def __init__(self, mac, protokoll, identitaet, color, outbox = 5, inbox = 1):
self.brick = find_one_brick(host = mac, method = Method(usb = True, bluetooth = True))
self.color = color
self.ausrichtung = 90; # 0 - 359 Grad; 0 Osten, 90 Norden, 180 Westen, 270 Sueden
self.calibrationFactor = 1
self.phase_lock = threading.Lock()
self.phase = mcc.model.wahl.STATE_INIT
self.protokoll = protokoll
self.identitaet = identitaet
self.status = -1
self.status_lock = threading.Lock()
self.sensor = -1
self.sensor_lock = threading.Lock()
self.handle = None
self.active = False
self.blockiert = False
self.blockiert_lock = threading.Lock()
self.payload = -1
self.payload_lock = threading.Lock()
self.abbruch = True
self.abbruch_lock = threading.Lock()
self.robot_type = NXT_TYPE
self.message_id = 0
self.position_lock = threading.Lock()
self.position = {'x': 0.0, 'y': 0.0}
self.outbox = outbox
self.inbox = 10 + inbox
self.start_app("explorer.rxe")
random.seed()
dispatcher = threading.Thread(target = self.dispatch, args = ())
dispatcher.setDaemon(True)
dispatcher.start()
worker = threading.Thread(target = self.work, args = ())
worker.setDaemon(True)
worker.start()
def main():
b = find_one_brick()
eyes = Motor(b, PORT_A)
wheels = [Motor(b, PORT_B), Motor(b, PORT_C)]
ultrasonic = Ultrasonic(b, PORT_4)
phizic(eyes, wheels, ultrasonic)
def main():
brick = locator.find_one_brick(debug=True)
robot = Robot(brick, debug=True, verbose=True, power=80) # Excessive output
# Motors
robot.init_synchronized_motors(PORT_A, PORT_C)
robot.move_forward(seconds=3, wait=True)
robot.move_backwards(seconds=3, wait=True)
def __init__(self, world):
Robot.__init__(self, world, 2, Orientation.NORTH)
self.noise = 0
self.brick = find_one_brick()
self.motor1 = Motor(self.brick, PORT_B)
self.motor2 = Motor(self.brick, PORT_C)
self.ultrasonic = Ultrasonic(self.brick, PORT_4)
self.motor1.reset_position(False)
self.motor2.reset_position(False)
def __init__(self,
baddr,
pin,
direct=False,
method='bluetooth',
dryrun=False):
'''
initialize robot. by default robot is found using bluetooth,
remember to install bluetooth lib before usage!
:param baddr: The bluetooth mac address
:param pin: The pin to ensure the connection
'''
self.dryrun = dryrun
if self.dryrun:
print('Running in dryrun mode, will NOT initialize!')
return
if method == 'bluetooth':
# Pair with nxt via bluetooth before connecting
self.stable_connection = Pair(baddr, pin)
self.brick = BlueSock(baddr).connect()
elif method == 'usb':
# explicitly deactivate bluetooth
usb_only = Method(usb=True, bluetooth=False)
self.brick = find_one_brick(method=usb_only, debug=True)
# initialize basic functions
self.init_motors()
self.init_sensors()
# initialize some useful vars
self.touch_right = False
self.touch_left = False
# locked is used to stop robo from moving when it has collided
# getting orders from http-server
self.locked = False
self.calibrating = False
# player for beeps and stuff
self.player = Nxt_Player(self.brick)
# Initialize pad and autopilot modules
# TODO: do not start padmode if server
if direct:
self.pad_controller = PadController(self)
self.autopilot = AutoPilot(self)
self.calibrate()
def __init__(self, brick=None, debug=True, verbose=False, **kwargs):
"""
Initialize a new Robot object.
:param brick: The brick. Use nxt.locator.find_one_brick. If none brick is given,
an attempt to find one brick will be made.
:param debug: Whether print debug messages or not.
:param verbose: Whether print high verbosity messages or not
:param kwargs:
"""
if brick is None:
self.brick = find_one_brick(debug=debug)
else:
self.brick = brick
self.debug = print if debug else lambda *x, **y: None
self.verbose = print if verbose else lambda *x, **y: None
self.lock = threading.Lock()
self._running = False
# Check if any sensor was given as kwarg
if 'light' in kwargs:
self.light = kwargs['light']
if 'sound' in kwargs:
self.sound = kwargs['sound']
if 'touch' in kwargs:
self.touch = kwargs['touch']
if 'ultrasound' in kwargs:
self.ultrasonic = kwargs['ultrasound']
# Now check if a global power was given
self.power = kwargs.get('power', 100)
# Is there a SynchronizedMotors?
if 'synchronized' in kwargs:
self.movement_motor = kwargs['synchronized']
self.left_motor = self.movement_motor.leader
self.right_motor = self.movement_motor.follower
else:
self.right_motor = kwargs.get('right_motor', None)
self.left_motor = kwargs.get('left_motor', None)
if type(self.left_motor) is Motor and type(self.right_motor) is Motor:
self.movement_motor = SynchronizedMotors(self.left_motor, self.right_motor, 0)
else:
self.movement_motor = None
# Is there a Servo?
self.servo = kwargs.get('servo', None)
def __init__(self, brick="NXT"):
if isinstance(brick, basestring):
brick = find_one_brick(name=brick)
self.brick = brick
self.motor = True
self.sensor = True
try:
self.brick = brick
except:
print("No brick found")
try:
self.wheels = [Motor(brick, PORT_A), Motor(brick, PORT_B)]
except:
self.motor = False
print("No motors detected!")
def __init__(self, brick='NXT'):
r'''Creates a new Alpha Rex controller.
brick
Either an nxt.brick.Brick object, or an NXT brick's name as a
string. If omitted, a Brick named 'NXT' is looked up.
'''
if isinstance(brick, basestring):
brick = find_one_brick(name=brick)
self.brick = brick
self.arms = Motor(brick, PORT_C)
self.left = Motor(brick, PORT_A)
self.right = Motor(brick, PORT_B)
self.direction = HTCompass(brick, PORT_2)
self.ultrasonic = Ultrasonic(brick, PORT_4)
def __init__(self, brick="NXT"):
r"""Creates a new Robot controller.
brick
Either an nxt.brick.Brick object, or an NXT brick's name as a
string. If omitted, a Brick named 'NXT' is looked up.
"""
if isinstance(brick, basestring):
brick = find_one_brick(name=brick)
self.brick = brick
self.tool = Motor(brick, PORT_B)
self.tracks = [Motor(brick, PORT_A), Motor(brick, PORT_C)]
self.ultrasonic = Ultrasonic(brick, PORT_1)
self.sound = Sound(brick, PORT_2)
self.light = Light(brick, PORT_3)
self.touch = Touch(brick, PORT_4)
def __init__(self, brick='NXT'):
r'''Creates a new Alpha Rex controller.
brick
Either an nxt.brick.Brick object, or an NXT brick's name as a
string. If omitted, a Brick named 'NXT' is looked up.
'''
if isinstance(brick, str):
brick = find_one_brick(name=brick)
self.brick = brick
self.arms = Motor(brick, PORT_A)
self.legs = [Motor(brick, PORT_B), Motor(brick, PORT_C)]
self.touch = Touch(brick, PORT_1)
self.sound = Sound(brick, PORT_2)
self.light = Light(brick, PORT_3)
self.ultrasonic = Ultrasonic(brick, PORT_4)
def __init__(self, brick='NXT'):
r'''Creates a new Alpha Rex controller.
brick
Either an nxt.brick.Brick object, or an NXT brick's name as a
string. If omitted, a Brick named 'NXT' is looked up.
'''
if isinstance(brick, str):
brick = find_one_brick(name=brick)
self.brick = brick
self.arms = Motor(brick, PORT_A)
self.legs = [Motor(brick, PORT_B), Motor(brick, PORT_C)]
self.touch = Touch(brick, PORT_1)
self.sound = Sound(brick, PORT_2)
self.light = Light(brick, PORT_3)
self.ultrasonic = Ultrasonic(brick, PORT_4)
def __init__(self, proj, brick='NXT', brickMAC='00:16:53:14:1B:33'):
"""
Initialization handler for NXT robots. If you are unsure of the mac address, please pass brickMac='none'.
Your NXT Device will be located.
brickMAC (str): The MAC address of the nxt brick (default='00:16:53:14:1B:33')
"""
if isinstance(brick, basestring):
if brickMAC!='none': #check to see if user has given a mac address for the brick
try:
brick = bluesock.BlueSock('00:16:53:14:1B:33').connect() #attempt a connect with the mac address
except:
print "Can't find given mac, searching for any brick"
else:
brick = find_one_brick(name=brick) #attempt to find an NXT device if no mac address is given
self.brick = brick
def reset(remote=False):
global b, L, R, M, lmove, rmove, _lock, light, sonic, touch
print("Connecting")
connect_method = locator.Method(not remote, remote)
b = locator.find_one_brick(method=connect_method, debug=True)
print("Connection to brick established\n")
print("Initializing sensors")
L = m_left = Motor(b, PORT_B)
R = m_right = Motor(b, PORT_C)
M = SynchronizedMotors(L, R, 2)
lmove = Thread()
rmove = Thread()
_lock = False
light = Light(b, PORT_3)
sonic = Ultrasonic(b, PORT_2)
touch = Touch(b, PORT_4)
print("Initialization completed\n")
print("Loading Actions")
def run(self):
# Start a BT connection over to the NXT
print "Initializing Bluetooth"
try:
brick = nxt.bluesock.BlueSock(BRICK_ADDR).connect()
except:
print "Brick {0} not found. Trying search by name...".format(
BRICK_ADDR)
try:
brick = find_one_brick(name=BRICK_NAME)
except:
print "Brick {0} not found".format(BRICK_NAME)
return
bt_motors = (Motor(brick, PORT_A), Motor(brick,
PORT_B), Motor(brick, PORT_C))
while running:
# use shoulder buttons on the game pad to make the omnibot rotate around it's axis.
turnpower = 0
if gp_state['btn_r1']: turnpower = 60
if gp_state['btn_l1']: turnpower = -60
# read and scale joysticks
joy_x = scale(gp_state['move_x'], STICK_RANGE, (-100, 100))
joy_y = scale(gp_state['move_y'], STICK_RANGE, (-100, 100))
# convert joystick x and y to a direction and power (deviation from the centre)
joy_direction = math.atan2(joy_x, joy_y) # in radians
joy_power = (joy_x**2 + joy_y**2)**0.5 # pythagoras
i = 0
for motor in bt_motors:
# for each motor the angle has a different offset (0, 120 and 240 degrees)
angle = i * 2 * 3.1415 / 3 + joy_direction
# motor power calculation. A simple sin.
motorpower = math.sin(angle) * joy_power + turnpower
motorpower = round(clamp(motorpower, (-100, 100)))
motor.run(motorpower, regulated=True)
i += 1
# wait a bit before sending more commands. If we don't the BT buffer overflows.
btloop.throttle()
def __init__(self, brick="NXT"):
r"""Creates a new Strider controller.
brick
Either an nxt.brick.Brick object, or an NXT brick's name as a
string. If omitted, a Brick named 'NXT' is looked up.
"""
if isinstance(brick, basestring):
brick = find_one_brick(name=brick)
self.brick = brick
self.back_leg = Motor(brick, PORT_B)
self.left_leg = Motor(brick, PORT_C)
self.right_leg = Motor(brick, PORT_A)
# self.touch = Touch(brick, PORT_1)
# self.sound = Sound(brick, PORT_2)
# self.light = Light(brick, PORT_3)
# self.ultrasonic = Ultrasonic(brick, PORT_4)
self.colour = Color20(brick, PORT_3)
def run(self):
# Start a BT connection over to the NXT
print "Initializing Bluetooth"
try:
brick = nxt.bluesock.BlueSock(BRICK_ADDR).connect()
except:
print "Brick {0} not found. Trying search by name...".format(BRICK_ADDR)
try:
brick = find_one_brick(name=BRICK_NAME)
except:
print "Brick {0} not found".format(BRICK_NAME)
return
bt_motors = (Motor(brick, PORT_A), Motor(brick, PORT_B), Motor(brick, PORT_C))
while running:
# use shoulder buttons on the game pad to make the omnibot rotate around it's axis.
turnpower = 0
if gp_state['btn_r1']: turnpower = 60
if gp_state['btn_l1']: turnpower = -60
# read and scale joysticks
joy_x = scale(gp_state['move_x'], STICK_RANGE, (-100, 100))
joy_y = scale(gp_state['move_y'], STICK_RANGE, (-100, 100))
# convert joystick x and y to a direction and power (deviation from the centre)
joy_direction = math.atan2(joy_x, joy_y) # in radians
joy_power = (joy_x ** 2 + joy_y ** 2) ** 0.5 # pythagoras
i = 0
for motor in bt_motors:
# for each motor the angle has a different offset (0, 120 and 240 degrees)
angle = i * 2 * 3.1415 / 3 + joy_direction
# motor power calculation. A simple sin.
motorpower = math.sin(angle) * joy_power + turnpower
motorpower = round(clamp(motorpower, (-100, 100)))
motor.run(motorpower, regulated=True)
i += 1
# wait a bit before sending more commands. If we don't the BT buffer overflows.
btloop.throttle()
def __init__(self, proj, brick='NXT', brickMAC='00:16:53:14:1B:33'):
"""
Initialization handler for NXT robots. If you are unsure of the mac address, please pass brickMac='none'.
Your NXT Device will be located.
brickMAC (str): The MAC address of the nxt brick (default='00:16:53:14:1B:33')
"""
if isinstance(brick, basestring):
if brickMAC != 'none': #check to see if user has given a mac address for the brick
try:
brick = bluesock.BlueSock('00:16:53:14:1B:33').connect(
) #attempt a connect with the mac address
except:
print "Can't find given mac, searching for any brick"
else:
brick = find_one_brick(
name=brick
) #attempt to find an NXT device if no mac address is given
self.brick = brick
def main():
brick = locator.find_one_brick(debug=True)
robot = Robot(brick, debug=True, verbose=True,
power=80) # Excessive output
# Motors
robot.init_synchronized_motors(PORT_A, PORT_C)
robot.init_servo(PORT_B)
light = robot.init_light_sensor(PORT_2)
robot.turn_light_sensor(ON)
robot.set_servo(SERVO_DOWN)
table_value = normalize(light.get_sample(), 0, 1023)
print(table_value)
def until():
print(normalize(light.get_sample(), 0, 1023))
return normalize(light.get_sample(), 0, 1023) < 0.3
robot.move_forward(until=until, until_args=(), until_kwargs={}, wait=True)
robot.turn_light_sensor(OFF)
def __init__(self, brick_name='NXT'):
sock = find_one_brick(name=brick_name)
brick = self.brick = sock.connect()
self.arm = Motor(brick, PORT_A)
self.legs = [Motor(brick, PORT_B), Motor(brick, PORT_C)]
#self.touch = Touch(brick, PORT_1)
#self.sound = Sound(brick, PORT_2)
#self.light = Light(brick, PORT_3)
#self.ultrasonic = Ultrasonic(brick, PORT_4)
self.busy = False
self.arg_d = {"forward": (self.forward, 2),
"backward": (self.backward, 2),
"left": (self.turn_left, 2),
"right": (self.turn_right, 2),
#"power": (self.add_arm_power, 1),
#"kick": (self.release_arm, 0),
"boot": (self.boot, 0),
"sing": (self.sing, 0),
"talk": (self.talk, 0)}
def do(self):
b = nxtl.find_one_brick(debug=True,
strict=True,
method=nxtl.Method(usb=True, bluetooth=False))
start = time.time()
time_bomb = random.randint(25, 35)
if b:
while (True):
elapsed_time = time.time() - start
if elapsed_time < time_bomb:
anomaly = False
else:
anomaly = True
start = time.time()
time_bomb = random.randint(25, 35)
# execute the action
self.spin_around(b, anomaly)
else:
print('No NXT bricks found')
m_left = Motor(robot, PORT_B)
m_right = Motor(robot, PORT_A)
touch_right = Touch(robot, PORT_2)
touch_left = Touch(robot, PORT_1)
ultrason = Ultrasonic(robot, PORT_3)
DEFAULT_POWER = 80
DISTANCE_LIMIT = 20
TURN_TIME = 1.5
# Début
while True:
m_left.run(power=DEFAULT_POWER)
m_right.run(power=DEFAULT_POWER)
while not touch_right.is_pressed() and not touch_left.is_pressed() and ultrason.get_distance() > DISTANCE_LIMIT:
sleep(0.01)
print("Aieee")
if touch_right.is_pressed():
m_left.run(power=DEFAULT_POWER)
m_left.run(power=-DEFAULT_POWER)
else:
m_left.run(power=-DEFAULT_POWER)
m_left.run(power=DEFAULT_POWER)
sleep(TURN_TIME)
main(find_one_brick())
# coding=utf-8
# Больше информации и пример работы: http://mic-dm.blogspot.com/2012/07/blog-post.html.
from time import sleep
import nxt
from nxt.locator import find_one_brick
from nxt.sensor.generic import Touch
# Определяем кирпич, мотор и кнопку:
brick = find_one_brick()
motor = nxt.Motor(brick, nxt.PORT_B)
sensor = Touch(brick, nxt.PORT_1)
# "Мотор запаркован" у нас будет означать, что
# кочерга мотора находится в нижнем положении:
is_parked = False
while True:
if sensor.is_pressed():
# Если кнопка нажата, ждем недолго и крутим мотор,
# чтобы освободить кнопку:
sleep(1)
motor.turn(-20, 40, False)
is_parked = False
elif not is_parked:
# Если кнопка отжата, но мотор не запаркован,
# паркуем:
motor.turn(20, 40, False)
is_parked = True
sleep(0.1)
self.stopQueue.put(_stop_token)
break
except Queue.Empty:
pass
# deal with results:
try:
result = self.resQueue.get(
timeout=ResultQueueChecker.reqWait)
except Queue.Empty:
continue
logging.debug('fetched %s', result)
if __name__ == '__main__':
b = find_one_brick(name='NAMANI')
logging.debug("Found brick: %s", b)
# main thread's signal queue:
sq = Queue.Queue()
# motors and sensors for driving the car:
ma = MotorRunThread(b, nm.PORT_A, sq, name='motor_A')
mb = MotorRunThread(b, nm.PORT_B, sq, name='motor_B')
ts1 = MotorTouchThread(b, ns.PORT_1, ma, sq, name='touch_1')
ts2 = MotorTouchThread(b, ns.PORT_2, mb, sq, name='touch_2')
# motor to turn ultrasound sensor and sensor itelf:
mc = MotorRunThread(b, nm.PORT_C, sq, name='motor_C')
us = UltrasonicThread(b, ns.PORT_4, mc, MotorRunThread.power, sq,
name='ultra_s')
from nxt.locator import find_one_brick
from nxt.motor import *
from time import sleep, clock
pygame.init()
done = False
joystick_count=pygame.joystick.get_count()
if joystick_count == 0:
print ("Error, I didn't find any joysticks.")
else:
my_joystick = pygame.joystick.Joystick(0)
my_joystick.init()
brick = find_one_brick()
mc = brick.mc
left_engine = Motor(brick, PORT_B)
right_engine = Motor(brick, PORT_C)
vehicle = SynchronizedMotors(left_engine, right_engine, 0)
angle = 0
angle_prev = 0
mc.start()
sleep(1)
while done == False:
def main():
brick = locator.find_one_brick(debug=True)
robot = Robot(brick, debug=True, verbose=True,
power=80) # Excessive output
# Motors
robot.init_synchronized_motors(PORT_A, PORT_C)
robot.init_servo(PORT_B)
# Sensors
light = robot.init_light_sensor(PORT_2)
sound = robot.init_sound_sensor(PORT_4)
# Intial setup
robot.set_servo(SERVO_UP)
robot.turn_light_sensor(ON)
# Calibration (light)
# light_off, light_on = robot.calibrate_light(interactive=True) # FIXME: Output says 'Point the sensor to black line'
light_off, light_on = 229, 900
# Sound sensor calibration
quiet, loud = 15, 1024 # robot.calibrate_sound(interactive=True)
# Thresholds
lower = 5 * (10**-1)
lower_noise = 1 # 9 * (10 ** -1)
upper = 5 * (10**-1)
# until = lambda *args, ls=light, **kwargs: normalize(ls.get_lightness(), light_off, light_on) > upper
print('starting...')
sleep(3)
# TODO I should probably lock the access to light sensor.
def until(light_sensor,
**kwargs): # Must explicitly state **kwargs as his argument.
return normalize(light_sensor.get_lightness(), light_off,
light_on) < lower
robot.move_forward(until=until, until_args=(light, ))
while robot.running:
light_level = normalize(light.get_lightness(), light_off, light_on)
robot.debug('Current light level: ', light_level)
if light_level < lower:
robot.turn_right(
50, 15) # Turn right 15° to see if we correct the course
light_level_tmp = normalize(light.get_lightness(), light_off,
light_on)
robot.debug('temp lecture at right', light_level_tmp)
if light_level_tmp > light_level:
robot.debug(
'Right turn didn\'t improve course. Turning left...')
robot.turn_left(50, 30)
sleep(.4)
s = sound.get_sample()
loudness = normalize(s, quiet, loud)
robot.debug('Value of loudness is ', loudness, s)
if loudness > lower_noise:
robot.stop()
robot.morse('SOS')
robot.move_backwards(seconds=3, wait=True)
if not until(light):
robot.move_forward(until=until, until_args=(
light, )) # FIXME: Does this cause an infinite loop?
robot.turn_light_sensor(OFF)
print('DONE: Won\'t do anything else.')
exit(0)
def __init__(self):
"""Constructs a robot object which can be used to control the nxt brick."""
self.brick = find_one_brick()
self.sensors = [Touch(self.brick, PORT_1)]
self.motors = [Motor(self.brick, PORT_A), Motor(self.brick, PORT_B)]
touch_right = Touch(robot, PORT_2)
touch_left = Touch(robot, PORT_1)
ultrason = Ultrasonic(robot, PORT_3)
DEFAULT_POWER = 80
DISTANCE_LIMIT = 20
TURN_TIME = 1.5
# Début
while True:
m_left.run(power=DEFAULT_POWER)
m_right.run(power=DEFAULT_POWER)
while not touch_right.is_pressed() and not touch_left.is_pressed(
) and ultrason.get_distance() > DISTANCE_LIMIT:
sleep(0.01)
print("Aieee")
if touch_right.is_pressed():
m_left.run(power=DEFAULT_POWER)
m_left.run(power=-DEFAULT_POWER)
else:
m_left.run(power=-DEFAULT_POWER)
m_left.run(power=DEFAULT_POWER)
sleep(TURN_TIME)
main(find_one_brick())
#!/usr/bin/env python2
# -*- coding: utf-8 -*-
from nxt.locator import find_one_brick
from nxt.motor import Motor, PORT_A, PORT_B, PORT_C
robot = find_one_brick()
for port in (PORT_A, PORT_B, PORT_C):
try:
Motor(robot, port).brake()
except:
pass
from nxt import locator, motor
import nxtprinter
b = locator.find_one_brick()
p = nxtprinter.NxtPrinter(b, motor.PORT_B, motor.PORT_A, motor.PORT_C)
p.write(raw_input("print: "), 15)
