class Gripp3r(IRBeaconRemoteControlledTank):
def __init__(self,
left_motor_port: str = OUTPUT_B,
right_motor_port: str = OUTPUT_C,
grip_motor_port: str = OUTPUT_A,
touch_sensor_port: str = INPUT_1,
ir_sensor_port: str = INPUT_4,
ir_beacon_channel: int = 1):
super().__init__(left_motor_port=left_motor_port,
right_motor_port=right_motor_port,
ir_sensor_port=ir_sensor_port,
ir_beacon_channel=ir_beacon_channel)
self.grip_motor = MediumMotor(address=grip_motor_port)
self.touch_sensor = TouchSensor(address=touch_sensor_port)
self.ir_sensor = InfraredSensor(address=ir_sensor_port)
self.ir_beacon_channel = ir_beacon_channel
self.beacon = RemoteControl(sensor=self.ir_sensor,
channel=ir_beacon_channel)
self.speaker = Sound()
def grip_or_release_by_ir_beacon(self, speed: float = 50):
while True:
if self.beacon.beacon:
if self.touch_sensor.is_pressed:
self.speaker.play(
wav_file='/home/robot/sound/Air release.wav')
self.grip_motor.run_timed(
speed_sp=500,
time_sp=1000,
stop_action=Motor.STOP_ACTION_BRAKE)
self.grip_motor.wait_while(Motor.STATE_RUNNING)
else:
self.speaker.play(
wav_file='/home/robot/sound/Airbrake.wav')
self.grip_motor.run_forever(speed_sp=-500)
while not self.touch_sensor.is_pressed:
pass
self.grip_motor.stop(stop_action=Motor.STOP_ACTION_BRAKE)
while self.beacon.beacon:
pass
def main(self, speed: float = 1000):
self.grip_motor.run_timed(speed_sp=-500,
time_sp=1000,
stop_action=Motor.STOP_ACTION_BRAKE)
self.grip_motor.wait_while(Motor.STATE_RUNNING)
Process(target=self.grip_or_release_by_ir_beacon, daemon=True).start()
self.keep_driving_by_ir_beacon(speed=speed)
class CuriosityRov3r(IRBeaconRemoteControlledTank):
def __init__(
self,
left_motor_port: str = OUTPUT_B, right_motor_port: str = OUTPUT_C,
medium_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):
super().__init__(
left_motor_port=left_motor_port, right_motor_port=right_motor_port,
ir_sensor_port=ir_sensor_port, ir_beacon_channel=ir_beacon_channel)
self.medium_motor = MediumMotor(address=medium_motor_port)
self.touch_sensor = TouchSensor(address=touch_sensor_port)
self.color_sensor = ColorSensor(address=color_sensor_port)
self.ir_sensor = InfraredSensor(address=ir_sensor_port)
self.ir_beacon_channel = ir_beacon_channel
self.beacon = RemoteControl(sensor=self.ir_sensor,
channel=ir_beacon_channel)
self.dis = Screen()
self.noise = Sound()
def spin_fan(self, speed: float = 1000):
while True:
if self.color_sensor.reflected_light_intensity > 20:
self.medium_motor.run_forever(speed_sp=speed)
else:
self.medium_motor.stop(stop_action=Motor.STOP_ACTION_HOLD)
def say_when_touched(self):
while True:
if self.touch_sensor.is_pressed:
self.dis.image.paste(im=Image.open('/home/robot/image/Angry.bmp'))
self.dis.update()
self.noise.play(wav_file='/home/robot/sound/No.wav').wait()
self.medium_motor.run_timed(
speed_sp=-500,
time_sp=3000,
stop_action=Motor.STOP_ACTION_BRAKE)
self.medium_motor.wait_while(Motor.STATE_RUNNING)
def main(self, speed: float = 1000):
Thread(target=self.say_when_touched,
daemon=True).start()
Thread(target=self.spin_fan,
daemon=True).start()
self.keep_driving_by_ir_beacon(speed=speed)
class MarsRov3r(IRBeaconRemoteControlledTank):
def __init__(self,
left_motor_port: str = OUTPUT_B,
right_motor_port: str = OUTPUT_C,
grip_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):
super().__init__(left_motor_port=left_motor_port,
right_motor_port=right_motor_port,
ir_sensor_port=ir_sensor_port,
ir_beacon_channel=ir_beacon_channel)
self.grip_motor = MediumMotor(address=grip_motor_port)
self.touch_sensor = TouchSensor(address=touch_sensor_port)
self.color_sensor = ColorSensor(address=color_sensor_port)
self.ir_sensor = InfraredSensor(address=ir_sensor_port)
self.ir_beacon_channel = ir_beacon_channel
self.beacon = RemoteControl(sensor=self.ir_sensor,
channel=ir_beacon_channel)
self.speaker = Sound()
is_gripping = False
def grip_or_release_claw_by_ir_beacon(self):
while True:
if self.beacon.beacon:
if self.is_gripping:
self.grip_motor.run_timed(
speed_sp=1000,
time_sp=2000,
stop_action=Motor.STOP_ACTION_BRAKE)
self.grip_motor.wait_while(Motor.STATE_RUNNING)
self.speaker.play(
wav_file='/home/robot/sound/Air release.wav').wait()
self.is_gripping = False
else:
self.grip_motor.run_timed(
speed_sp=-1000,
time_sp=2000,
stop_action=Motor.STOP_ACTION_BRAKE)
self.grip_motor.wait_while(Motor.STATE_RUNNING)
self.speaker.play(
wav_file='/home/robot/sound/Airbrake.wav').wait()
self.is_gripping = True
while self.beacon.beacon:
pass
def main(self, speed: float = 1000):
self.grip_motor.run_timed(speed_sp=500,
time_sp=1000,
stop_action=Motor.STOP_ACTION_BRAKE)
self.grip_motor.wait_while(Motor.STATE_RUNNING)
Thread(target=self.grip_or_release_claw_by_ir_beacon,
daemon=True).start()
self.keep_driving_by_ir_beacon(speed=speed)
MEDIUM_MOTOR = MediumMotor(address=OUTPUT_A)
GO_MOTOR = LargeMotor(address=OUTPUT_B)
STING_MOTOR = LargeMotor(address=OUTPUT_D)
INFRARED_SENSOR = InfraredSensor(address=INPUT_4)
SPEAKER = Sound()
MEDIUM_MOTOR.run_timed(
speed_sp=500,
time_sp=1000,
stop_action=Motor.STOP_ACTION_HOLD)
MEDIUM_MOTOR.wait_while(Motor.STATE_RUNNING)
MEDIUM_MOTOR.run_timed(
speed_sp=-500,
time_sp=0.3 * 1000,
stop_action=Motor.STOP_ACTION_HOLD)
MEDIUM_MOTOR.wait_while(Motor.STATE_RUNNING)
STING_MOTOR.run_timed(
speed_sp=400,
time_sp=1000,
stop_action=Motor.STOP_ACTION_HOLD)
STING_MOTOR.wait_while(Motor.STATE_RUNNING)
for i in range(3):
GO_MOTOR.run_forever(speed_sp=-1000)
class Ev3rstorm:
def __init__(self,
left_foot_track_motor_port: str = OUTPUT_B,
right_foot_track_motor_port: str = OUTPUT_C,
bazooka_blast_motor_port: str = OUTPUT_A,
touch_sensor_port: str = INPUT_1,
color_sensor_port: str = INPUT_3,
ir_sensor_port: str = INPUT_4,
driving_ir_beacon_channel: int = 1,
shooting_ir_beacon_channel: int = 2):
self.left_foot_track_motor = LargeMotor(
address=left_foot_track_motor_port)
self.right_foot_track_motor = LargeMotor(
address=right_foot_track_motor_port)
self.bazooka_blast_motor = MediumMotor(
address=bazooka_blast_motor_port)
self.ir_sensor = InfraredSensor(address=ir_sensor_port)
self.driving_remote_control = RemoteControl(
sensor=self.ir_sensor, channel=driving_ir_beacon_channel)
self.shooting_remote_control = RemoteControl(
sensor=self.ir_sensor, channel=shooting_ir_beacon_channel)
self.touch_sensor = TouchSensor(address=INPUT_1)
self.color_sensor = ColorSensor(address=INPUT_3)
self.leds = Leds()
self.screen = Screen()
assert self.left_foot_track_motor.connected
assert self.right_foot_track_motor.connected
assert self.bazooka_blast_motor.connected
assert self.ir_sensor.connected
assert self.touch_sensor.connected
assert self.color_sensor.connected
# reset the motors
for motor in (self.left_foot_track_motor, self.right_foot_track_motor,
self.bazooka_blast_motor):
motor.reset()
motor.position = 0
motor.stop_action = Motor.STOP_ACTION_BRAKE
self.draw_face()
def draw_face(self):
w, h = self.screen.shape
y = h // 2
eye_xrad = 20
eye_yrad = 30
pup_xrad = 10
pup_yrad = 10
def draw_eye(x):
self.screen.draw.ellipse(
(x - eye_xrad, y - eye_yrad, x + eye_xrad, y + eye_yrad))
self.screen.draw.ellipse(
(x - pup_xrad, y - pup_yrad, x + pup_xrad, y + pup_yrad),
fill='black')
draw_eye(w // 3)
draw_eye(2 * w // 3)
self.screen.update()
def shoot(self, direction='up'):
"""
Shot a ball in the specified direction (valid choices are 'up' and 'down')
"""
self.bazooka_blast_motor.run_to_rel_pos(
speed_sp=900, # degrees per second
position_sp=-3 * 360 if direction == 'up' else 3 * 360, # degrees
stop_action=Motor.STOP_ACTION_BRAKE)
self.bazooka_blast_motor.wait_while(Motor.STATE_RUNNING)
def rc_loop(
self,
driving_speed: float = 1000 # degrees per second
):
"""
Enter the remote control loop.
RC buttons on channel 1 control the robot movement, channel 2 is for shooting things.
The loop ends when the touch sensor is pressed.
"""
def roll(motor: Motor, led_group: str, speed: float):
"""
Generate remote control event handler.
It rolls given motor into given direction (1 for forward, -1 for backward).
When motor rolls forward, the given led group flashes green, when backward -- red.
When motor stops, the leds are turned off.
The on_press function has signature required by RemoteControl class.
It takes boolean state parameter; True when button is pressed, False otherwise.
"""
def on_press(state: int):
if state:
# roll when button is pressed
motor.run_forever(speed_sp=speed)
self.leds.set_color(
group=led_group,
color=Leds.GREEN if speed > 0 else Leds.RED,
pct=1)
else:
# stop otherwise
motor.stop(stop_action=Motor.STOP_ACTION_COAST)
self.leds.set_color(group=led_group,
color=Leds.BLACK,
pct=1)
return on_press
self.driving_remote_control.on_red_up = \
roll(motor=self.right_foot_track_motor,
led_group=Leds.RIGHT,
speed=driving_speed)
self.driving_remote_control.on_red_down = \
roll(motor=self.right_foot_track_motor,
led_group=Leds.RIGHT,
speed=-driving_speed)
self.driving_remote_control.on_blue_up = \
roll(motor=self.left_foot_track_motor,
led_group=Leds.LEFT,
speed=driving_speed)
self.driving_remote_control.on_blue_down = \
roll(motor=self.left_foot_track_motor,
led_group=Leds.LEFT,
speed=-driving_speed)
def shoot(direction: str):
def on_press(state: int):
if state: self.shoot(direction)
return on_press
self.shooting_remote_control.on_red_up = shoot('up')
self.shooting_remote_control.on_blue_up = shoot('up')
self.shooting_remote_control.on_red_down = shoot('down')
self.shooting_remote_control.on_blue_down = shoot('down')
# now that the event handlers are assigned,
# let's enter the processing loop:
while not self.touch_sensor.is_pressed:
self.driving_remote_control.process()
self.shooting_remote_control.process()
LEDS.set_color(group=Leds.LEFT, color=Leds.ORANGE, pct=1)
LEDS.set_color(group=Leds.RIGHT, color=Leds.ORANGE, pct=1)
if REMOTE_CONTROL.beacon:
heading_difference = BEACON_SEEKER.heading - (-3)
proximity_difference = BEACON_SEEKER.distance - 70
if (heading_difference == 0) and (proximity_difference == 0):
LEFT_FOOT_MOTOR.stop(stop_action=Motor.STOP_ACTION_HOLD)
RIGHT_FOOT_MOTOR.stop(stop_action=Motor.STOP_ACTION_HOLD)
LEDS.set_color(group=Leds.LEFT, color=Leds.RED, pct=1)
LEDS.set_color(group=Leds.RIGHT, color=Leds.RED, pct=1)
BAZOOKA_BLAST_MOTOR.run_to_rel_pos(
speed_sp=1000, # degrees per second
position_sp=3 * 360, # degrees
stop_action=Motor.STOP_ACTION_HOLD)
BAZOOKA_BLAST_MOTOR.wait_while(Motor.STATE_RUNNING)
SPEAKER.play(wav_file='/home/robot/sound/Laughing 2.wav').wait()
else:
# TODO
...
else:
LEFT_FOOT_MOTOR.stop(stop_action=Motor.STOP_ACTION_HOLD)
RIGHT_FOOT_MOTOR.stop(stop_action=Motor.STOP_ACTION_HOLD)
class Gripp3r:
def __init__(self,
left_motor_port: str = OUTPUT_B,
right_motor_port: str = OUTPUT_C,
grip_motor_port: str = OUTPUT_A,
touch_sensor_port: str = INPUT_1,
ir_sensor_port: str = INPUT_4,
ir_beacon_channel: int = 1):
self.left_motor = LargeMotor(address=left_motor_port)
self.right_motor = LargeMotor(address=right_motor_port)
self.grip_motor = MediumMotor(address=grip_motor_port)
self.touch_sensor = TouchSensor(address=touch_sensor_port)
self.ir_sensor = InfraredSensor(address=ir_sensor_port)
self.ir_beacon_channel = ir_beacon_channel
self.beacon = RemoteControl(sensor=self.ir_sensor,
channel=ir_beacon_channel)
self.speaker = Sound()
def keep_driving_by_ir_beacon(self, speed: float = 1000):
while True:
if self.beacon.red_up and self.beacon.blue_up:
# go forward
self.left_motor.run_forever(speed_sp=speed)
self.right_motor.run_forever(speed_sp=speed)
elif self.beacon.red_down and self.beacon.blue_down:
# go backward
self.left_motor.run_forever(speed_sp=-speed)
self.right_motor.run_forever(speed_sp=-speed)
elif self.beacon.red_up and self.beacon.blue_down:
# turn around left
self.left_motor.run_forever(speed_sp=-speed)
self.right_motor.run_forever(speed_sp=speed)
elif self.beacon.red_down and self.beacon.blue_up:
# turn around right
self.left_motor.run_forever(speed_sp=speed)
self.right_motor.run_forever(speed_sp=-speed)
elif self.beacon.red_up:
# turn left
self.left_motor.run_forever(speed_sp=0)
self.right_motor.run_forever(speed_sp=speed)
elif self.beacon.blue_up:
# turn right
self.left_motor.run_forever(speed_sp=speed)
self.right_motor.run_forever(speed_sp=0)
elif self.beacon.red_down:
# left backward
self.left_motor.run_forever(speed_sp=0)
self.right_motor.run_forever(speed_sp=-speed)
elif self.beacon.blue_down:
# right backward
self.left_motor.run_forever(speed_sp=-speed)
self.right_motor.run_forever(speed_sp=0)
else:
self.left_motor.stop(stop_action=Motor.STOP_ACTION_BRAKE)
self.right_motor.stop(stop_action=Motor.STOP_ACTION_BRAKE)
def grip_or_release_by_ir_beacon(self, speed: float = 50):
while True:
if self.beacon.beacon:
if self.touch_sensor.is_pressed:
self.speaker.play(
wav_file='/home/robot/sound/Air release.wav')
self.grip_motor.run_timed(
speed_sp=500,
time_sp=1000,
stop_action=Motor.STOP_ACTION_BRAKE)
self.grip_motor.wait_while(Motor.STATE_RUNNING)
else:
self.speaker.play(
wav_file='/home/robot/sound/Airbrake.wav')
self.grip_motor.run_forever(speed_sp=-500)
while not self.touch_sensor.is_pressed:
pass
self.grip_motor.stop(stop_action=Motor.STOP_ACTION_BRAKE)
while self.beacon.beacon:
pass
def main(self, speed: float = 1000):
self.grip_motor.run_timed(speed_sp=-500,
time_sp=1000,
stop_action=Motor.STOP_ACTION_BRAKE)
self.grip_motor.wait_while(Motor.STATE_RUNNING)
Thread(target=self.grip_or_release_by_ir_beacon, daemon=True).start()
self.keep_driving_by_ir_beacon(speed=speed)
class Sweep3r(IRBeaconRemoteControlledTank):
def __init__(self,
right_motor_port: str = OUTPUT_C,
left_motor_port: str = OUTPUT_B,
medium_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):
super().__init__(left_motor_port=left_motor_port,
right_motor_port=right_motor_port,
ir_sensor_port=ir_sensor_port,
ir_beacon_channel=ir_beacon_channel)
self.medium_motor = MediumMotor(address=medium_motor_port)
self.touch_sensor = TouchSensor(address=touch_sensor_port)
self.color_sensor = ColorSensor(address=color_sensor_port)
self.screen = Screen()
self.speaker = Sound()
self.ir_sensor = InfraredSensor(address=ir_sensor_port)
self.remote_control = RemoteControl(sensor=self.ir_sensor,
channel=ir_beacon_channel)
def drill(self):
while True:
if self.remote_control.beacon:
self.medium_motor.run_timed(
speed_sp=1000, # deg/s
time_sp=0.3 * 1000, # ms
stop_action=Motor.STOP_ACTION_HOLD)
self.medium_motor.wait_while(Motor.STATE_RUNNING)
def move_when_touched(self):
while True:
if self.touch_sensor.is_pressed:
self.right_motor.run_timed(time_sp=1000,
speed_sp=1000,
stop_action=Motor.STOP_ACTION_BRAKE)
self.right_motor.wait_while(Motor.STATE_RUNNING)
def move_when_see_smothing(self):
while True:
if self.color_sensor.reflected_light_intensity > 30:
self.left_motor.run_timed(time_sp=1000,
speed_sp=1000,
stop_action=Motor.STOP_ACTION_BRAKE)
self.left_motor.wait_while(Motor.STATE_RUNNING)
def main(
self,
speed: float = 1000 # degrees per second
):
self.screen.image.paste(
im=Image.open('/home/robot/image/Pinch middle.bmp'))
self.screen.update()
Process(target=self.move_when_touched, daemon=True).start()
Process(target=self.move_when_see_smothing, daemon=True).start()
Process(target=self.drill, daemon=True).start()
self.keep_driving_by_ir_beacon(speed=speed)
class R3ptar:
def __init__(self,
turn_motor_port: str = OUTPUT_A,
move_motor_port: str = OUTPUT_B,
scare_motor_port: str = OUTPUT_D,
touch_sensor_port: str = INPUT_1,
color_sensor_port: str = INPUT_3,
ir_sensor_port: str = INPUT_4,
ir_beacon_channel: int = 1):
self.turn_motor = MediumMotor(address=turn_motor_port)
self.move_motor = LargeMotor(address=move_motor_port)
self.scare_motor = LargeMotor(address=scare_motor_port)
self.touch_sensor = TouchSensor(address=touch_sensor_port)
self.color_sensor = ColorSensor(address=color_sensor_port)
self.ir_sensor = InfraredSensor(address=ir_sensor_port)
self.beacon = RemoteControl(sensor=self.ir_sensor,
channel=ir_beacon_channel)
self.noise = Sound()
def keep_driving_by_ir_beacon(self, speed: float = 1000):
while True:
if self.beacon.red_up and self.beacon.blue_up:
self.move_motor.run_forever(speed_sp=speed)
elif self.beacon.red_down and self.beacon.blue_down:
self.move_motor.run_forever(speed_sp=-speed)
elif self.beacon.red_up:
self.turn_motor.run_forever(speed_sp=-500)
self.move_motor.run_forever(speed_sp=speed)
elif self.beacon.blue_up:
self.turn_motor.run_forever(speed_sp=500)
self.move_motor.run_forever(speed_sp=speed)
elif self.beacon.red_down:
self.turn_motor.run_forever(speed_sp=-500)
self.move_motor.run_forever(speed_sp=-speed)
elif self.beacon.blue_down:
self.turn_motor.run_forever(speed_sp=500)
self.move_motor.run_forever(speed_sp=-speed)
else:
self.turn_motor.stop(stop_action=Motor.STOP_ACTION_HOLD)
self.move_motor.stop(stop_action=Motor.STOP_ACTION_COAST)
def bite_by_ir_beacon(self, speed: float = 1000):
while True:
if self.beacon.beacon:
self.noise.play(wav_file='/home/robot/sound/Snake hiss.wav')
self.scare_motor.run_timed(speed_sp=speed,
time_sp=1000,
stop_action=Motor.STOP_ACTION_BRAKE)
self.scare_motor.wait_while(Motor.STATE_RUNNING)
self.scare_motor.run_timed(speed_sp=-300,
time_sp=1000,
stop_action=Motor.STOP_ACTION_BRAKE)
self.scare_motor.wait_while(Motor.STATE_RUNNING)
while self.beacon.beacon:
pass
def run_away_if_chased(self):
while True:
if self.color_sensor.reflected_light_intensity > 30:
self.move_motor.run_timed(speed_sp=500,
time_sp=4000,
stop_action=Motor.STOP_ACTION_BRAKE)
self.move_motor.wait_while(Motor.STATE_RUNNING)
for i in range(2):
self.turn_motor.run_timed(
speed_sp=500,
time_sp=1000,
stop_action=Motor.STOP_ACTION_BRAKE)
self.turn_motor.wait_while(Motor.STATE_RUNNING)
self.turn_motor.run_timed(
speed_sp=-500,
time_sp=1000,
stop_action=Motor.STOP_ACTION_BRAKE)
self.turn_motor.wait_while(Motor.STATE_RUNNING)
def bite_if_touched(self):
while True:
if self.touch_sensor.is_pressed:
self.noise.play(wav_file='/home/robot/sound/Snake hiss.wav')
self.scare_motor.run_timed(speed_sp=1000,
time_sp=1000,
stop_action=Motor.STOP_ACTION_COAST)
self.scare_motor.wait_while(Motor.STATE_RUNNING)
self.scare_motor.run_timed(speed_sp=-300,
time_sp=1000,
stop_action=Motor.STOP_ACTION_COAST)
self.scare_motor.wait_while(Motor.STATE_RUNNING)
def main(self, speed: float = 1000):
Process(target=self.bite_by_ir_beacon, daemon=True).start()
Process(target=self.bite_if_touched, daemon=True).start()
Process(target=self.run_away_if_chased, daemon=True).start()
self.keep_driving_by_ir_beacon(speed=speed)
class Dinor3x(IRBeaconRemoteControlledTank):
"""
Challenges:
- Can you make DINOR3X remote controlled with the IR-Beacon?
- Can you attach a colorsensor to DINOR3X, and make it behave differently
depending on which color is in front of the sensor
(red = walk fast, white = walk slow, etc.)?
"""
# https://sites.google.com/site/ev3python/learn_ev3_python/using-motors
MEDIUM_MOTOR_POWER_FACTOR = 1.4
def __init__(self,
left_motor_port: str = OUTPUT_B,
right_motor_port: str = OUTPUT_C,
jaw_motor_port: str = OUTPUT_A,
touch_sensor_port: str = INPUT_1,
ir_sensor_port: str = INPUT_4,
ir_beacon_channel: int = 1):
super().__init__(left_motor_port=left_motor_port,
right_motor_port=right_motor_port,
ir_sensor_port=ir_sensor_port,
ir_beacon_channel=ir_beacon_channel)
self.jaw_motor = MediumMotor(address=jaw_motor_port)
self.touch_sensor = TouchSensor(address=touch_sensor_port)
self.ir_sensor = InfraredSensor(address=ir_sensor_port)
self.beacon = RemoteControl(sensor=self.ir_sensor,
channel=ir_beacon_channel)
self.button = Button()
self.speaker = Sound()
def calibrate_legs(self):
self.left_motor.run_forever(speed_sp=100)
self.right_motor.run_forever(speed_sp=200)
while self.touch_sensor.is_pressed:
pass
self.left_motor.stop(stop_action=Motor.STOP_ACTION_BRAKE)
self.right_motor.stop(stop_action=Motor.STOP_ACTION_BRAKE)
self.left_motor.run_forever(speed_sp=400)
while not self.touch_sensor.is_pressed:
pass
self.left_motor.stop(stop_action=Motor.STOP_ACTION_BRAKE)
self.left_motor.run_to_rel_pos(position_sp=-0.2 * 360,
speed_sp=500,
stop_action=Motor.STOP_ACTION_BRAKE)
self.left_motor.wait_while(Motor.STATE_RUNNING)
self.right_motor.run_forever(speed_sp=400)
while not self.touch_sensor.is_pressed:
pass
self.right_motor.stop(stop_action=Motor.STOP_ACTION_BRAKE)
self.right_motor.run_to_rel_pos(position_sp=-0.2 * 360,
speed_sp=500,
stop_action=Motor.STOP_ACTION_BRAKE)
self.right_motor.wait_while(Motor.STATE_RUNNING)
self.left_motor.reset()
self.right_motor.reset()
def close_mouth(self):
self.jaw_motor.run_forever(speed_sp=self.MEDIUM_MOTOR_POWER_FACTOR *
200)
sleep(1)
self.jaw_motor.stop(stop_action=Motor.STOP_ACTION_BRAKE)
def roar(self):
self.speaker.play(wav_file='/home/robot/sound/T-rex roar.wav')
self.jaw_motor.run_to_rel_pos(position_sp=-60,
speed_sp=self.MEDIUM_MOTOR_POWER_FACTOR *
400,
stop_action=Motor.STOP_ACTION_BRAKE)
self.jaw_motor.wait_while(Motor.STATE_RUNNING)
# FIXME: jaw keeps opening wider and wider and doesn't close
for i in range(12):
self.jaw_motor.run_timed(speed_sp=-self.MEDIUM_MOTOR_POWER_FACTOR *
400,
time_sp=0.05 * 1000,
stop_action=Motor.STOP_ACTION_BRAKE)
self.jaw_motor.wait_while(Motor.STATE_RUNNING)
self.jaw_motor.run_timed(speed_sp=self.MEDIUM_MOTOR_POWER_FACTOR *
400,
time_sp=0.05 * 1000,
stop_action=Motor.STOP_ACTION_BRAKE)
self.jaw_motor.wait_while(Motor.STATE_RUNNING)
self.jaw_motor.run_forever(speed_sp=self.MEDIUM_MOTOR_POWER_FACTOR *
200)
sleep(0.5)
def walk_until_blocked(self):
self.left_motor.run_forever(speed_sp=-400)
self.right_motor.run_forever(speed_sp=-400)
while self.ir_sensor.proximity >= 25:
pass
self.left_motor.stop(stop_action=Motor.STOP_ACTION_BRAKE)
self.right_motor.stop(stop_action=Motor.STOP_ACTION_BRAKE)
def run_away(self):
self.left_motor.run_to_rel_pos(speed_sp=750,
position_sp=3 * 360,
stop_action=Motor.STOP_ACTION_BRAKE)
self.right_motor.run_to_rel_pos(speed_sp=750,
position_sp=3 * 360,
stop_action=Motor.STOP_ACTION_BRAKE)
self.left_motor.wait_while(Motor.STATE_RUNNING)
self.right_motor.wait_while(Motor.STATE_RUNNING)
def jump(self):
"""
Dinor3x Mission 02 Challenge: make it jump
"""
...
# TRANSLATED FROM EV3-G MY BLOCKS
# -------------------------------
def leg_adjust(self,
cyclic_degrees: float,
speed: float = 1000,
leg_offset_percent: float = 0,
mirrored_adjust: bool = False,
brake: bool = True):
...
def leg_to_pos(self,
speed: float = 1000,
left_position: float = 0,
right_position: float = 0):
self.left_motor.stop(stop_action=Motor.STOP_ACTION_BRAKE)
self.right_motor.stop(stop_action=Motor.STOP_ACTION_BRAKE)
self.left_motor.run_to_rel_pos(
speed_sp=speed,
position_sp=left_position - cyclic_position_offset(
rotation_sensor=self.left_motor.position, cyclic_degrees=360),
stop_action=Motor.STOP_ACTION_BRAKE)
self.left_motor.wait_while(Motor.STATE_RUNNING)
self.right_motor.run_to_rel_pos(
speed_sp=speed,
position_sp=right_position - cyclic_position_offset(
rotation_sensor=self.right_motor.position, cyclic_degrees=360),
stop_action=Motor.STOP_ACTION_BRAKE)
self.right_motor.wait_while(Motor.STATE_RUNNING)
def turn(self, speed: float = 1000, n_steps: int = 1):
...
def walk(self, speed: float = 1000):
...
def walk_steps(self, speed: float = 1000, n_steps: int = 1):
...
class Catapult(IRBeaconRemoteControlledTank):
def __init__(self,
left_motor_port: str = OUTPUT_B,
right_motor_port: str = OUTPUT_C,
catapult_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):
super().__init__(left_motor_port=left_motor_port,
right_motor_port=right_motor_port,
ir_sensor_port=ir_sensor_port,
ir_beacon_channel=ir_beacon_channel)
self.catapult_motor = MediumMotor(address=catapult_motor_port)
self.touch_sensor = TouchSensor(address=touch_sensor_port)
self.color_sensor = ColorSensor(address=color_sensor_port)
self.ir_sensor = InfraredSensor(address=ir_sensor_port)
self.beacon = RemoteControl(sensor=self.ir_sensor,
channel=ir_beacon_channel)
self.speaker = Sound()
def scan_colors(self):
if self.color_sensor.color == ColorSensor.COLOR_YELLOW:
pass
elif self.color_sensor.color == ColorSensor.COLOR_WHITE:
self.speaker.play(wav_file='/home/robot/sound/Good.wav').wait()
def make_noise_when_touched(self):
if self.touch_sensor.is_pressed:
self.speaker.play(wav_file='/home/robot/sound/Ouch.wav').wait()
def throw_by_ir_beacon(self):
if self.beacon.beacon:
self.catapult_motor.run_to_rel_pos(
speed_sp=1000,
position_sp=-150,
stop_action=Motor.STOP_ACTION_HOLD)
self.catapult_motor.wait_while(Motor.STATE_RUNNING)
self.catapult_motor.run_to_rel_pos(
speed_sp=1000,
position_sp=150,
stop_action=Motor.STOP_ACTION_HOLD)
self.catapult_motor.wait_while(Motor.STATE_RUNNING)
while self.beacon.beacon:
pass
def main(self):
self.speaker.play(wav_file='/home/robot/sound/Yes.wav').wait()
while True:
self.drive_once_by_ir_beacon(speed=1000)
self.make_noise_when_touched()
self.throw_by_ir_beacon()
self.scan_colors()
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()