def __init__(self,
left_motor_port: str = OUTPUT_B,
right_motor_port: str = OUTPUT_C,
medium_motor_port: str = OUTPUT_A,
touch_sensor_port: str = INPUT_1,
color_sensor_port: str = INPUT_3,
ir_sensor_port: str = INPUT_4,
ir_beacon_channel: int = 1):
super().__init__(left_motor_port=left_motor_port,
right_motor_port=right_motor_port,
ir_sensor_port=ir_sensor_port,
ir_beacon_channel=ir_beacon_channel)
self.medium_motor = MediumMotor(address=medium_motor_port)
self.touch_sensor = TouchSensor(address=touch_sensor_port)
self.color_sensor = ColorSensor(address=color_sensor_port)
self.ir_sensor = InfraredSensor(address=ir_sensor_port)
self.ir_beacon_channel = ir_beacon_channel
self.beacon = RemoteControl(sensor=self.ir_sensor,
channel=ir_beacon_channel)
self.dis = Screen()
self.noise = Sound()
def __init__(self,
left_motor_port: str = OUTPUT_B,
right_motor_port: str = OUTPUT_C,
polarity: str = Motor.POLARITY_NORMAL,
ir_sensor_port: str = INPUT_4,
ir_beacon_channel: int = 1):
self.left_motor = LargeMotor(address=left_motor_port)
self.right_motor = LargeMotor(address=right_motor_port)
self.left_motor.polarity = self.right_motor.polarity = polarity
self.ir_sensor = InfraredSensor(address=ir_sensor_port)
self.tank_drive_remote_control = \
RemoteControl(
sensor=self.ir_sensor,
channel=ir_beacon_channel)
def __init__(
self,
back_foot_motor_port: str = OUTPUT_C, front_foot_motor_port: str = OUTPUT_B,
gear_motor_port: str = OUTPUT_A,
touch_sensor_port: str = INPUT_1, color_sensor_port: str = INPUT_3,
ir_sensor_port: str = INPUT_4, ir_beacon_channel: int = 1):
self.front_foot_motor = LargeMotor(address=front_foot_motor_port)
self.back_foot_motor = LargeMotor(address=back_foot_motor_port)
self.gear_motor = MediumMotor(address=gear_motor_port)
self.touch_sensor = TouchSensor(address=touch_sensor_port)
self.color_sensor = ColorSensor(address=color_sensor_port)
self.ir_sensor = InfraredSensor(address=ir_sensor_port)
self.remote_control = RemoteControl(sensor=self.ir_sensor,
channel=ir_beacon_channel)
def __init__(self,
left_foot_track_motor_port: str = OUTPUT_B,
right_foot_track_motor_port: str = OUTPUT_C,
bazooka_blast_motor_port: str = OUTPUT_A,
touch_sensor_port: str = INPUT_1,
color_sensor_port: str = INPUT_3,
ir_sensor_port: str = INPUT_4,
driving_ir_beacon_channel: int = 1,
shooting_ir_beacon_channel: int = 2):
self.left_foot_track_motor = LargeMotor(
address=left_foot_track_motor_port)
self.right_foot_track_motor = LargeMotor(
address=right_foot_track_motor_port)
self.bazooka_blast_motor = MediumMotor(
address=bazooka_blast_motor_port)
self.ir_sensor = InfraredSensor(address=ir_sensor_port)
self.driving_remote_control = RemoteControl(
sensor=self.ir_sensor, channel=driving_ir_beacon_channel)
self.shooting_remote_control = RemoteControl(
sensor=self.ir_sensor, channel=shooting_ir_beacon_channel)
self.touch_sensor = TouchSensor(address=INPUT_1)
self.color_sensor = ColorSensor(address=INPUT_3)
self.leds = Leds()
self.screen = Screen()
assert self.left_foot_track_motor.connected
assert self.right_foot_track_motor.connected
assert self.bazooka_blast_motor.connected
assert self.ir_sensor.connected
assert self.touch_sensor.connected
assert self.color_sensor.connected
# reset the motors
for motor in (self.left_foot_track_motor, self.right_foot_track_motor,
self.bazooka_blast_motor):
motor.reset()
motor.position = 0
motor.stop_action = Motor.STOP_ACTION_BRAKE
self.draw_face()
def __init__(self,
left_motor_port: str = OUTPUT_B,
right_motor_port: str = OUTPUT_C,
grip_motor_port: str = OUTPUT_A,
touch_sensor_port: str = INPUT_1,
ir_sensor_port: str = INPUT_4,
ir_beacon_channel: int = 1):
self.left_motor = LargeMotor(address=left_motor_port)
self.right_motor = LargeMotor(address=right_motor_port)
self.grip_motor = MediumMotor(address=grip_motor_port)
self.touch_sensor = TouchSensor(address=touch_sensor_port)
self.ir_sensor = InfraredSensor(address=ir_sensor_port)
self.ir_beacon_channel = ir_beacon_channel
self.beacon = RemoteControl(sensor=self.ir_sensor,
channel=ir_beacon_channel)
self.speaker = Sound()
def __init__(
self,
left_foot_motor_port: str = OUTPUT_B, right_foot_motor_port: str = OUTPUT_C,
bazooka_blast_motor_port: str = OUTPUT_A,
touch_sensor_port: str = INPUT_1, color_sensor_port: str = INPUT_3,
ir_sensor_port: str = INPUT_4, ir_beacon_channel: int = 1):
super().__init__(
left_motor=left_foot_motor_port, right_motor=right_foot_motor_port,
polarity=Motor.POLARITY_NORMAL)
self.bazooka_blast_motor = MediumMotor(address=bazooka_blast_motor_port)
self.touch_sensor = TouchSensor(address=touch_sensor_port)
self.color_sensor = ColorSensor(address=color_sensor_port)
self.ir_sensor = InfraredSensor(address=ir_sensor_port)
self.leds = Leds()
self.screen = Screen()
self.speaker = Sound()
def __init__(self,
left_motor_port: str = OUTPUT_B,
right_motor_port: str = OUTPUT_C,
medium_motor_port: str = OUTPUT_A,
ir_sensor_port: str = INPUT_4,
ir_beacon_channel: int = 1):
super().__init__(left_motor_port=left_motor_port,
right_motor_port=right_motor_port,
ir_sensor_port=ir_sensor_port,
ir_beacon_channel=ir_beacon_channel)
self.medium_motor = MediumMotor(address=medium_motor_port)
self.ir_sensor = InfraredSensor(address=ir_sensor_port)
self.remote_control = RemoteControl(sensor=self.ir_sensor,
channel=ir_beacon_channel)
self.screen = Screen()
self.speaker = Sound()
def __init__(self,
turn_motor_port: str = OUTPUT_A,
move_motor_port: str = OUTPUT_B,
scare_motor_port: str = OUTPUT_D,
touch_sensor_port: str = INPUT_1,
color_sensor_port: str = INPUT_3,
ir_sensor_port: str = INPUT_4,
ir_beacon_channel: int = 1):
self.turn_motor = MediumMotor(address=turn_motor_port)
self.move_motor = LargeMotor(address=move_motor_port)
self.scare_motor = LargeMotor(address=scare_motor_port)
self.touch_sensor = TouchSensor(address=touch_sensor_port)
self.color_sensor = ColorSensor(address=color_sensor_port)
self.ir_sensor = InfraredSensor(address=ir_sensor_port)
self.beacon = RemoteControl(sensor=self.ir_sensor,
channel=ir_beacon_channel)
self.noise = Sound()
def __init__(
self,
left_foot_motor_port: str = OUTPUT_B, right_foot_motor_port: str = OUTPUT_C,
bazooka_blast_motor_port: str = OUTPUT_A,
touch_sensor_port: str = INPUT_1, color_sensor_port: str = INPUT_3,
ir_sensor_port: str = INPUT_4, ir_beacon_channel: int = 1):
self.left_foot_motor = LargeMotor(address=left_foot_motor_port)
self.right_foot_motor = LargeMotor(address=right_foot_motor_port)
self.bazooka_blast_motor = MediumMotor(address=bazooka_blast_motor_port)
self.touch_sensor = TouchSensor(address=touch_sensor_port)
self.color_sensor = ColorSensor(address=color_sensor_port)
self.ir_sensor = InfraredSensor(address=ir_sensor_port)
self.remote_control = RemoteControl(sensor=self.ir_sensor,
channel=ir_beacon_channel)
self.screen = Screen()
self.speaker = Sound()
def __init__(self,
left_motor_port: str = OUTPUT_B,
right_motor_port: str = OUTPUT_C,
grip_motor_port: str = OUTPUT_A,
touch_sensor_port: str = INPUT_1,
ir_sensor_port: str = INPUT_4,
ir_beacon_channel: int = 1):
super().__init__(left_motor=left_motor_port,
right_motor=right_motor_port,
polarity=Motor.POLARITY_NORMAL)
self.grip_motor = MediumMotor(address=grip_motor_port)
self.touch_sensor = TouchSensor(address=touch_sensor_port)
self.ir_sensor = InfraredSensor(address=ir_sensor_port)
self.ir_beacon_channel = ir_beacon_channel
self.beacon = RemoteControl(sensor=self.ir_sensor,
channel=ir_beacon_channel)
self.speaker = Sound()
def __init__(self,
sting_motor_port: str = OUTPUT_D,
go_motor_port: str = OUTPUT_B,
claw_motor_port: str = OUTPUT_A,
touch_sensor_port: str = INPUT_1,
color_sensor_port: str = INPUT_3,
ir_sensor_port: str = INPUT_4,
ir_beacon_channel: int = 1):
self.sting_motor = LargeMotor(address=sting_motor_port)
self.go_motor = LargeMotor(address=go_motor_port)
self.claw_motor = MediumMotor(address=claw_motor_port)
self.ir_sensor = InfraredSensor(address=ir_sensor_port)
self.ir_beacon_channel = ir_beacon_channel
self.beacon = RemoteControl(sensor=self.ir_sensor,
channel=self.ir_beacon_channel)
self.touch_sensor = TouchSensor(address=touch_sensor_port)
self.color_sensor = ColorSensor(address=color_sensor_port)
self.dis = Screen()
self.speaker = Sound()
def __init__(self,
left_motor_port: str = OUTPUT_B,
right_motor_port: str = OUTPUT_C,
jaw_motor_port: str = OUTPUT_A,
touch_sensor_port: str = INPUT_1,
ir_sensor_port: str = INPUT_4,
ir_beacon_channel: int = 1):
super().__init__(left_motor_port=left_motor_port,
right_motor_port=right_motor_port,
ir_sensor_port=ir_sensor_port,
ir_beacon_channel=ir_beacon_channel)
self.jaw_motor = MediumMotor(address=jaw_motor_port)
self.touch_sensor = TouchSensor(address=touch_sensor_port)
self.ir_sensor = InfraredSensor(address=ir_sensor_port)
self.beacon = RemoteControl(sensor=self.ir_sensor,
channel=ir_beacon_channel)
self.button = Button()
self.speaker = Sound()
#!/usr/bin/env python3
from ev3dev.ev3 import (
Motor, LargeMotor, MediumMotor, OUTPUT_A, OUTPUT_B, OUTPUT_C,
TouchSensor, InfraredSensor, RemoteControl, INPUT_1, INPUT_4,
Sound
)
MEDIUM_MOTOR = MediumMotor(address=OUTPUT_A)
LEFT_MOTOR = LargeMotor(address=OUTPUT_B)
RIGHT_MOTOR = LargeMotor(address=OUTPUT_C)
TOUCH_SENSOR = TouchSensor(address=INPUT_1)
IR_SENSOR = InfraredSensor(address=INPUT_4)
BEACON_CONTROL = RemoteControl(sensor=IR_SENSOR,
channel=1)
SPEAKER = Sound()
def drive_once_by_ir_beacon(speed: float = 1000):
if BEACON_CONTROL.red_up and BEACON_CONTROL.blue_up:
# go forward
LEFT_MOTOR.run_forever(speed_sp=speed)
RIGHT_MOTOR.run_forever(speed_sp=speed)
elif BEACON_CONTROL.red_down and BEACON_CONTROL.blue_down:
# go backward
LEFT_MOTOR.run_forever(speed_sp=-speed)
#!/usr/bin/env python3
from ev3dev.ev3 import LargeMotor, ColorSensor, GyroSensor, InfraredSensor, Button
from Classes.Motores import *
from Classes.PID import *
from time import time, sleep
from os import system
import paho.mqtt.client as mqtt
# Motores
M_PORTA = LargeMotor("outC")
M_ESQUERDO = LargeMotor("outA")
M_DIREITO = LargeMotor("outB")
# Sensores infravermelhos
PROX1 = InfraredSensor("in4")
PROX2 = InfraredSensor("in3")
PROX1.mode = "IR-PROX"
PROX2.mode = "IR-PROX"
# Giroscopio
GYRO = GyroSensor("in1")
GYRO.mode = "GYRO-ANG"
# Sensor de cor
COLOR = ColorSensor("in2")
COLOR.mode = "COL-COLOR"
# Variaveis usadas durante o programa
# Constantes
TEMPO_CURVA_90 = 1700
#!/usr/bin/env python3
# BUG: https://github.com/ev3dev/ev3dev/issues/1422
from ev3dev.ev3 import TouchSensor, INPUT_1, InfraredSensor, INPUT_4, RemoteControl, MediumMotor, OUTPUT_A
from multiprocessing import Process
TOUCH_SENSOR = TouchSensor(address=INPUT_1)
REMOTE_CONTROL = RemoteControl(sensor=InfraredSensor(address=INPUT_4),
channel=1)
MOTOR = MediumMotor(address=OUTPUT_A)
def touch_to_turn_motor_clockwise():
while True:
if TOUCH_SENSOR.is_pressed:
MOTOR.run_timed(
speed_sp=1000, # deg/s
time_sp=1000, # ms
stop_action=MediumMotor.STOP_ACTION_HOLD)
def press_any_ir_remote_button_to_turn_motor_counterclockwise():
while True:
if REMOTE_CONTROL.buttons_pressed:
MOTOR.run_timed(
speed_sp=-1000, # deg/s
# TODO ROTATIONS_PER_DEGREE needs a real number, .5 is just a wild guess
ROTATIONS_PER_DEGREE = .5 # how many rotations to turn specified degrees
"""
0
|
-90/270 ---|--- 90/-270
|
180/-180
"""
DIRECTION = 0
LEFT_MOTOR = LargeMotor(OUTPUT_B)
RIGHT_MOTOR = LargeMotor(OUTPUT_C)
MEDIUM_MOTOR = MediumMotor(OUTPUT_A)
TOUCH_SENSOR = TouchSensor()
IR_SENSOR = InfraredSensor()
SCREEN = Screen()
LEDS = Leds
SILENT = False
SP_FOR_90_DEG_TURN = 295
def set_silent(silent=False):
global SILENT
SILENT = silent
def set_90_sp(sps=295):
global SP_FOR_90_DEG_TURN
SP_FOR_90_DEG_TURN = sps
#!/usr/bin/env python3
from ev3dev.ev3 import (
Motor, MediumMotor, LargeMotor, OUTPUT_A, OUTPUT_B, OUTPUT_D,
InfraredSensor, INPUT_4,
Sound
)
MEDIUM_MOTOR = MediumMotor(address=OUTPUT_A)
GO_MOTOR = LargeMotor(address=OUTPUT_B)
STING_MOTOR = LargeMotor(address=OUTPUT_D)
INFRARED_SENSOR = InfraredSensor(address=INPUT_4)
SPEAKER = Sound()
MEDIUM_MOTOR.run_timed(
speed_sp=500,
time_sp=1000,
stop_action=Motor.STOP_ACTION_HOLD)
MEDIUM_MOTOR.wait_while(Motor.STATE_RUNNING)
MEDIUM_MOTOR.run_timed(
speed_sp=-500,
time_sp=0.3 * 1000,
stop_action=Motor.STOP_ACTION_HOLD)
MEDIUM_MOTOR.wait_while(Motor.STATE_RUNNING)
from ev3dev.ev3 import InfraredSensor, TouchSensor
import move
from time import time, sleep
import numpy as np
threshold = 10
ir = InfraredSensor('in4')
ts = TouchSensor('in1')
t0 = time()
def main():
# while time()-t0 < 30 and not ts.value():
while 1:
if ir.value() > threshold:
# move.straight(.5, -500, 'brake')
move.turn_by_degree('r', 90, stop_action='brake')
sleep(2)
else:
move.straight(.1, stop_action='coast')
if ts.value() == 1:
break
exit()
main()