def main():
robot = Robot(debug=True, verbose=True, power=20)
# Sensors
light = robot.init_light_sensor(PORT_2)
touch = robot.init_touch_sensor(PORT_3)
# Motors
robot.init_servo(PORT_B)
robot.init_synchronized_motors(PORT_A, PORT_C)
# Initial setup
robot.set_servo(
SERVO_NICE, power=50
) # It's called nice because the servo movement looks freaking awesome
robot.turn_light_sensor(ON)
# Light sensor calibration
black, white = robot.calibrate_light(interactive=True)
# Thresholds
lower = 4 * (10**-1)
upper = 9 * (10**-1)
def until(light_sensor, touch_sensor, **kwargs):
return normalize(light_sensor.get_lightness(), black,
white) > upper or touch_sensor.is_pressed()
sleep(1)
robot.move_forward(until=until, until_args=(light, touch))
while robot.running:
light_level = normalize(light.get_lightness(), black, white)
if light_level > lower:
robot.debug('Current light level: ', light_level)
robot.turn_right(
8, 15) # Turn right 15° to see if we correct the course
light_level_tmp = normalize(light.get_lightness(), black, white)
if light_level_tmp > light_level:
robot.debug(
'Right turn didn\'t improve course. Turning left...')
robot.turn_left(8, 30)
if not until(light, touch):
robot.move_forward(until=until, until_args=(light, touch))
# WARNING: From here, the code is even more experimental.
# I encourage you to consider this some sort of fancy pseudo-code.
if touch.is_pressed():
robot.debug('Found an obstacle.')
robot.turn_right(60, 270)
robot.move_backwards(dist=30)
robot.turn_left(power=50, degrees=270 - 45)
robot.move_forward(dist=50, power=100) # Dist is given in cm
robot.turn_light_sensor(OFF)
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 until(light_sensor, touch_sensor, **kwargs):
return normalize(light_sensor.get_lightness(), black,
white) > upper or touch_sensor.is_pressed()
def until(light_sensor,
**kwargs): # Must explicitly state **kwargs as his argument.
return normalize(light_sensor.get_lightness(), light_off,
light_on) < lower
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 until():
print(normalize(light.get_sample(), 0, 1023))
return normalize(light.get_sample(), 0, 1023) < 0.3