def __init__(self):
self.grabber = Motor(OUTPUT_C)
self.arm = Motor(OUTPUT_B)
self.left_colour_sensor = ColorSensor(address='3')
self.right_colour_sensor = ColorSensor(address='4')
self.inner_colour_sensor = ColorSensor(address='1')
self.outer_colour_sensor = ColorSensor(address='2')
self.left_wheel = Motor(OUTPUT_A)
self.right_wheel = Motor(OUTPUT_D)
def __init__(self):
self.grabber = Motor(OUTPUT_C)
self.arm = Motor(OUTPUT_B)
self.left_colour_sensor = ColorSensor(address='3')
self.right_colour_sensor = ColorSensor(address='4')
self.inner_colour_sensor = ColorSensor(address='1')
self.outer_colour_sensor = ColorSensor(address='2')
self.left_wheel = Motor(OUTPUT_A)
self.right_wheel = Motor(OUTPUT_D)
self.stop_action = "coast"
self.current_node = A1
def main():
print("Start")
color = ColorSensor()
color.mode = color.MODE_REF_RAW #raw値
color_reflection_fd = open(color._path + "/value0", "rb")
# touchSensorの読み込み
touch = TouchSensor()
touch_sensor_devfd = open(touch._path + "/value0", "rb")
touch_sensor_pressed = False
interval = 0.2
while not touch_sensor_pressed:
touch_sensor_pressed = read_device(touch_sensor_devfd)
color_val = read_device(color_reflection_fd)
print("color:{}", color_val)
sleep(interval)
def __init__(self, setting):
# target_v 目標値
# delta_t 周回時間
self.refrection_target = 0.0
self.delta_t = 0.025 # 10msec
# TODO: P係数(要調整)
# 8.5V - 0.31
# 8.2V - 0.30
# 7.5V - 0.26
self.k_p = 0.26 #0.26
# TODO: I係数(要調整)
self.k_i = 0.1
# TODO: D係数(要調整)
self.k_d = 0.05
# 前回偏差
self.e_b = 0.0
# 前回までの偏差値
self.p_b = 0.0
# 前回までの積分値
self.i_b = 0.0
# 前回までの微分値
self.d_b = 0.0
# 前回値
#self.previous_refrection_raw = [0 for _ in range(5) ]
self.previous_refrection_raw = 0
self.color = ColorSensor()
self.color.mode = self.color.MODE_REF_RAW #raw値
self.color_reflection_fd = open(self.color._path + "/value0", "rb")
white_target = setting['lineWhiteLuminance']
black_target = setting['lineBlackLuminance']
target_white_rate = setting['lineLuminanceRate']
self.refrection_target = (white_target * target_white_rate) + (
black_target * (1.0 - target_white_rate))
self.previous_refrection_raw = self.refrection_target
return test_bit(globals()['KEY_ENTER'], buf)
motor_a = LargeMotor('outA')
motor_b = LargeMotor('outB')
motor_c = LargeMotor('outC')
motor_d = LargeMotor('outD')
motor_c.polarity = 'inversed'
motor_d.polarity = 'inversed'
motor_a.stop_action = 'brake'
motor_b.stop_action = 'brake'
motor_c.stop_action = 'brake'
motor_d.stop_action = 'brake'
color_sensor = ColorSensor()
color_sensor.mode = 'COL-REFLECT'
sonar_sensor = UltrasonicSensor()
sonar_sensor.mode = 'US-DIST-CM'
lights = Led()
Led.delay_on = 500
Led.delay_off = 1500
lights.trigger = 'none'
time_since_escline = 0
is_esc_line = False
is_searching = False
from ev3dev.auto import OUTPUT_A, OUTPUT_B, OUTPUT_D, LargeMotor, MediumMotor, InfraredSensor from ev3dev.auto import INPUT_1, INPUT_2, ColorSensor, UltrasonicSensor import time import ev3dev.auto as auto import ev3dev.ev3 as ev3 uss = UltrasonicSensor(INPUT_1) colorSensor = ColorSensor(INPUT_2) clawMotor = MediumMotor(OUTPUT_B) leftTire = LargeMotor(OUTPUT_A) # and LargeMotor(OUTPUT_D) rightTire = LargeMotor(OUTPUT_D) clawMotor.run_timed(speed_sp=720, time_sp=500) time.sleep(1)
#!/usr/bin/python
from ev3dev.auto import ColorSensor, Screen, Sound, INPUT_1
from time import sleep, time
color = ColorSensor(INPUT_1)
color.mode = color.MODE_COL_REFLECT
lcd = Screen()
Sound().beep()
fout = open("data.txt", "w")
start_time = time()
for i in range(0, 100):
t = time() - start_time
light = color.value()
lcd.clear()
lcd.draw.text((0, 10), "light is " + str(light))
lcd.update()
s = "%f\t%d\n" % (t, light)
fout.write(s)
sleep(0.05)
fout.close()
return test_bit(globals()['KEY_ENTER'], buf)
motor_a = LargeMotor('outA')
motor_b = LargeMotor('outB')
motor_c = LargeMotor('outC')
motor_d = LargeMotor('outD')
motor_c.polarity = 'inversed'
motor_d.polarity = 'inversed'
motor_a.stop_action = 'brake'
motor_b.stop_action = 'brake'
motor_c.stop_action = 'brake'
motor_d.stop_action = 'brake'
color_sensor = ColorSensor()
color_sensor.mode = 'COL-REFLECT'
sonar_sensor = UltrasonicSensor()
sonar_sensor.mode = 'US-DIST-CM'
lights = Led()
Led.delay_on = 500
Led.delay_off = 1500
lights.trigger = 'none'
time_since_escline = 0
is_esc_line = False
is_searching = False