class WalkDog:
def __init__(self, left_motor_port, right_motor_port, sensor_mode):
self._movesteering = MoveSteering(left_motor_port, right_motor_port)
self._ir = InfraredSensor()
self._ir.mode = sensor_mode
@property
def ir(self):
return self._ir
@ir.setter
def ir(self, ir):
self._ir = ir
@property
def movesteering(self):
return _movesteering
@movesteering.setter
def movesteering(self, ms):
self._movesteering = ms
def convert_heading_to_steering(self, heading):
return heading * 2
def run(self, channel=1):
beacon_distance = self._ir.distance(channel)
head_angle = self._ir.heading(channel)
steering = self.convert_heading_to_steering(head_angle)
if (beacon_distance > 30):
self._movesteering.on(steering, 50)
else:
self._movesteering.off()
def main():
'''The main function of our program'''
# set the console just how we want it
reset_console()
set_cursor(OFF)
set_font('Lat15-Terminus24x12')
print('How are you?')
print("")
print("Hello Selina.")
print("Hello Ethan.")
STUD_MM = 8
tank = MoveDifferential(OUTPUT_A, OUTPUT_B, EV3Tire, 16 * STUD_MM)
motorLift = MediumMotor(OUTPUT_D)
sound = Sound()
# sound.speak('How are you master!')
# sound.speak("I like my family")
# sound.speak("I like my sister and i like my brother.")
sound.beep()
eye = InfraredSensor(INPUT_1)
robot = Robot(tank, None, eye)
botton = Button()
while not botton.any():
distance = eye.distance(channel=1)
heading = eye.heading(channel=1)
print('distance: {}, heading: {}'.format(distance, heading))
motorLift.on_to_position(speed=40, position=-7200, block=True) #20 Rounds
if distance is None:
sound.speak("I am lost, there is no beacon!")
else:
if (distance < 14):
tank.off()
sound.speak("I am very close to the beacon!")
motorLift.on_to_position(speed=40, position=7200, block=True)
sound.speak("I had to get some more rubbish.")
sound.speak("Please wait while I lift up my fork.")
tank.turn_right(speed=20, degrees=random.randint(290, 340)) # random.randint(150, 210)
tank.on_for_seconds(left_speed=20, right_speed=20, seconds=20)
tank.turn_right(speed=20, degrees=330)
motorLift.on_to_position(speed=40, position=0, block=True)
elif distance >= 100:
sound.speak("I am too faraway from the beacon")
elif (distance < 99) and (-4 <= heading <= 4): # in right heading
sound.speak("Moving farward")
tank.on(left_speed=20, right_speed=20)
else:
if heading > 0:
tank.turn_left(speed=20, degrees=20)
else:
tank.turn_right(speed=20, degrees=20)
sound.speak("I am finding the beacon.")
time.sleep(0.1)
if __name__ == "__main__":
myThread = threading.Thread(target=keyboardInput, args=(1, ), daemon=True)
myThread.start()
print("Ready for keyboard commands...")
### Main Loop
while (True):
usDistCmVal = us.distance_centimeters
if usDistCmVal != prev_usDistCmVal:
if printVerbose > 0:
print("usDistCmVal = ", int(usDistCmVal), " ir1DistVal = ",
ir1DistVal, " compassVal = ", compassVal
) # print all sensor vals, regardless of which changed
prev_usDistCmVal = usDistCmVal
ir1DistVal = ir.distance(channel=1)
if ir1DistVal == None:
ir1DistVal = -1 ### set to -1 instead of None or numpy.savetxt and other Ops will complain
else:
ir1DistVal = int(3.19 * ir1DistVal)
ir1HeadVal = ir.heading(channel=1)
if (ir1DistVal != prev_ir1DistVal):
if printVerbose > 0:
#print("usDistCmVal = ", int(usDistCmVal), " ir1DistVal = ", ir1DistVal, " ir1HeadVal = ", ir1HeadVal, " compassVal = ", compassVal, " mR.position = ", mR.position) # print all sensor vals, regardless of which changed
print("usDistCmVal = ", int(usDistCmVal), " ir1DistVal = ",
ir1DistVal, " ir1HeadVal = ", ir1HeadVal,
" compassVal = ", compassVal
) # print all sensor vals, regardless of which changed
prev_ir1DistVal = ir1DistVal
prev_ir1HeadVal = ir1HeadVal
if __name__ == "__main__":
myThread = threading.Thread(target=keyboardInput, args=(1, ), daemon=True)
myThread.start()
print("Ready for keyboard commands...")
### Main Loop
while (True):
irProxVal = ir.proximity
if irProxVal != prev_irProxVal:
# print("irProxVal = ", irProxVal, " irDistVal = ", irDistVal, " irHeadVal = ", irHeadVal, " compassVal = ", compassVal) # print all sensor vals, regardless of which changed
prev_irProxVal = irProxVal
time.sleep(0.2)
irDistVal = ir.distance()
irHeadVal = ir.heading()
if (irDistVal != prev_irDistVal) or (irHeadVal != prev_irHeadVal):
# print("irProxVal = ", irProxVal, " irDistVal = ", irDistVal, " irHeadVal = ", irHeadVal, " compassVal = ", compassVal) # print all sensor vals, regardless of which changed
prev_irDistVal = irDistVal
prev_irHeadVal = irHeadVal
# time.sleep(0.2)
compassVal = cmp.value(0)
if compassVal != prev_compassVal:
print("irProxVal = ", irProxVal, " irDistVal = ", irDistVal,
" irHeadVal = ", irHeadVal, " compassVal = ", compassVal
) # print all sensor vals, regardless of which changed
prev_compassVal = compassVal
if irProxVal < 50:
class Ev3rstorm:
def __init__(self,
left_foot_motor_port: str = OUTPUT_B,
right_foot_motor_port: str = OUTPUT_C,
bazooka_blast_motor_port: str = OUTPUT_A,
ir_sensor_port: str = INPUT_4,
ir_beacon_channel: int = 1):
self.tank_driver = MoveTank(left_motor_port=left_foot_motor_port,
right_motor_port=right_foot_motor_port,
motor_class=LargeMotor)
self.bazooka_blast_motor = MediumMotor(
address=bazooka_blast_motor_port)
self.ir_sensor = InfraredSensor(address=ir_sensor_port)
self.ir_beacon_channel = ir_beacon_channel
self.leds = Leds()
self.speaker = Sound()
def seek_wheeler(self):
self.leds.animate_rainbow(group1=Leds.LEFT,
group2=Leds.RIGHT,
increment_by=0.1,
sleeptime=0.5,
duration=5,
block=True)
if self.ir_sensor.beacon(channel=self.ir_beacon_channel):
heading_difference = self.ir_sensor.heading(
channel=self.ir_beacon_channel) - (-3)
proximity_difference = self.ir_sensor.distance(
channel=self.ir_beacon_channel) - 70
if (heading_difference == 0) and (proximity_difference == 0):
self.tank_driver.off(brake=True)
self.leds.animate_rainbow(group1=Leds.LEFT,
group2=Leds.RIGHT,
increment_by=0.1,
sleeptime=0.5,
duration=5,
block=True)
self.bazooka_blast_motor.on_for_rotations(speed=100,
rotations=3,
brake=True,
block=True)
self.speaker.play_file(
wav_file='/home/robot/sound/Laughing 2.wav',
volume=100,
play_type=Sound.PLAY_WAIT_FOR_COMPLETE)
else:
# FIXME: make it work
self.tank_driver.on(left_speed=max(
min((3 * proximity_difference + 4 * heading_difference) /
5, 100), -100),
right_speed=max(
min((3 * proximity_difference -
4 * heading_difference) / 5, 100),
-100))
else:
self.tank_driver.off(brake=True)
def main(self):
while True:
self.seek_wheeler()
speed=40,
seconds=1,
brake=True,
block=True)
GO_MOTOR.on(
speed=-50,
block=False,
brake=False)
SPEAKER.play_file(
wav_file='/home/robot/sound/Blip 2.wav',
volume=100,
play_type=Sound.PLAY_WAIT_FOR_COMPLETE)
while (INFRARED_SENSOR.distance(channel=1) is None) or (INFRARED_SENSOR.distance(channel=1) >= 30):
pass
while INFRARED_SENSOR.heading(channel=1) <= 5:
pass
GO_MOTOR.on(
speed=-20,
brake=False,
block=False)
while INFRARED_SENSOR.heading(channel=1) >= 3:
pass
GO_MOTOR.off(brake=True)
if __name__ == "__main__":
myThread = threading.Thread(target=keyboardInput, args=(1,), daemon=True)
myThread.start()
print ("Ready for keyboard commands...")
### Main Loop
while (True):
usDistCmVal = us.distance_centimeters
if usDistCmVal != prev_usDistCmVal:
if printVerbose > 0:
print("usDistCmVal = ", int(usDistCmVal), " irDistVal = ", irDistVal, " compassVal = ", compassVal) # print all sensor vals, regardless of which changed
prev_usDistCmVal = usDistCmVal
irDistVal = ir.distance(channel=1)
if irDistVal == None:
irDistVal = -1 ### set to -1 instead of None or numpy.savetxt and other Ops will complain
else:
irDistVal = int(3.19 * irDistVal)
irHeadVal = ir.heading(channel=1)
if (irDistVal != prev_irDistVal):
if printVerbose > 0:
#print("usDistCmVal = ", int(usDistCmVal), " irDistVal = ", irDistVal, " irHeadVal = ", irHeadVal, " compassVal = ", compassVal, " mR.position = ", mR.position) # print all sensor vals, regardless of which changed
print("usDistCmVal = ", int(usDistCmVal), " irDistVal = ", irDistVal, " irHeadVal = ", irHeadVal, " compassVal = ", compassVal) # print all sensor vals, regardless of which changed
prev_irDistVal = irDistVal
prev_irHeadVal = irHeadVal
compassVal = cmp.value(0)
if compassVal != prev_compassVal:
if printVerbose > 0:
def safe_steering(steering: float) -> float:
if steering > 100:
return 100
elif steering < -100:
return -100
else:
return steering
# Start program
reset()
starting = True
while starting or infrared_sensor.distance(
) == None or infrared_sensor.distance() >= 50:
starting = False
search()
steering_drive.on_for_rotations(steering=0,
speed=SpeedPercent(75),
rotations=4)
while infrared_sensor.distance() > 2:
steering_drive.on(steering=(safe_steering(infrared_sensor.heading() * 5)),
speed=SpeedPercent(50))
steering_drive.off()
sound.play_file("/home/robot/sounds/Detected.wav",
play_type=sound.PLAY_WAIT_FOR_COMPLETE)
steering_drive.on_for_rotations(steering=0,
speed=SpeedPercent(50),
class MindstormsGadget(AlexaGadget):
"""
A Mindstorms gadget that performs movement based on voice commands.
Two types of commands are supported, directional movement and preset.
"""
def __init__(self):
"""
Performs Alexa Gadget initialization routines and ev3dev resource allocation.
"""
super().__init__()
# Gadget state
self.isDoorOpen = False
self.verified = True
# Ev3dev initialization
self.leds = Leds()
self.sound = Sound()
self.drive = MoveTank(OUTPUT_B, OUTPUT_C)
self.ir_sensor = InfraredSensor()
self.ir_sensor.mode = self.ir_sensor.MODE_IR_REMOTE
self.color_sensor = ColorSensor()
self.color_sensor.mode = 'COL-COLOR' # WHITE
# Start threads
threading.Thread(target=self._patrol_thread, daemon=True).start()
def on_connected(self, device_addr):
"""
Gadget connected to the paired Echo device.
:param device_addr: the address of the device we connected to
"""
self.leds.set_color("LEFT", "GREEN")
self.leds.set_color("RIGHT", "GREEN")
logger.info("{} connected to Echo device".format(self.friendly_name))
def on_disconnected(self, device_addr):
"""
Gadget disconnected from the paired Echo device.
:param device_addr: the address of the device we disconnected from
"""
self.leds.set_color("LEFT", "BLACK")
self.leds.set_color("RIGHT", "BLACK")
logger.info("{} disconnected from Echo device".format(self.friendly_name))
def on_custom_mindstorms_gadget_control(self, directive):
"""
Handles the Custom.Mindstorms.Gadget control directive.
:param directive: the custom directive with the matching namespace and name
"""
try:
payload = json.loads(directive.payload.decode("utf-8"))
logger.info("Control payload: {}".format(payload))
control_type = payload["type"]
if control_type == "open":
self._open()
if control_type == "close":
self._close()
except KeyError:
print("Missing expected parameters: {}".format(directive), file=sys.stderr)
def _activate(self, command, speed=50):
"""
Handles preset commands.
:param command: the preset command
:param speed: the speed if applicable
"""
print("Activate command: ({}, {})".format(command, speed), file=sys.stderr)
def _open(self):
if (not self.isDoorOpen) and self.verified:
logger.info("Open door")
self.drive.on_for_rotations(1*SpeedPercent(10), 1*SpeedPercent(10), 1.5)
self.isDoorOpen = True
self.color_sensor.mode = 'COL-AMBIENT' # Blue
else:
self.color_sensor.mode = 'COL-REFLECT' # RED
def _close(self):
self.color_sensor.mode = 'COL-COLOR' # WHITE
if self.isDoorOpen:
logger.info("Close door")
self.drive.on_for_rotations(-1*SpeedPercent(10), -1*SpeedPercent(10), 1.5)
self.isDoorOpen = False
def _patrol_thread(self):
while True:
while not self.isDoorOpen:
logger.info("Patrol mode activated for checking beacon")
distance = self.ir_sensor.distance()
logger.info("Distance: {}".format(distance))
if distance is not None and distance < 100:
self.verified = True
logger.info("Beacon found")
else:
self.verified = False
time.sleep(1)
time.sleep(1)
#!/usr/bin/env python3
from ev3dev2.motor import MoveSteering, OUTPUT_B, OUTPUT_C
from ev3dev2.sensor.lego import InfraredSensor
from time import sleep
steer_pair = MoveSteering(OUTPUT_B, OUTPUT_C)
ir = InfraredSensor()
while True: # forever
distance = ir.distance()
if distance: # If distance is not None
error = distance - 10
steer_pair.on(steering=2 * ir.heading(), speed=min(90, 3 * error))
else:
steer_pair.off()
sleep(0.1)
def findPosUsingInfrared():
BallHeading = infraredSensor.heading()
ballDistanceInCentimeter = InfraredSensor.distance() * 0.7
print("Lol")
sleep(2)
us = UltrasonicSensor('ev3-ports:in2:i2c80:mux1')
ir = InfraredSensor('ev3-ports:in2:i2c81:mux2')
gyro = GyroSensor('ev3-ports:in2:i2c82:mux3')
us_value = us.value(0)
us_dist = us.distance_centimeters # takes multiple measurements
us_numvalues = us.num_values
us_address = us.address
us_units = us.units
ir_value = ir.value(0)
ir_proximity = ir.proximity # an estimate of the distance between the sensor and the objects in front of it
ir_beacon= ir.distance(channel=1) # returns distance (0,100) to the beacon on the given channel
ir_heading = ir.heading(channel=1) # returns heading (-25,25) to the beacon on the given channel
ir_address = ir.address
gyro_value = gyro.value(0)
gyro_angle = gyro.angle
gyro_address = gyro.address
gyro_units = gyro.units
# Sensors connected to NXT-Sensor-Split MUX - Barometer---------------------------------------------------------
temp1 = Sensor(INPUT_1)
temp1.mode = 'TEMP'
Temp_NXT = (temp1.value(0)/1000)
pressure = Sensor(INPUT_1)
