def main():
# Play a sound (1000Hz, 1000ms)
brick.sound.file(SoundFile.SNORING, 1000)
brick.sound.file(SoundFile.ERROR_ALARM, 1000)
brick.display.image(ImageFile.UP)
brick.sound.file(SoundFile.HELLO, 1000)
# countodwn
brick.sound.file(SoundFile.THREE, 1000)
brick.sound.file(SoundFile.TWO, 1000)
brick.sound.file(SoundFile.ONE, 1000)
brick.sound.file(SoundFile.MOTOR_START, 1000)
brick.light(Color.RED)
gameLoop(2)
# END
brick.sound.file(SoundFile.MOTOR_STOP, 1000)
# brick.sound.file(SoundFile.SNEEZING, 1000)
# brick.sound.file(SoundFile.SMACK, 1000)
# brick.sound.file(SoundFile.OUCH, 1000)
# brick.sound.file(SoundFile.CRYING, 1000)
brick.sound.file(SoundFile.GAME_OVER, 1000)
def any_button_pressed(waiting_color=Color.RED):
brick.light(waiting_color)
while not any(brick.buttons()):
wait(150)
brick.light(Color.BLACK)
return brick.buttons().copy()
def run(self):
while not self.stop:
brick.light(self.color)
wait(self.on_pause)
if self.stop:
return
brick.light(None)
wait(self.off_pause)
def wait_for_buttonpress():
# waiting for next command
brick.sound.file('OOT_PauseMenu_Select.wav')
brick.light(Color.RED)
while not any(brick.buttons()):
wait(10)
# running next command acknowledgement
brick.light(Color.GREEN)
def resetGyro(self):
brick.light(Color.RED)
speed = self.gyro.speed()
angle = self.gyro.angle()
while speed != 0:
wait(100)
speed = self.gyro.speed()
angle = self.gyro.angle()
self.gyro.reset_angle(0)
brick.light(Color.GREEN)
def runDiagnose():
brick.display.clear()
success = True
#---
try:
motor_r = Motor(Port.C)
except OSError:
brick.display.text("motor_r port C", (30, 20))
success = False
#---
try:
motor_l = Motor(Port.B)
except OSError:
brick.display.text("motor_l port B", (30, 30))
success = False
#---
try:
function_r = Motor(Port.D)
except OSError:
brick.display.text("function_r port D", (30, 40))
success = False
#---
try:
function_l = Motor(Port.A)
except OSError:
brick.display.text("function_l port A", (30, 50))
success = False
#---
try:
col_l = ColorSensor(Port.S2)
except OSError:
brick.display.text("col_l port 3", (30, 60))
success = False
#---
try:
col_r = ColorSensor(Port.S3)
except OSError:
brick.display.text("col_r port 4", (30, 70))
success = False
#---
# brick.light(Color.PURPLE)
# #battery
# if brick.battery.voltage() < 7000:
# brick.display.text("battery",(30,80))
if success == False:
brick.light(Color.ORANGE)
for i in range(2):
brick.sound.beep(500, 50, 25)
brick.sound.beep(500, 50, 0)
brick.sound.beep(750, 50, 25)
brick.sound.beep(500, 50, 0)
else:
brick.light(Color.GREEN)
return success
def setSpeed(self, acc):
if acc < 0:
self.speed = max(-3, self.speed - 1)
elif acc > 0:
self.speed = min(3, self.speed + 1)
else:
self.speed = 0
if self.speed != 0:
self.motor.run(self.speed * 90)
else:
self.motor.stop()
brick.light(self.colors[abs(self.speed)])
def setSpeed(acc):
global speed
if acc < 0:
speed = max(0, speed - 1)
elif acc > 0:
speed = min(3, speed + 1)
else:
speed = 0
if speed > 0:
motor.run(speed * 90)
else:
motor.stop()
brick.light(colors[speed])
def foundvictim():
notes = [(523, 1000), (494, 1000), (440, 500), (330, 500),
("repeat", 5, 330), ("repeat", 3, 440), (440, 500), (392, 250),
(440, 500), (349, 500)]
# brick.sound.beep(frequency=500, duration=100, volume=30)
for note in notes:
if note[0] == "repeat":
for i in range(note[1]):
brick.sound.beep(note[2], 125, 10)
wait(125)
else:
brick.sound.beep(note[0], note[1], 10)
brick.light(None)
def batterychk():
while True:
print("Battery level {}".format(brick.battery.voltage()))
if brick.battery.voltage() < 5000:
run = False
robot.stop()
print("Battery Low {}".format(brick.battery.voltage()))
brick.display.text("Battery Low", (60, 50))
while True:
brick.light(Color.RED)
brick.sound.beep()
wait(500)
brick.light(None)
brick.sound.beep()
# brick.sound.speak("Battery Low")
wait(500)
wait(2000)
def startup(self):
brick.light(Color.RED) # Make the light red
brick.display.clear() # Clear the display
if brick.battery.voltage() < 6000: # Check the battery voltage
# if brick.battery.voltage() < 7000: # Check the battery voltage
brick.sound.beeps(
10
) # Makes 10 simple beeps if the voltage is below 7V, and displays a warning about the battery
brick.display.text(
"Low Battery!", (30, 50)
) # Print "Low Battery" near the middle of the screen for 1000000 ms in case the battery voltage is less then 7 V
wait(1000000)
counting_back = [
"Counting back: 5", "Counting back: 4", "Counting back: 3",
"Counting back: 2", "Counting back: 1", "START"
] # Counting back from 5 with 1 second increments and display "Start"
for counter in counting_back:
brick.display.text(counter, (30, 50))
wait(1000)
brick.display.clear()
def wartenAmAnfang():
"""
Am Anfang eines Programmes warten bis ein Knopf gedrückt wird und danach noch eine halbe Sekunde
"""
# einmal piepsen
brick.sound.beep()
# licht auf rot
brick.light(Color.RED)
# bild: ?
brick.display.image(ImageFile.QUESTION_MARK)
# "hello" abspielen
brick.sound.file(SoundFile.HELLO)
wartenBisKnopfGedruckt()
# bild: /!\
brick.display.image(ImageFile.WARNING)
# licht auf gelb
brick.light(Color.YELLOW)
# "OK" abspielen
brick.sound.file(SoundFile.OKAY)
# 1/2 Sekunde warten
wait(500)
# dreinmal piepsen
brick.sound.beeps(3)
# Licht auf normal
brick.light(None)
# Bildschirm löschen
brick.display.clear()
def inchWorm(lineCrossingModule, lineFollowingModule, direction):
brick.light(Color.GREEN)
lineFollowingModuleAmbience = lineFollowingModule.ambient()
lineCrossingModuleColor = lineCrossingModule.color()
lineCrossingModuleAmbience = lineCrossingModule.ambient()
lineCrossingModuleSeesLine = False
if lineFollowingModuleAmbience > lineFollowingModule.getEdgeOfLineAmbience(
): # lighter
lineFollowingModule.run(speedFactor=(1 / 2 * direction))
lineCrossingModule.run(speedFactor=direction)
elif lineFollowingModuleAmbience <= lineFollowingModule.getEdgeOfLineAmbience(
): # darker
if lineCrossingModuleColor == Color.BLACK:
print("line cross sees line is black")
lineCrossingModuleSeesLine = True
brick.light(Color.RED)
lineCrossingModule.run(speedFactor=(1 / 2 * direction))
lineFollowingModule.run(speedFactor=(1 / 2 * direction))
if lineCrossingModuleAmbience < lineCrossingModule.getEdgeOfLineAmbience(
):
print("line cross sees darker than average")
lineCrossingModuleSeesLine = True
brick.light(Color.RED)
lineCrossingModule.run(speedFactor=(1 / 2 * direction))
lineFollowingModule.run(speedFactor=(1 / 2 * direction))
else:
lineCrossingModule.run(speedFactor=(1 / 2 * direction))
lineFollowingModule.run(speedFactor=direction)
return lineCrossingModuleSeesLine
def tick():
global j
global client_skt
while True:
j += 1
print('tick ' + str(j))
send_result = 0
try:
send_result = client_skt.send(bytes('*', 'utf-8'))
except:
print('send exception')
finally:
sleep(1)
if (send_result == 0):
connected = False
brick.light(Color.RED)
client_skt.close()
connect()
else:
connection = True
brick.light(Color.GREEN)
def routineRed():
# Make the light red
brick.light(Color.RED)
wait(1000)
# Turn the light off
brick.light(None)
s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
s.connect(('192.168.86.23',50001))
s.send(bytes('one\n', 'utf-8'))
turn_motor = Motor(Port.C, Direction.COUNTERCLOCKWISE, [12,36])
extend_motor = Motor(Port.B, Direction.CLOCKWISE, [8,48])
grip_motor = Motor(Port.A, Direction.CLOCKWISE, [12,8])
turn_sensor = TouchSensor(Port.S1)
extend_sensor = TouchSensor(Port.S2)
brick.sound.beep()
brick.light(Color.GREEN)
#turn_motor.run_time(255,5000,Stop.BRAKE,True)
turn_motor.run_until_stalled(255, Stop.COAST, 50)
brick.sound.file(SoundFile.TWO)
s.send(bytes('two\n', 'utf-8'))
turn_motor.reset_angle(-90)
turn_home_found = False
while not turn_home_found:
turn_motor.run_until_stalled(-255,Stop.COAST,50)
if turn_sensor.pressed() == True:
turn_home_found = True
brick.sound.file(SoundFile.THREE)
s.send(bytes('three\n', 'utf-8'))
def light(color):
global flashing_lock
if isinstance(flashing_lock, (LightPulse, LightFlash)):
flashing_lock.kill()
flashing_lock = None
brick.light(color)
brick.display.image('/home/robot/robomest/pics/logo2.bmp')
wait(300)
brick.display.image('/home/robot/robomest/pics/logo3.bmp')
wait(300)
# Joukkueiden logot
#brick.display.image('/home/robot/robomest/pics/bittipol.bmp')
#brick.sound.file(SoundFile.HORN_1)
#wait(2000)
#brick.display.image('/home/robot/robomest/pics/virtaluu.bmp')
#brick.sound.file(SoundFile.LASER)
#wait(2000)
# Show the current voltage on screen and with light colour
brick.display.clear()
brick.display.image('/home/robot/robomest/pics/logo1.bmp')
if brick.battery.voltage() < 6899:
brick.light(Color.RED)
brick.display.image('/home/robot/robomest/pics/Bar 0.bmp')
if brick.battery.voltage() < 7199 and brick.battery.voltage() > 6900:
brick.light(Color.YELLOW)
brick.display.image('/home/robot/robomest/pics/Bar 1.bmp')
if brick.battery.voltage() < 7499 and brick.battery.voltage() > 7200:
brick.light(Color.ORANGE)
brick.display.image('/home/robot/robomest/pics/Bar 2.bmp')
if brick.battery.voltage() < 7899 and brick.battery.voltage() > 7500:
brick.light(Color.GREEN)
brick.display.image('/home/robot/robomest/pics/Bar 3.bmp')
if brick.battery.voltage() > 7900:
brick.light(Color.GREEN)
brick.display.image('/home/robot/robomest/pics/Bar 4.bmp')
wait(2000)
# Show the current voltage
def test_light():
brick.light(None)
with pytest.raises(Exception):
brick.light()
# Have the robot spin in a circle 5 times after it has done it's rotation a certain number of times.
j = 10
# Say that if someone touches the touch sensors, it will activate
while not sensor2.pressed() and not sensor3.pressed():
wait(10)
# Have the robot beep
brick.sound.beep()
# Have the robot emit A high pitch(1500 Hz) for one second (1000 ms) at 50% volume
brick.sound.beep(1500, 1000, 25)
# Make the light on the robot red
brick.light(Color.RED)
wait(1000)
# Clear the display
brick.display.clear()
# Print ' 'Run.' ' near the middle of the screen
brick.display.text("Run.", (60, 50))
# Print ' 'You Better Run' ' a little bit underneath it
brick.display.text("You Better Run", (60, 70))
# Have the robot continue the loop for a certain number of times.
while i > 0:
# Spin Wings at full speed for 2 seconds
motor3.run(400)
from pybricks import ev3brick as brick
from pybricks.ev3devices import (Motor, TouchSensor, ColorSensor,
InfraredSensor, UltrasonicSensor, GyroSensor)
from pybricks.parameters import (Port, Stop, Direction, Button, Color,
SoundFile, ImageFile, Align)
from pybricks.tools import print, wait, StopWatch
from pybricks.robotics import DriveBase
# Write your program here
motor = Motor(Port.B)
ultrasonic = UltrasonicSensor(Port.S4)
brick.sound.beep()
brick.light(None)
speed = 0
colors = [None, Color.GREEN, Color.YELLOW, Color.RED]
def setSpeed(acc):
global speed
if acc < 0:
speed = max(0, speed - 1)
elif acc > 0:
speed = min(3, speed + 1)
else:
speed = 0
if speed > 0:
motor.run(speed * 90)
from pybricks import ev3brick as brick
from pybricks.ev3devices import (Motor, TouchSensor, ColorSensor,
InfraredSensor, UltrasonicSensor, GyroSensor)
from pybricks.parameters import (Port, Stop, Direction, Button, Color,
SoundFile, ImageFile, Align)
from pybricks.tools import print, wait, StopWatch
from pybricks.robotics import DriveBase
# Initialization
# brick.sound.beep() # Play a beep sound
# brick.sound.beep(1000, 500) # Play another beep sound, this time with a higher pitch (1000 Hz) and longer duration (500 ms)
brick.display.clear()
brick.light(Color.RED) # Brick LED is red during initialization
motorL = Motor(Port.A) # Left motor
motorR = Motor(Port.D) # Right motor
ultrasonic = UltrasonicSensor(Port.S2) # Ultrasonic sensor
motorSpeed = 200 # Motor speed
steeringSpeed = 200 # Steering speed (to be used when turning around)
minDistance = 200 # Minimum distance (in mm) before the brick starts decelerating or stops to turn around
maxSpeed = 400
started = False # Flag to be used as manual start/stop switch; default is False (brick does not move)
###############################################################################################
while True:
# button left=RED, right=GREEN
# while True:
# b = brick.buttons()
# if Button.LEFT in b:
# brick.light(Color.RED)
# elif Button.RIGHT in b:
# brick.light(Color.GREEN)
# else:
# brick.light(None)
# up/down buttons to change frequency
freq = 500
while True:
buttons = brick.buttons()
if Button.UP in buttons:
brick.light(Color.GREEN)
freq += 10
elif Button.DOWN in buttons:
brick.light(Color.RED)
freq -= 10
else:
brick.light(None)
brick.sound.beep(freq, 100, 30)
for i in range(20):
print('hello world')
brick.sound.beep()
# Initialize a motor at port B.
tilt_motor = Motor(Port.B)
radar_motor = Motor(Port.C)
antenna_motor = Motor(Port.D)
vscale = 1
radar = 0
antenna = 0
antenna_c = 0
rotate = 0
tilt = 0
rotate_motor.reset_angle(0)
tilt_motor.reset_angle(0)
#obstacle_sensor = UltrasonicSensor(Port.S4)
#color_sensor = ColorSensor(Port.1)
# fLASH SOME LIGHTS
brick.light(Color.BLACK)
wait(200)
brick.light(Color.GREEN)
wait(200)
brick.light(Color.ORANGE)
wait(200)
brick.light(Color.RED)
wait(200)
brick.light(Color.YELLOW)
wait(200)
# Read buttons and act accordingly. UP button ends
brick.display.text("USE PS4 CONTROLLER")
brick.light(None)
# PS4 control code
def routineYellow():
# Make the light red
brick.light(Color.YELLOW)
wait(1000)
# Turn the light off
brick.light(None)
def routineBlue():
# Make the light red
brick.light(Color.BLACK)
wait(1000)
# Turn the light off
brick.light(None)
def tracked_wall():
brick.light(Color.GREEN)
global wall_counter
global last_distance
kp = 1000
# set distance to seconds
distance = distanceSensor.distance() / 1000
# print(str(distance))
# set stall counter
global stall_counter
# print(stall_counter)
# registered that the robot has passed the wall.
# used because the bad sensor sometimes registered incorrect high values
if wall_counter >= 85:
return True
# if stalled, move back slightly
if stall_counter > 0:
brick.light(Color.RED)
right_motor.run(45)
left_motor.run(45)
stall_counter -= 1
return False
# if too far from wall, turn left SHARP
if distance >= .7:
wall_counter += 1
left_motor.run(110)
right_motor.run(70)
# print("ERROR" + str(distance))
last_distance = distance
return False
else:
wall_counter = 0
# stall and double check if the sudden change in distance is reading correctly
if not last_distance == 0 and abs(distance - last_distance) > .05:
# print("CHANGED")
stop_robot()
wait(100)
last_distance = distance
stall_counter = 15
return False
# set normal speed and error distance
speed = 150
error = .17 - distance
# too far, turn left normal
if error > .05:
left_motor.run(speed)
right_motor.run(speed / 2)
# too close, turn right normal
elif error < -.05:
left_motor.run(speed / 2)
right_motor.run(speed)
# just right, turn right/left proportional to the error. (PID)
else:
right_motor.run(speed - kp * error)
left_motor.run(speed + kp * error)
# print(str(distance))
# print(str(last_distance))
last_distance = distance
# turn = 25
# speed = 200
# if distance > .2:
# left_motor.run(speed - turn)
# right_motor.run(speed + turn)
# elif distance < .15:
# left_motor.run(speed + turn)
# right_motor.run(speed - turn)
# print(str(speed-kp*error) + " " + str(speed+kp*error))
return False
def NewColor():
colorshow.get_next_color()
brick.light(colorshow.color_number)
import socket
client_skt = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
connected = False
SERVER_IP = '192.168.86.35'
SERVER_PORT = 50001
_speed = 255
# define motors
left_motor = Motor(Port.B)
right_motor = Motor(Port.C)
# defing sensors
ultrasonic_sensor = UltrasonicSensor(Port.S1)
brick.light(Color.BLACK)
print('running')
j = 0
def GoForwards():
global _speed
left_motor.run(_speed)
right_motor.run(_speed)
#brick.sound.file(SoundFile.FORWARDS)
def GoBackwards():
global _speed
left_motor.run(-1*_speed)
right_motor.run(-1*_speed)
#brick.sound.file(SoundFile.BACKWARDS)
def routineGreen():
# Make the light red
brick.light(Color.GREEN)
wait(1000)
# Turn the light off
brick.light(None)
