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()
class Rov3r(RemoteControlledTank):
def __init__(self,
left_motor_port: str = OUTPUT_B,
right_motor_port: str = OUTPUT_C,
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):
super().__init__(left_motor=left_motor_port,
right_motor=right_motor_port,
polarity=Motor.POLARITY_NORMAL)
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.beacon = RemoteControl(sensor=self.ir_sensor,
channel=ir_beacon_channel)
self.speaker = Sound()
self.dis = Screen()
def spin_gears(self, speed: float = 1000):
while True:
if self.beacon.beacon:
self.gear_motor.run_forever(speed_sp=speed)
else:
self.gear_motor.stop(stop_action=Motor.STOP_ACTION_HOLD)
def change_screen_when_touched(self):
while True:
if self.touch_sensor.is_pressed:
self.dis.image.paste(
im=Image.open('/home/robot/image/Angry.bmp'))
else:
self.dis.image.paste(
im=Image.open('/home/robot/image/Fire.bmp'))
self.dis.update()
def make_noise_when_seeing_black(self):
while True:
if self.color_sensor.color == ColorSensor.COLOR_BLACK:
self.speaker.play(wav_file='/home/robot/sound/Ouch.wav').wait()
def main(self):
self.speaker.play(wav_file='/home/robot/sound/Yes.wav').wait()
Thread(target=self.make_noise_when_seeing_black, daemon=True).start()
Thread(target=self.spin_gears, daemon=True).start()
Thread(target=self.change_screen_when_touched, daemon=True).start()
super().main() # RemoteControlledTank.main()
class CuriosityRov3r(IRBeaconRemoteControlledTank):
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 spin_fan(self, speed: float = 1000):
while True:
if self.color_sensor.reflected_light_intensity > 20:
self.medium_motor.run_forever(speed_sp=speed)
else:
self.medium_motor.stop(stop_action=Motor.STOP_ACTION_HOLD)
def say_when_touched(self):
while True:
if self.touch_sensor.is_pressed:
self.dis.image.paste(im=Image.open('/home/robot/image/Angry.bmp'))
self.dis.update()
self.noise.play(wav_file='/home/robot/sound/No.wav').wait()
self.medium_motor.run_timed(
speed_sp=-500,
time_sp=3000,
stop_action=Motor.STOP_ACTION_BRAKE)
self.medium_motor.wait_while(Motor.STATE_RUNNING)
def main(self, speed: float = 1000):
Thread(target=self.say_when_touched,
daemon=True).start()
Thread(target=self.spin_fan,
daemon=True).start()
self.keep_driving_by_ir_beacon(speed=speed)
class Ev3rstorm(IRBeaconRemoteControlledTank):
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_port=left_foot_motor_port,
right_motor_port=right_foot_motor_port,
ir_sensor_port=ir_sensor_port,
ir_beacon_channel=ir_beacon_channel)
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.screen = Screen()
self.speaker = Sound()
def blast_bazooka_whenever_touched(self):
while True:
if self.touch_sensor.is_pressed:
if self.color_sensor.ambient_light_intensity < 5: # 15 not dark enough
self.speaker.play(
wav_file='/home/robot/sound/Up.wav').wait()
self.bazooka_blast_motor.run_to_rel_pos(
speed_sp=1000, # degrees per second
position_sp=-3 * 360, # degrees
stop_action=Motor.STOP_ACTION_HOLD)
else:
self.speaker.play(
wav_file='/home/robot/sound/Down.wav').wait()
self.bazooka_blast_motor.run_to_rel_pos(
speed_sp=1000, # degrees per second
position_sp=3 * 360, # degrees
stop_action=Motor.STOP_ACTION_HOLD)
while self.touch_sensor.is_pressed:
pass
def main(
self,
driving_speed: float = 1000 # degrees per second
):
self.screen.image.paste(im=Image.open('/home/robot/image/Target.bmp'))
self.screen.update()
Thread(target=self.blast_bazooka_whenever_touched, daemon=True).start()
self.keep_driving_by_ir_beacon(speed=driving_speed)
class Ev3rstorm(RemoteControlledTank):
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):
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.screen = Screen()
self.speaker = Sound()
def blast_bazooka_whenever_touched(self):
while True:
if self.touch_sensor.is_pressed:
if self.color_sensor.ambient_light_intensity < 5: # 15 not dark enough
self.speaker.play(wav_file='/home/robot/sound/Up.wav').wait()
self.bazooka_blast_motor.run_to_rel_pos(
speed_sp=1000, # degrees per second
position_sp=-3 * 360, # degrees
stop_action=Motor.STOP_ACTION_HOLD)
else:
self.speaker.play(wav_file='/home/robot/sound/Down.wav').wait()
self.bazooka_blast_motor.run_to_rel_pos(
speed_sp=1000, # degrees per second
position_sp=3 * 360, # degrees
stop_action=Motor.STOP_ACTION_HOLD)
while self.touch_sensor.is_pressed:
pass
def main(self):
self.screen.image.paste(im=Image.open('/home/robot/image/Target.bmp'))
self.screen.update()
Process(target=self.blast_bazooka_whenever_touched,
daemon=True).start()
super().main() # RemoteControlledTank.main()
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):
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.screen = Screen()
self.speaker = Sound()
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_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_port=left_foot_motor_port, right_motor_port=right_foot_motor_port,
ir_sensor_port=ir_sensor_port, ir_beacon_channel=ir_beacon_channel)
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.leds = Leds()
self.screen = Screen()
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):
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,
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):
super().__init__(
left_motor=left_motor_port, right_motor=right_motor_port,
polarity=Motor.POLARITY_NORMAL)
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.beacon = RemoteControl(sensor=self.ir_sensor,
channel=ir_beacon_channel)
self.speaker = Sound()
self.dis = Screen()
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,
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()
class Ev3rstorm:
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 draw_face(self):
w, h = self.screen.shape
y = h // 2
eye_xrad = 20
eye_yrad = 30
pup_xrad = 10
pup_yrad = 10
def draw_eye(x):
self.screen.draw.ellipse(
(x - eye_xrad, y - eye_yrad, x + eye_xrad, y + eye_yrad))
self.screen.draw.ellipse(
(x - pup_xrad, y - pup_yrad, x + pup_xrad, y + pup_yrad),
fill='black')
draw_eye(w // 3)
draw_eye(2 * w // 3)
self.screen.update()
def shoot(self, direction='up'):
"""
Shot a ball in the specified direction (valid choices are 'up' and 'down')
"""
self.bazooka_blast_motor.run_to_rel_pos(
speed_sp=900, # degrees per second
position_sp=-3 * 360 if direction == 'up' else 3 * 360, # degrees
stop_action=Motor.STOP_ACTION_BRAKE)
self.bazooka_blast_motor.wait_while(Motor.STATE_RUNNING)
def rc_loop(
self,
driving_speed: float = 1000 # degrees per second
):
"""
Enter the remote control loop.
RC buttons on channel 1 control the robot movement, channel 2 is for shooting things.
The loop ends when the touch sensor is pressed.
"""
def roll(motor: Motor, led_group: str, speed: float):
"""
Generate remote control event handler.
It rolls given motor into given direction (1 for forward, -1 for backward).
When motor rolls forward, the given led group flashes green, when backward -- red.
When motor stops, the leds are turned off.
The on_press function has signature required by RemoteControl class.
It takes boolean state parameter; True when button is pressed, False otherwise.
"""
def on_press(state: int):
if state:
# roll when button is pressed
motor.run_forever(speed_sp=speed)
self.leds.set_color(
group=led_group,
color=Leds.GREEN if speed > 0 else Leds.RED,
pct=1)
else:
# stop otherwise
motor.stop(stop_action=Motor.STOP_ACTION_COAST)
self.leds.set_color(group=led_group,
color=Leds.BLACK,
pct=1)
return on_press
self.driving_remote_control.on_red_up = \
roll(motor=self.right_foot_track_motor,
led_group=Leds.RIGHT,
speed=driving_speed)
self.driving_remote_control.on_red_down = \
roll(motor=self.right_foot_track_motor,
led_group=Leds.RIGHT,
speed=-driving_speed)
self.driving_remote_control.on_blue_up = \
roll(motor=self.left_foot_track_motor,
led_group=Leds.LEFT,
speed=driving_speed)
self.driving_remote_control.on_blue_down = \
roll(motor=self.left_foot_track_motor,
led_group=Leds.LEFT,
speed=-driving_speed)
def shoot(direction: str):
def on_press(state: int):
if state: self.shoot(direction)
return on_press
self.shooting_remote_control.on_red_up = shoot('up')
self.shooting_remote_control.on_blue_up = shoot('up')
self.shooting_remote_control.on_red_down = shoot('down')
self.shooting_remote_control.on_blue_down = shoot('down')
# now that the event handlers are assigned,
# let's enter the processing loop:
while not self.touch_sensor.is_pressed:
self.driving_remote_control.process()
self.shooting_remote_control.process()
class Sweep3r(IRBeaconRemoteControlledTank):
def __init__(self,
right_motor_port: str = OUTPUT_C,
left_motor_port: str = OUTPUT_B,
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.screen = Screen()
self.speaker = Sound()
self.ir_sensor = InfraredSensor(address=ir_sensor_port)
self.remote_control = RemoteControl(sensor=self.ir_sensor,
channel=ir_beacon_channel)
def drill(self):
while True:
if self.remote_control.beacon:
self.medium_motor.run_timed(
speed_sp=1000, # deg/s
time_sp=0.3 * 1000, # ms
stop_action=Motor.STOP_ACTION_HOLD)
self.medium_motor.wait_while(Motor.STATE_RUNNING)
def move_when_touched(self):
while True:
if self.touch_sensor.is_pressed:
self.right_motor.run_timed(time_sp=1000,
speed_sp=1000,
stop_action=Motor.STOP_ACTION_BRAKE)
self.right_motor.wait_while(Motor.STATE_RUNNING)
def move_when_see_smothing(self):
while True:
if self.color_sensor.reflected_light_intensity > 30:
self.left_motor.run_timed(time_sp=1000,
speed_sp=1000,
stop_action=Motor.STOP_ACTION_BRAKE)
self.left_motor.wait_while(Motor.STATE_RUNNING)
def main(
self,
speed: float = 1000 # degrees per second
):
self.screen.image.paste(
im=Image.open('/home/robot/image/Pinch middle.bmp'))
self.screen.update()
Process(target=self.move_when_touched, daemon=True).start()
Process(target=self.move_when_see_smothing, daemon=True).start()
Process(target=self.drill, daemon=True).start()
self.keep_driving_by_ir_beacon(speed=speed)
#!/usr/bin/env python3
from ev3dev.ev3 import (Motor, LargeMotor, MediumMotor, OUTPUT_A, OUTPUT_B,
OUTPUT_C, Screen, Sound)
from PIL import Image
MEDIUM_MOTOR = MediumMotor(address=OUTPUT_A)
LEFT_MOTOR = LargeMotor(address=OUTPUT_B)
RIGHT_MOTOR = LargeMotor(address=OUTPUT_C)
SCREEN = Screen()
SPEAKER = Sound()
SCREEN.image.paste(im=Image.open('/home/robot/image/Pinch left.bmp'))
SCREEN.update()
LEFT_MOTOR.run_to_rel_pos(
position_sp=2 * 360, # degrees
speed_sp=750, # degrees per second
stop_action=Motor.STOP_ACTION_BRAKE)
RIGHT_MOTOR.run_to_rel_pos(
position_sp=2 * 360, # degrees
speed_sp=750, # degrees per second
stop_action=Motor.STOP_ACTION_BRAKE)
LEFT_MOTOR.wait_while(Motor.STATE_RUNNING)
RIGHT_MOTOR.wait_while(Motor.STATE_RUNNING)
MEDIUM_MOTOR.run_to_rel_pos(
position_sp=3 * 360, # degrees
speed_sp=750, # degrees per second
class Ev3rstorm:
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 drive_once_by_ir_beacon(
self,
speed: float = 1000 # degrees per second
):
# forward
if self.remote_control.red_up and self.remote_control.blue_up:
self.left_foot_motor.run_forever(speed_sp=speed)
self.right_foot_motor.run_forever(speed_sp=speed)
# backward
elif self.remote_control.red_down and self.remote_control.blue_down:
self.left_foot_motor.run_forever(speed_sp=-speed)
self.right_foot_motor.run_forever(speed_sp=-speed)
# turn left on the spot
elif self.remote_control.red_up and self.remote_control.blue_down:
self.left_foot_motor.run_forever(speed_sp=-speed)
self.right_foot_motor.run_forever(speed_sp=speed)
# turn right on the spot
elif self.remote_control.red_down and self.remote_control.blue_up:
self.left_foot_motor.run_forever(speed_sp=speed)
self.right_foot_motor.run_forever(speed_sp=-speed)
# turn left forward
elif self.remote_control.red_up:
self.right_foot_motor.run_forever(speed_sp=speed)
# turn right forward
elif self.remote_control.blue_up:
self.left_foot_motor.run_forever(speed_sp=speed)
# turn left backward
elif self.remote_control.red_down:
self.right_foot_motor.run_forever(speed_sp=-speed)
# turn right backward
elif self.remote_control.blue_down:
self.left_foot_motor.run_forever(speed_sp=-speed)
# otherwise stop
else:
self.left_foot_motor.stop(stop_action=Motor.STOP_ACTION_COAST)
self.right_foot_motor.stop(stop_action=Motor.STOP_ACTION_COAST)
def blast_bazooka_if_touched(self):
if self.touch_sensor.is_pressed:
if self.color_sensor.ambient_light_intensity < 5: # 15 not dark enough
self.speaker.play(wav_file='/home/robot/sound/Up.wav').wait()
self.bazooka_blast_motor.run_to_rel_pos(
speed_sp=1000, # degrees per second
position_sp=-3 * 360, # degrees
stop_action=Motor.STOP_ACTION_HOLD)
else:
self.speaker.play(wav_file='/home/robot/sound/Down.wav').wait()
self.bazooka_blast_motor.run_to_rel_pos(
speed_sp=1000, # degrees per second
position_sp=3 * 360, # degrees
stop_action=Motor.STOP_ACTION_HOLD)
while self.touch_sensor.is_pressed:
pass
def main(
self,
driving_speed: float = 1000 # degrees per second
):
self.screen.image.paste(im=Image.open('/home/robot/image/Target.bmp'))
self.screen.update()
while True:
self.drive_once_by_ir_beacon(speed=driving_speed)
self.blast_bazooka_if_touched()
class Ev3rstorm(RemoteControlledTank):
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 keep_detecting_objects_by_ir_sensor(self):
while True:
if self.ir_sensor.proximity < 25:
self.leds.set_color(
group=Leds.LEFT,
color=Leds.RED,
pct=1)
self.leds.set_color(
group=Leds.RIGHT,
color=Leds.RED,
pct=1)
self.speaker.play(wav_file='/home/robot/sound/Object.wav').wait()
self.speaker.play(wav_file='/home/robot/sound/Detected.wav').wait()
self.speaker.play(wav_file='/home/robot/sound/Error alarm.wav').wait()
else:
self.leds.all_off()
def blast_bazooka_whenever_touched(self):
while True:
if self.touch_sensor.is_pressed:
if self.color_sensor.ambient_light_intensity < 5: # 15 not dark enough
self.speaker.play(wav_file='/home/robot/sound/Up.wav').wait()
self.bazooka_blast_motor.run_to_rel_pos(
speed_sp=1000, # degrees per second
position_sp=-3 * 360, # degrees
stop_action=Motor.STOP_ACTION_HOLD)
else:
self.speaker.play(wav_file='/home/robot/sound/Down.wav').wait()
self.bazooka_blast_motor.run_to_rel_pos(
speed_sp=1000, # degrees per second
position_sp=3 * 360, # degrees
stop_action=Motor.STOP_ACTION_HOLD)
while self.touch_sensor.is_pressed:
pass
def main(self):
self.screen.image.paste(im=Image.open('/home/robot/image/Target.bmp'))
self.screen.update()
# DON'T use IR Sensor in 2 different modes in the same program / loop
# - https://github.com/pybricks/support/issues/62
# - https://github.com/ev3dev/ev3dev/issues/1401
# Thread(target=self.keep_detecting_objects_by_ir_sensor,
# daemon=True).start()
Thread(target=self.blast_bazooka_whenever_touched,
daemon=True).start()
super().main() # RemoteControlledTank.main()
#!/usr/bin/env python
from ev3dev.ev3 import LargeMotor, \
OUTPUT_A, Sound, Screen
from time import time, sleep
N = 3000
file_name = "data_gyro.txt"
pwr = 100
motor = LargeMotor(OUTPUT_A)
lcd = Screen()
Sound().beep()
fout = open(file_name, "w")
sleep(0.05)
rotation = motor.position
motor.run_direct(duty_cycle_sp=pwr)
start_time = time()
for i in range(0, N):
lcd.clear()
t = time() - start_time
if rotation < 354: pwr = 100
if rotation >= 354 and rotation <= 366: pwr = 0
if rotation > 366: pwr = -100
motor.duty_cycle_sp = pwr
rotation = motor.position
line = "%f\t%d\n" % (t, rotation)
fout.write(line)
lcd.draw.text((0, 10), str(rotation))
lcd.update()
fout.close()
class Ev3rstorm:
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.leds = Leds()
self.screen = Screen()
self.speaker = Sound()
def drive_once_by_ir_beacon(
self,
speed: float = 1000 # degrees per second
):
# forward
if self.remote_control.red_up and self.remote_control.blue_up:
self.left_foot_motor.run_forever(speed_sp=speed)
self.right_foot_motor.run_forever(speed_sp=speed)
# backward
elif self.remote_control.red_down and self.remote_control.blue_down:
self.left_foot_motor.run_forever(speed_sp=-speed)
self.right_foot_motor.run_forever(speed_sp=-speed)
# turn left on the spot
elif self.remote_control.red_up and self.remote_control.blue_down:
self.left_foot_motor.run_forever(speed_sp=-speed)
self.right_foot_motor.run_forever(speed_sp=speed)
# turn right on the spot
elif self.remote_control.red_down and self.remote_control.blue_up:
self.left_foot_motor.run_forever(speed_sp=speed)
self.right_foot_motor.run_forever(speed_sp=-speed)
# turn left forward
elif self.remote_control.red_up:
self.right_foot_motor.run_forever(speed_sp=speed)
# turn right forward
elif self.remote_control.blue_up:
self.left_foot_motor.run_forever(speed_sp=speed)
# turn left backward
elif self.remote_control.red_down:
self.right_foot_motor.run_forever(speed_sp=-speed)
# turn right backward
elif self.remote_control.blue_down:
self.left_foot_motor.run_forever(speed_sp=-speed)
# otherwise stop
else:
self.left_foot_motor.stop(stop_action=Motor.STOP_ACTION_COAST)
self.right_foot_motor.stop(stop_action=Motor.STOP_ACTION_COAST)
def dance_if_ir_beacon_pressed(self):
while self.remote_control.beacon:
self.left_foot_motor.run_timed(speed_sp=randint(-1000, 1000),
time_sp=1000,
stop_action=Motor.STOP_ACTION_COAST)
self.right_foot_motor.run_timed(
speed_sp=randint(-1000, 1000),
time_sp=1000,
stop_action=Motor.STOP_ACTION_COAST)
self.left_foot_motor.wait_while(Motor.STATE_RUNNING)
self.right_foot_motor.wait_while(Motor.STATE_RUNNING)
def detect_object_by_ir_sensor(self):
if self.ir_sensor.proximity < 25:
self.leds.set_color(group=Leds.LEFT, color=Leds.RED, pct=1)
self.leds.set_color(group=Leds.RIGHT, color=Leds.RED, pct=1)
self.speaker.play(wav_file='/home/robot/sound/Object.wav').wait()
self.speaker.play(wav_file='/home/robot/sound/Detected.wav').wait()
self.speaker.play(
wav_file='/home/robot/sound/Error alarm.wav').wait()
else:
self.leds.all_off()
def blast_bazooka_if_touched(self):
if self.touch_sensor.is_pressed:
if self.color_sensor.ambient_light_intensity < 5: # 15 not dark enough
self.speaker.play(wav_file='/home/robot/sound/Up.wav').wait()
self.bazooka_blast_motor.run_to_rel_pos(
speed_sp=1000, # degrees per second
position_sp=-3 * 360, # degrees
stop_action=Motor.STOP_ACTION_HOLD)
else:
self.speaker.play(wav_file='/home/robot/sound/Down.wav').wait()
self.bazooka_blast_motor.run_to_rel_pos(
speed_sp=1000, # degrees per second
position_sp=3 * 360, # degrees
stop_action=Motor.STOP_ACTION_HOLD)
while self.touch_sensor.is_pressed:
pass
def main(
self,
driving_speed: float = 1000 # degrees per second
):
self.screen.image.paste(im=Image.open('/home/robot/image/Target.bmp'))
self.screen.update()
while True:
self.drive_once_by_ir_beacon(speed=driving_speed)
self.dance_if_ir_beacon_pressed()
# DON'T use IR Sensor in 2 different modes in the same program / loop
# - https://github.com/pybricks/support/issues/62
# - https://github.com/ev3dev/ev3dev/issues/1401
# self.detect_object_by_ir_sensor()
self.blast_bazooka_if_touched()
from ev3dev.ev3 import (Motor, LargeMotor, MediumMotor, OUTPUT_A, OUTPUT_B,
OUTPUT_C, TouchSensor, ColorSensor, INPUT_1, INPUT_3,
Screen, Sound)
from multiprocessing import Process
from PIL import Image
from time import time
LEFT_FOOT_MOTOR = LargeMotor(address=OUTPUT_B)
RIGHT_FOOT_MOTOR = LargeMotor(address=OUTPUT_C)
MEDIUM_MOTOR = MediumMotor(address=OUTPUT_A)
COLOR_SENSOR = ColorSensor(address=INPUT_3)
TOUCH_SENSOR = TouchSensor(address=INPUT_1)
SCREEN = Screen()
SPEAKER = Sound()
def run_away_whenever_dark():
while True:
if COLOR_SENSOR.ambient_light_intensity < 5: # 15 not dark enough
SCREEN.image.paste(
im=Image.open('/home/robot/image/Middle left.bmp'), box=(0, 0))
SCREEN.update()
LEFT_FOOT_MOTOR.run_timed(
speed_sp=-800, # degrees per second
time_sp=1500, # miliseconds
stop_action=Motor.STOP_ACTION_BRAKE)
RIGHT_FOOT_MOTOR.run_timed(
class Spik3r:
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 sting_by_ir_beacon(self):
while True:
if self.beacon.beacon:
self.sting_motor.run_to_rel_pos(
speed_sp=750,
position=-220,
stop_action=Motor.STOP_ACTION_HOLD)
self.sting_motor.wait_while(Motor.STATE_RUNNING)
self.speaker.play(
wav_file='/home/robot/sound/Blip 3.wav').wait()
self.sting_motor.run_timed(speed_sp=-1000,
time_sp=1000,
stop_action=Motor.STOP_ACTION_HOLD)
self.sting_motor.wait_while(Motor.STATE_RUNNING)
self.sting_motor.run_timed(speed_sp=1000,
time_sp=1000,
stop_action=Motor.STOP_ACTION_HOLD)
self.sting_motor.wait_while(Motor.STATE_RUNNING)
while self.beacon.beacon:
pass
def be_noisy_to_people(self):
while True:
if self.color_sensor.reflected_light_intensity > 30:
for i in range(4):
self.speaker.play_song(
(('D4', 'e3'), ('D4', 'e3'), ('D4', 'e3'), ('G4', 'h'),
('D5', 'h'), ('C5', 'e3'), ('B4', 'e3'), ('A4', 'e3'),
('G5', 'h'), ('D5', 'q'), ('C5', 'e3'), ('B4', 'e3'),
('A4', 'e3'), ('G5', 'h'), ('D5', 'q'), ('C5', 'e3'),
('B4', 'e3'), ('C5', 'e3'), ('A4', 'h.')))
def pinch_if_touched(self):
while True:
if self.touch_sensor.is_pressed:
self.claw_motor.run_timed(speed_sp=500,
time_sp=1000,
stop_action=Motor.STOP_ACTION_HOLD)
self.claw_motor.wait_while(Motor.STATE_RUNNING)
self.claw_motor.run_timed(speed_sp=-500,
time_sp=0.3 * 1000,
stop_action=Motor.STOP_ACTION_HOLD)
self.claw_motor.wait_while(Motor.STATE_RUNNING)
def keep_driving_by_ir_beacon(self):
while True:
if self.beacon.red_up and self.beacon.blue_up:
self.go_motor.run_forever(speed_sp=910)
elif self.beacon.blue_up:
self.go_motor.run_forever(speed_sp=-1000)
else:
self.go_motor.stop(stop_action=Motor.STOP_ACTION_HOLD)
def main(self):
self.dis.image.paste(im=Image.open('/home/robot/image/Evil.bmp'))
self.dis.update()
# FIXME: ValueError: invalid literal for int() with base 10: '' or '9\n9'
# when multiple threads access the same Sensor
Thread(target=self.pinch_if_touched, daemon=True).start()
Thread(target=self.be_noisy_to_people, daemon=True).start()
Thread(target=self.sting_by_ir_beacon, daemon=True).start()
self.keep_driving_by_ir_beacon()
