def execute_command(command):
if command == 'go':
steer.on_for_rotations(0, ev3.SpeedPercent(default.speed_percent),
default.rotation)
elif command == 'right':
steer.on_for_rotations(100, ev3.SpeedPercent(default.speed_percent),
default.rotation)
elif command == 'left':
steer.on_for_rotations(-100, ev3.SpeedPercent(default.speed_percent),
default.rotation)
elif command == 'down':
steer.on_for_rotations(0, ev3.SpeedPercent(default.speed_percent),
-default.rotation)
elif command == 'stop':
sound.speak('stop')
else:
sound.speak('no valid command received')
#!/usr/bin/micropython
#testing motor
import ev3dev2.motor as em
import ev3dev2 as e
import utime as t
from ev3dev2.led import Leds
from ev3dev2.sound import Sound
spkr = Sound()
leds = Leds()
leds.set_color("LEFT", "GREEN")
leds.set_color("RIGHT", "GREEN")
m1= em.LargeMotor(em.OUTPUT_A)
m1.on(em.SpeedPercent(25))
t.sleep(1)
m1.off()
leds.set_color("LEFT", "GREEN")
leds.set_color("RIGHT", "RED")
t.sleep(0.1)
leds.set_color("LEFT", "RED")
leds.set_color("RIGHT", "GREEN")
t.sleep(0.1)
leds.set_color("LEFT", "GREEN")
leds.set_color("RIGHT", "GREEN")
spkr.play_song((
('D4', 'e3'),
('D4', 'e3'),
('D4', 'e3'),
('G4', 'h'),
('D5', 'h')
),tempo=220)
def getCoarseDistance(sensor, distSensor, bins):
if distSensor == 'Ultrasonic':
rawDist = sensor.distance_centimeters
else:
rawDist = sensor.proximity
dist = np.digitize(
[rawDist],
bins)[0] # Discretize distance returns bins from 1 to number of bins
return (dist - 1) # Subtract 1 to index arrays from 0
## EV3 Tank movement actions
cycle_time = 990
speed = motors.SpeedPercent(10)
block = True # should the program wait until the move finishes?
def forward():
tank.on(speed, speed)
def turnleft():
tank.on(speed / 2, speed)
def turnright():
tank.on(speed, speed / 2)
#!/usr/bin/python3 #testing motor import ev3dev2.motor as em import time as t m1= em.LargeMotor(em.OUTPUT_A) m2= em.LargeMotor(em.OUTPUT_B) m3= em.LargeMotor(em.OUTPUT_C) m4= em.LargeMotor(em.OUTPUT_D) m1.on(em.SpeedPercent(25)) m2.on(em.SpeedPercent(25)) m3.on(em.SpeedPercent(25)) m4.on(em.SpeedPercen(25)) t.sleep(1) m1.off() m2.off() m3.off() m4.off()