def __init__(self):
#self.a_motor = ev3.LargeMotor(ev3.OUTPUT_A)
self.b_motor = ev3.LargeMotor(ev3.OUTPUT_B)
self.c_motor = ev3.LargeMotor(ev3.OUTPUT_C)
#self.d_motor = ev3.MediumMotor(ev3.OUTPUT_D)
time.sleep(1)
threading.Thread.__init__(self)
def __init__(self, channel, freq=PwmFreq.H50, extended=False):
PwmBase.__init__(self, channel, freq, extended)
# print("Channel=%d" % self._channel)
if self._channel == 12:
self.motor = ev3.LargeMotor(ev3.OUTPUT_B)
elif self._channel == 13:
self.motor = ev3.LargeMotor(ev3.OUTPUT_A)
else:
pass
def __init__(self):
# Add more sensors and motors here if you need them
self.left_motor = ev3.LargeMotor(ev3.OUTPUT_A)
self.right_motor = ev3.LargeMotor(ev3.OUTPUT_B)
self.hand_motor = ev3.MediumMotor(ev3.OUTPUT_C)
self.drop_motor = ev3.MediumMotor(ev3.OUTPUT_D)
threading.Thread.__init__(self)
self.hand = 1
self.handpos = self.hand_motor.position
def __init__(self, side, out):
self.side = side
self.speed = 0
self.motor = ev3.LargeMotor(ev3.OUTPUT_A)
if out.upper() == "B":
self.motor = ev3.LargeMotor(ev3.OUTPUT_B)
elif out.upper() == "C":
self.motor = ev3.LargeMotor(ev3.OUTPUT_C)
elif out.upper() == "D":
self.motor = ev3.LargeMotor(ev3.OUTPUT_D)
def __init__(self):
# Add more sensors and motors here if you need them
#self.left_motor = ev3.LargeMotor(ev3.OUTPUT_C)
#self.right_motor = ev3.LargeMotor(ev3.OUTPUT_B)
self.tank = MoveTank(OUTPUT_C, OUTPUT_B)
self.left_motor = ev3.LargeMotor(ev3.OUTPUT_C)
self.right_motor = ev3.LargeMotor(ev3.OUTPUT_B)
self.hand_motor = ev3.MediumMotor(ev3.OUTPUT_A)
#self.drop_motor = ev3.MediumMotor(ev3.OUTPUT_D)
self.replay = replay # Are we recording or not?
self.handpos = self.hand_motor.position
self.handmin = 0
self.handmax = 0
threading.Thread.__init__(self)
def __init__(self):
self.left_motor = ev3.LargeMotor(ev3.OUTPUT_B)
self.right_motor = ev3.LargeMotor(ev3.OUTPUT_C)
self.steer_motor = ev3.MediumMotor(ev3.OUTPUT_A)
self.steer_motor.position = 0
self.gyro = ev3.GyroSensor(ev3.INPUT_4)
self.gyro.mode = ev3.GyroSensor.MODE_GYRO_RATE
self.offset = 0
for i in range(60):
self.offset += self.gyro.rate
time.sleep(0.015)
self.offset /= 100
threading.Thread.__init__(self)
self.rates = deque([0] * 4, maxlen=4)
def __init__(self):
self.left_motor = ev3.LargeMotor(ev3.OUTPUT_B)
self.right_motor = ev3.LargeMotor(ev3.OUTPUT_C)
self.tail_motor = ev3.MediumMotor(ev3.OUTPUT_A)
self.tail_motor.run_direct(duty_cycle_sp=-40)
self.tail_motor.wait_until("stalled")
self.tail_motor.stop()
self.tail_motor.position = 0
self.gyro = ev3.GyroSensor(ev3.INPUT_1)
self.gyro.mode = ev3.GyroSensor.MODE_GYRO_RATE
self.gyro.auto_mode = False
self.offset = 0
for i in range(60):
self.offset += self.gyro.rate
time.sleep(0.015)
self.offset /= 100
threading.Thread.__init__(self)
self.rates = deque([0] * 4, maxlen=4)
def __init__(self):
self.steer_motor = ev3.LargeMotor(ev3.OUTPUT_B)
self.drive_motor = ev3.MediumMotor(ev3.OUTPUT_A)
threading.Thread.__init__(self)
# Calibrate
touch_sensor = ev3.TouchSensor(ev3.INPUT_1)
while not touch_sensor.pressed:
self.steer_motor.run_forever(speed_sp=-100)
self.steer_motor.position = -30
self.steer_motor.stop()
def makeLargeMotor(port, regulated, direction, side=None):
try:
m = ev3dev.LargeMotor(port)
if direction == 'backward':
m.polarity = 'inversed'
else:
m.polarity = 'normal'
except (AttributeError, OSError):
logger.info('no large motor connected to port [%s]', port)
logger.exception("HW Config error")
m = None
return m
class Motors:
"""
This class connects the robots wheel motors to more usable variables and it has two static methods.
"""
right_mtr = ev3.LargeMotor(ev3.OUTPUT_D)
assert right_mtr.connected
left_mtr = ev3.LargeMotor(ev3.OUTPUT_C)
assert left_mtr.connected
grip_mtr = ev3.MediumMotor(ev3.OUTPUT_A)
assert grip_mtr.connected
@staticmethod
def motor_running(motor):
"""
Sets the state of the motor to "running" and returns that value.
Keyword arguments:
motor -- The motor to run the command on
"""
return motor.state == ["running"]
@staticmethod
def wait_motor(motor):
"""
Makes the motor wait for a certain amount of time.
Keyword arguments:
motor -- The motor to run the command on.
"""
ctr = 0
while ctr < 2:
if not Motors.motor_running(motor):
ctr += 1
else:
ctr = 0
def __init__(self):
self.front_motor = ev3.LargeMotor(ev3.OUTPUT_A)
self.right_motor = ev3.LargeMotor(ev3.OUTPUT_B)
self.back_motor = ev3.LargeMotor(ev3.OUTPUT_C)
self.left_motor = ev3.LargeMotor(ev3.OUTPUT_D)
threading.Thread.__init__(self)
def __init__(self):
# Add more sensors and motors here if you need them
self.left_motor = ev3.LargeMotor(ev3.OUTPUT_B)
self.right_motor = ev3.LargeMotor(ev3.OUTPUT_C)
self.middle_motor = ev3.MediumMotor(ev3.OUTPUT_A)
threading.Thread.__init__(self)
def __init__(self):
self.motor = ev3.LargeMotor(ev3.OUTPUT_B)
threading.Thread.__init__(self)
GO_TO_CENTER = 0
CENTER = np.array([1920 / 2, 1080 / 2])
MODE = CIRCLE # GO_TO_CENTER or CIRCLE
# Server communication
robot_broadcast_data = {'states': {}, 'balls': {}, 'settings': {}}
running = True
logging.basicConfig( # filename='position_server.log', # To a file. Or not.
filemode='w', # Start each run with a fresh log
format='%(asctime)s, %(levelname)s, %(message)s',
datefmt='%H:%M:%S',
level=logging.INFO,
) # Log info, and warning
# Robot setup
left_motor = ev3.LargeMotor(ev3.OUTPUT_B)
right_motor = ev3.LargeMotor(ev3.OUTPUT_C)
### Helpers ###
def vec2d_length(vector):
"""
Calculates the length of a 2D vector
:param vector: 1 x 2 numpy array
:return: length (float)
"""
return np.dot(vector, vector)**0.5
def vec2d_angle(vector):
"""
def __init__(self):
self.left_motor = ev3.LargeMotor(ev3.OUTPUT_B)
self.right_motor = ev3.LargeMotor(ev3.OUTPUT_C)
self.tail_motor = ev3.MediumMotor(ev3.OUTPUT_A)
self.tail_motor.position = 0
threading.Thread.__init__(self)
import ev3dev.auto as ev3
us = ev3.UltrasonicSensor('pistorm:BAS1')
ts = ev3.TouchSensor('pistorm:BBS1')
ls = ev3.LightSensor('pistorm:BAS2')
rs = ev3.LightSensor('pistorm:BBS2')
cm = ev3.LargeMotor('pistorm:BBM1')
lm = ev3.LargeMotor('pistorm:BAM2')
rm = ev3.LargeMotor('pistorm:BBM2')
def __init__(self):
self.right_motor = ev3.LargeMotor(ev3.OUTPUT_C)
self.left_motor = ev3.LargeMotor(ev3.OUTPUT_B)
threading.Thread.__init__(self)
def __init__(self, channel, freq=PwmFreq.H50, extended=False):
PwmBase.__init__(self, channel, freq, extended)
if self._channel == 9:
self.servo1_180 = ev3.LargeMotor(ev3.OUTPUT_C)
