beacon.beacon:
pass
def be_noisy_to_people(self):
while True:
if self.color_sensor.reflected_light_intensity > 30:
for i in range(4):
self.speaker.play_song(
(('D4', 'e3'), ('D4', 'e3'), ('D4', 'e3'), ('G4', 'h'),
('D5', 'h'), ('C5', 'e3'), ('B4', 'e3'), ('A4', 'e3'),
('G5', 'h'), ('D5', 'q'), ('C5', 'e3'), ('B4', 'e3'),
('A4', 'e3'), ('G5', 'h'), ('D5', 'q'), ('C5', 'e3'),
('B4', 'e3'), ('C5', 'e3'), ('A4', 'h.')))
def pinch_if_touched(self):
while True:
if self.touch_sensor.is_pressed:
self.claw_motor.run_timed(speed_sp=500,
time_sp=1000,
stop_action=Motor.STOP_ACTION_HOLD)
self.claw_motor.wait_while(Motor.STATE_RUNNING)
self.claw_motor.run_timed(speed_sp=-500,
time_sp=0.3 * 1000,
stop_action=Motor.STOP_ACTION_HOLD)
self.claw_motor.wait_while(Motor.STATE_RUNNING)
def keep_driving_by_ir_beacon(self):
while True:
if self.beacon.red_up and self.beacon.blue_up:
self.go_motor.run_forever(speed_sp=910)
elif self.beacon.blue_up:
self.go_motor.run_forever(speed_sp=-1000)
else:
self.go_motor.stop(stop_action=Motor.STOP_ACTION_HOLD)
def main(self):
self.dis.image.paste(im=Image.open('/home/robot/image/Evil.bmp'))
self.dis.update()
# FIXME: ValueError: invalid literal for int() with base 10: '' or '9\n9'
# when multiple threads access the same Sensor
Thread(target=self.pinch_if_touched, daemon=True).start()
Thread(target=self.be_noisy_to_people, daemon=True).start()
Thread(target=self.sting_by_ir_beacon, daemon=True).start()
self.keep_driving_by_ir_beacon()
MEDIUM_MOTOR.run_timed(
speed_sp=-200, # deg/s
time_sp=1000, # ms
stop_action=Motor.STOP_ACTION_HOLD)
MEDIUM_MOTOR.wait_while(Motor.STATE_RUNNING)
while True:
if IR_SENSOR.proximity < 25:
SCREEN.image.paste(im=Image.open('/home/robot/image/Pinch right.bmp'))
SCREEN.update()
LEFT_MOTOR.run_to_rel_pos(
speed_sp=750, # degrees/second
position_sp=-1000, # degrees
stop_action=Motor.STOP_ACTION_HOLD)
RIGHT_MOTOR.run_to_rel_pos(
speed_sp=750, # degrees/second
position_sp=1000, # degrees
stop_action=Motor.STOP_ACTION_HOLD)
LEFT_MOTOR.wait_while(Motor.STATE_RUNNING)
RIGHT_MOTOR.wait_while(Motor.STATE_RUNNING)
SCREEN.image.paste(im=Image.open('/home/robot/image/Angry.bmp'))
SCREEN.update()
MEDIUM_MOTOR.run_timed(
speed_sp=1000, # deg/s
time_sp=0.3 * 1000, # ms
stop_action=Motor.STOP_ACTION_HOLD)
if IR_SENSOR.proximity < 25:
LEFT_FOOT_MOTOR.stop(stop_action=Motor.STOP_ACTION_BRAKE)
RIGHT_FOOT_MOTOR.stop(stop_action=Motor.STOP_ACTION_BRAKE)
LEDS.set_color(group=Leds.LEFT, color=Leds.RED, pct=1)
LEDS.set_color(group=Leds.RIGHT, color=Leds.RED, pct=1)
SPEAKER.play(wav_file='/home/robot/sound/Object.wav').wait()
SPEAKER.play(wav_file='/home/robot/sound/Detected.wav').wait()
SPEAKER.play(wav_file='/home/robot/sound/Error alarm.wav').wait()
MEDIUM_MOTOR.run_forever(speed_sp=1000 # degrees per second
)
LEFT_FOOT_MOTOR.run_to_rel_pos(
position_sp=360, # degrees
speed_sp=1000, # degrees per second
stop_action=Motor.STOP_ACTION_BRAKE)
RIGHT_FOOT_MOTOR.run_to_rel_pos(
position_sp=360, # degrees
speed_sp=800, # degrees per second
stop_action=Motor.STOP_ACTION_BRAKE)
LEFT_FOOT_MOTOR.wait_while(Motor.STATE_RUNNING)
RIGHT_FOOT_MOTOR.wait_while(Motor.STATE_RUNNING)
MEDIUM_MOTOR.run_forever(speed_sp=-1000 # degrees per second
)
LEFT_FOOT_MOTOR.run_to_rel_pos(
position_sp=-360, # degrees
speed_sp=1000, # degrees per second
stop_action=Motor.STOP_ACTION_BRAKE)
OUTPUT_C, Screen, Sound)
from PIL import Image
MEDIUM_MOTOR = MediumMotor(address=OUTPUT_A)
LEFT_MOTOR = LargeMotor(address=OUTPUT_B)
RIGHT_MOTOR = LargeMotor(address=OUTPUT_C)
SCREEN = Screen()
SPEAKER = Sound()
SCREEN.image.paste(im=Image.open('/home/robot/image/Pinch right.bmp'))
SCREEN.update()
LEFT_MOTOR.run_to_rel_pos(
position_sp=-0.5 * 360, # degrees
speed_sp=250, # degrees per second
stop_action=Motor.STOP_ACTION_BRAKE)
RIGHT_MOTOR.run_to_rel_pos(
position_sp=0.5 * 360, # degrees
speed_sp=250, # degrees per second
stop_action=Motor.STOP_ACTION_BRAKE)
LEFT_MOTOR.wait_while(Motor.STATE_RUNNING)
RIGHT_MOTOR.wait_while(Motor.STATE_RUNNING)
MEDIUM_MOTOR.run_to_rel_pos(
position_sp=3 * 360, # degrees
speed_sp=1000, # degrees per second
stop_action=Motor.STOP_ACTION_BRAKE)
MEDIUM_MOTOR.wait_while(Motor.STATE_RUNNING)
SCREEN.image.paste(im=Image.open('/home/robot/image/Pinch left.bmp'))
