def main():
motor_pair = MotorPair('B', 'A')
# Establishing Gains
Kp = 8
Kd = 0.1
Ki = 0
while True:
target = 0
pid(Kp, Kd, Ki, target, motor_pair)
motor_pair.stop()
return
from spike import MotorPair
from spike import DistanceSensor
import utime
# small wheel to spike wheel ratio
wheel_gain = 55 / 30
# other init
target_dist = 10
last_dist = 10
kp = 5
wall_detector = DistanceSensor('E')
motor_pair = MotorPair('B', 'A')
# move panda forward
while True:
try:
dist = wall_detector.get_distance_percentage()
if dist == None:
dist = target_dist
else:
last_dist = dist
except:
dist = last_dist
motor_power = (int(dist) - target_dist) * kp
if motor_power > 50:
motor_power = 50
elif motor_power < -50:
motor_power = -50
print('speed:{} dist:{}'.format(dist, motor_power))
from spike import PrimeHub, LightMatrix, Button, StatusLight, ForceSensor, MotionSensor, Speaker, ColorSensor, App, \
DistanceSensor, Motor, MotorPair
from spike.control import wait_for_seconds, wait_until, Timer
import math
g_hub = PrimeHub()
g_front_motor = Motor('F')
g_front_motor.set_default_speed(30)
g_back_motor = Motor('C')
g_back_motor.set_default_speed(30)
g_motor_pair = MotorPair('A', 'E')
g_wheel_distance_apart = 14.5
g_wheel_radius = 4.25
g_wheel_circumference = 2 * math.pi * g_wheel_radius
g_motor_pair.set_motor_rotation(g_wheel_circumference, 'cm')
def to_mission(hub, motor_pair, front_motor, back_motor):
motor_pair.move(83, 'cm', steering=0, speed=25)
def do_mission(hub, motor_pair, front_motor, back_motor):
i = 0
while i < 41:
motor_pair.move(0.5, 'cm', steering=0, speed=35)
print(i)
i += 1
def go_home(hub, motor_pair, front_motor, back_motor):
motor_pair.move_tank(100, 'cm', -65, -65)
from spike import PrimeHub, LightMatrix, Button, StatusLight, ForceSensor, MotionSensor, Speaker, ColorSensor, App, \
DistanceSensor, Motor, MotorPair
from spike.control import wait_for_seconds, wait_until, Timer
import math
g_hub = PrimeHub()
g_right_sensor = ColorSensor('D')
g_motor_pair = MotorPair('A', 'E')
g_wheel_distance_apart = 14.5
g_wheel_radius = 4.25
g_wheel_circumference = 2 * math.pi * g_wheel_radius
g_motor_pair.set_motor_rotation(g_wheel_circumference, 'cm')
g_motor_pair.set_default_speed(-50)
g_motor_pair.set_stop_action('break')
def line_follow(hub, motor_pair, right_sensor, num):
count = 0
while count < num:
if right_sensor.get_reflected_light() > 50:
motor_pair.start_tank(-25, 15)
else:
motor_pair.start_tank(20, 15)
count += 1
line_follow(g_hub, g_motor_pair, g_right_sensor, 200)
from spike import PrimeHub, LightMatrix, Button, StatusLight, ForceSensor, MotionSensor, Speaker, ColorSensor, App, \
DistanceSensor, Motor, MotorPair
from spike.control import wait_for_seconds, wait_until, Timer
import math
g_hub = PrimeHub()
g_motor_pair = MotorPair('A', 'E')
g_wheel_distance_apart = 14.5
g_wheel_radius = 4.25
g_wheel_circumference = 2 * math.pi * g_wheel_radius
g_motor_pair.set_motor_rotation(g_wheel_circumference, 'cm')
g_motor_pair.move_tank(10, 'cm', left_speed=25, right_speed=25)
if button == PoweredUPButtons.RIGHT_PLUS:
motor_pair.start(speed=75)
elif button == PoweredUPButtons.RIGHT_MINUS:
motor_pair.start(speed=-75)
elif button == PoweredUPButtons.LEFT_PLUS_RIGHT_PLUS:
motor_pair.start(steering=-45, speed=75)
elif button == PoweredUPButtons.LEFT_MINUS_RIGHT_PLUS:
motor_pair.start(steering=45, speed=75)
elif button == PoweredUPButtons.LEFT_MINUS_RIGHT_MINUS:
motor_pair.start(steering=45, speed=-75)
elif button == PoweredUPButtons.LEFT_PLUS_RIGHT_MINUS:
motor_pair.start(steering=-45, speed=-75)
elif button == PoweredUPButtons.RELEASED:
motor_pair.stop()
else:
motor_pair.stop()
# set up hub
hub = PrimeHub()
# set up motors
motor_pair = MotorPair('A', 'B')
motor_pair.set_stop_action('coast')
# create remote and connect
remote = PoweredUPRemote()
remote.on_connect(callback=on_connect)
remote.on_disconnect(callback=on_disconnect)
remote.on_button(callback=on_button)
remote.connect()
from spike import MotorPair
import math
# If the left motor is connected to Port B
# And the right motor is connected to Port A.
motor_pair = MotorPair('B', 'A')
# amount, unit, steering (-100,100)), speed (-100 to 100)
motor_pair.move(10, 'cm', speed=50)
motor_pair.move(10, 'cm', speed=50, steering=50)
# turn a Driving Base 180 degrees in place (if wheels are 8.1 cm apart)
#motor_pair.move(8.1 * math.pi / 2, 'cm', steering=100)
from spike import MotorPair
motors = MotorPair ('A', 'E')
#To write a moving line, you do: motors.move(How many cenitmeters, 'cm', the angle, and then the power)
motors.move(42, 'cm', 0, 50)
motors.move(25, 'cm', -45, 50)
motors.move(10, 'cm', 0, 50)
motors.move(15, 'cm', -45, 50)
motors.move(14, 'cm', 0, 50)
motors.move(2, 'cm', 0, 50)
motors.move(2, 'cm', 0, -50)
motors.move(2, 'cm', 0, 50)
motors.move(2, 'cm', 0, -50)
motors.move(2, 'cm', 0, 50)
motors.move(2, 'cm', 0, -50)
from spike import PrimeHub, LightMatrix, Button, StatusLight, ForceSensor, MotionSensor, Speaker, ColorSensor, App, DistanceSensor, Motor, MotorPair
from spike.control import wait_for_seconds, wait_until, Timer
from math import *
hub = PrimeHub()
motor_pair = MotorPair('A', 'B') # Set the motor ports in the motor_pair.
motor_pair.set_default_speed(30) # Set the default speed of the motor_pair.
# Set the distance that the robot travels for one rotation its wheels. The value comes from# the diameter of the wheel multiplied by "π" (3.14).
motor_pair.set_motor_rotation(22, 'cm')
# Activate the brakes when the robot stops. The other conditions are 'hold' and 'coast'.
motor_pair.set_stop_action('brake')
wait_for_seconds(1) # Wait for one second.
#Reset the Gyro sensor. The current yaw angle value is equal to 0.
hub.motion_sensor.reset_yaw_angle()
motor_pair.start(
steering=100
) # Turn left around the center of the wheelbase. Leftward because of steering=-100 parameter.
# To program the robot to wait until the robot has turned, we need to define a fuction that checks if the robot has turned.
def left_turn_end(): # Define the function
return hub.motion_sensor.get_yaw_angle(
) > 90 # Return true or false depending on the yaw angle value.
value = urequests.get(urlValue, headers=headers).text
data = ujson.loads(value)
print(data)
result = data.get("value").get("value")
except Exception as e:
print(e)
result = 'failed'
return result
def Create_SL(Tag, Type):
urlBase, headers = SL_setup()
urlTag = urlBase + Tag
propName = {"type": Type, "path": Tag}
try:
urequests.put(urlTag, headers=headers, json=propName).text
except Exception as e:
print(e)
# Get_SL('Eric')
# Create_SL('Eric','STRING')
# Put_SL('Eric','STRING','done')
Get_SL('Eric')
# small wheel to spike wheel ratio
wheel_gain = 55 / 30
# move panda forward
motor_pair = MotorPair('B', 'A')
motor_pair.move(math.round(10 * wheel_gain), 'cm', speed=30)
from spike import PrimeHub, LightMatrix, Button, StatusLight, ForceSensor, MotionSensor, Speaker, ColorSensor, App, \
DistanceSensor, Motor, MotorPair
from spike.control import wait_for_seconds, wait_until, Timer
import math
hub = PrimeHub()
motor_pair = MotorPair('A', 'E')
right_motor = Motor('E')
left_color = ColorSensor('B')
right_color = ColorSensor('D')
wheel_distance_apart = 14.5
wheel_radius = 4.25
wheel_circumference = 2 * math.pi * wheel_radius
motor_pair.set_motor_rotation(wheel_circumference, 'cm')
right_motor.set_default_speed(15)
i = 0
motor_pair.start_tank(25, 25)
while i < 200:
if left_color.get_color() == 'black':
print('l')
motor_pair.start_tank(5, 25)
elif right_color.get_color() == 'black':
print('r')
motor_pair.start_tank(25, 5)
i += 1
motor_pair.stop()
motor_pair.move_tank(165, 'cm', left_speed=15, right_speed=15)
right_motor.run_for_rotations(20)
motor_pair.start_tank(-25, -25)
from spike import MotorPair
motor_pair = MotorPair('C', 'D')
motor_pair.move(50, 'rotations', steering=50)
from spike import PrimeHub, LightMatrix, Button, StatusLight, ForceSensor, MotionSensor, Speaker, ColorSensor, App, \
DistanceSensor, Motor, MotorPair
from spike.control import wait_for_seconds, wait_until, Timer
import math
g_hub = PrimeHub()
g_front_motor = Motor('F')
g_front_motor.set_default_speed(30)
g_back_motor = Motor('C')
g_back_motor.set_default_speed(15)
g_motor_pair = MotorPair('A', 'E')
g_wheel_distance_apart = 14.5
g_wheel_radius = 4.25
g_wheel_circumference = 2 * math.pi * g_wheel_radius
g_motor_pair.set_motor_rotation(g_wheel_circumference, 'cm')
def turn(hub, motor_pair, angle_to_turn):
if angle_to_turn != 0:
print('AngleToTurn', angle_to_turn)
fudge = 0.7
rotate_const = 586.0 / 360.0
hub.motion_sensor.reset_yaw_angle()
turn_angle = rotate_const * angle_to_turn
motor_pair.move(turn_angle, 'degrees', steering=100, speed=10)
while True:
yaw_angle = hub.motion_sensor.get_yaw_angle()
if yaw_angle < 0 and angle_to_turn > 0:
hub.status_light.on("white")
def closeGrip():
motor_e.set_default_speed(50)
motor_e.run_for_rotations(+1.50)
def openGrip():
motor_e.set_default_speed(50)
motor_e.run_for_rotations(-1.50)
# set up hub, motors and sensors
hub = PrimeHub()
motor_pair = MotorPair('A', 'B')
motor_pair.set_motor_rotation(17.5, 'cm')
motor_pair.set_default_speed(20)
colour_c = ColorSensor('C')
distance = DistanceSensor('D')
motor_e = Motor('E')
# create a peripheral object
remote = BLEPeripheral()
# scan for the target device and connect if found
utime.sleep(1)
remote.on_connect(callback=on_connect)
remote.on_disconnect(callback=on_disconnect)
remote.connect()