def setup_hardware(self):
# setup I/O connecting to EV3
self.motorR = ev3.LargeMotor('outA')
self.motorL = ev3.LargeMotor('outD')
self.csR = ev3.ColorSensor('in2')
self.csM = ev3.ColorSensor('in3')
self.csL = ev3.ColorSensor('in4')
# mode set up (right and left senor only used for light intensity)
self.csR.reflected_light_intensity
self.csL.reflected_light_intensity
self.port = ev3.LegoPort('outB')
assert self.port.connected
self.port.mode = 'dc-motor'
time.sleep(5)
self.grabberArms = ev3.DcMotor("outB")
print("DcMotor connected")
self.grabberLift = ev3.MediumMotor('outC')
self.grabberLift.stop_action = 'brake'
self.grabber_initialise()
self.gy = ev3.GyroSensor('in1')
self.reset_gyro()
self.up_pos = self.grabberLift.position
def setup_hardware(self):
# setup I/O connecting to EV3
self.motorR = ev3.LargeMotor('outA')
self.motorL = ev3.LargeMotor('outD')
self.csR = ev3.ColorSensor('in2')
self.csM = ev3.ColorSensor('in3')
self.csL = ev3.ColorSensor('in4')
#TODO: implement using the DC motor if need
#self.grabberArms = ev3.MediumMotor('outC')
self.port = ev3.LegoPort('outB')
assert self.port.connected
self.port.mode = 'dc-motor'
time.sleep(5)
self.grabberArms = ev3.DcMotor("outB")
print("DcMotor connected")
self.grabberLift = ev3.MediumMotor('outC')
self.gy = ev3.GyroSensor('in1')
self.reset_gyro()
self.base_pos = self.grabberLift.position
print("Cup dispenser server starting...")
import socketserver
import ev3dev.ev3 as ev3
import time
# DC motor
p = ev3.LegoPort('outB')
assert p.connected
p.mode = 'dc-motor'
time.sleep(1)
# motors and sensors
lift_motor = ev3.LargeMotor('outD')
grab_motor = ev3.DcMotor('outB')
lift_sensor = ev3.TouchSensor('in1')
grab_sensor = ev3.TouchSensor('in2')
lift_motor.stop_action = 'brake'
class cup_dispenser:
'''def __init__(self):
self.initialise()'''
# go to the initialisation spot
def initialise(self):
self.lift_down()
self.grab_reset()
self.grab_open()
self.lift_up()
def __init__(self):
# setup the sensors
self.touch = ev3.TouchSensor()
self.smallMotor = ev3.DcMotor()
#vars:
liftspeed = 300
lifttimemax = 2000 #ms
grabtime = 500 #ms
import ev3dev.ev3 as ev3
import time
p = ev3.LegoPort('outB')
assert p.connected
p.mode = 'dc-motor'
time.sleep(1)
lift = ev3.LargeMotor("outD")
grab = ev3.DcMotor("outB")
touch = ev3.TouchSensor("in1")
lift.stop_action = "brake" #Stop the lift as fast as possible
print("started")
while True:
cmd = input()
if (cmd == "up"):
#lift until overloaded
lift.run_timed(speed_sp=-liftspeed, time_sp=lifttimemax)
time.sleep(0.1) #Motor is overloaded while ramping
lift.wait_until("overloaded", timeout=lifttimemax)
lift.stop()