import time, tty, sys, threading
from ev3dev2 import list_devices
from ev3dev2.motor import LargeMotor, OUTPUT_A, SpeedPercent, SpeedDPS, MoveTank
from ev3dev2.sensor import INPUT_1
# some keyboard control setup and vars
tty.setcbreak(sys.stdin)
x = 0 # set here to make global
# setup motor
mL = LargeMotor(OUTPUT_A)
time.sleep(0.5)
mL.reset()
time.sleep(2)
mL.duty_cycle_sp = 0
mLDtyMax = 16
mL.stop_action = 'coast'
mL.polarity = 'inversed'
mL.position = 0
StallDetected = False
mLlastPos = 0
i = 0
# Turn motor on with run_direct and duty_cycle_sp of '0'
mL.run_direct()
def keyboardInput(name):
while (True):
# - this is the initial code testing the Left Right PiCam shuttle mechanism
# designed to simulate a Stereo camera
#
import time, tty, sys
from ev3dev2.motor import LargeMotor, OUTPUT_D, SpeedPercent, SpeedDPS, MoveTank
from ev3dev2.sensor import INPUT_1
tty.setcbreak(sys.stdin)
mShuttle = LargeMotor(OUTPUT_D)
time.sleep(0.5)
mShuttle.reset()
time.sleep(2)
mShuttle.duty_cycle_sp = 0
mShuttleDtyMax = 22
mShuttle.stop_action = 'coast'
mShuttle.polarity = 'inversed'
mShuttle.position = 0
prev_mShuttle_pos = 0
# Turn motor on with run_direct and duty_cycle_sp of '0'
mShuttle.run_direct()
print ("Ready for keyboard commands...")
while (True):
x = ord(sys.stdin.read(1))
if x == 120: # x key pushed - exit
# 2/22/2020 Ron King Port from MindSensors Pistorms version # 3/1/2020 Ron King Fixed issues in speed change control logic and sequencing # 3/22/2020 Ron King v2.0 - change from regulated 'on', 'speed' to duty_cycle # Removed all traces of Pistorms version (issues and comments) import time, tty, sys from ev3dev2.motor import LargeMotor, OUTPUT_C, OUTPUT_D, SpeedPercent, SpeedDPS, MoveTank from ev3dev2.sensor import INPUT_1 tty.setcbreak(sys.stdin) mLift = LargeMotor(OUTPUT_C) time.sleep(0.5) mLift.reset() time.sleep(2) mLift.duty_cycle_sp = 0 mLiftDtyMax = 36 mLift.stop_action = 'coast' mLift.polarity = 'inversed' mLift.position = 0 mGrab = LargeMotor(OUTPUT_D) time.sleep(0.5) mGrab.reset() time.sleep(2) mGrab.duty_cycle_sp = 0 mGrabDtyMax = 36 mGrab.stop_action = 'coast' mGrab.polarity = 'inversed' mGrab.position = 0
import time, tty, sys, threading from ev3dev2 import list_devices from ev3dev2.motor import LargeMotor, OUTPUT_A, SpeedPercent, SpeedDPS, MoveTank from ev3dev2.sensor import INPUT_1 # some keyboard control setup and vars tty.setcbreak(sys.stdin) x = 0 # set here to make global # setup motor mL = LargeMotor(OUTPUT_A) time.sleep(0.5) mL.reset() time.sleep(2) mL.duty_cycle_sp = 0 mLDtyMax = 12 mL.stop_action = 'coast' mL.polarity = 'inversed' mL.position = 0 StallDetected = False mLlastPos = 0 mLposU = 0 mLposJ = 0 i = 0 # Turn motor on with run_direct and duty_cycle_sp of '0' mL.run_direct()
from smbus import SMBus
from ev3dev2.display import Display
from ev3dev2.motor import LargeMotor, SpeedPercent, OUTPUT_A, OUTPUT_D
from ev3dev2.sensor import INPUT_1
from ev3dev2.port import LegoPort
from ev3dev2.button import Button
# Brick Variables
left_motor = LargeMotor(OUTPUT_D)
right_motor = LargeMotor(OUTPUT_A)
# Start program
target_duty_cycle = 75
correction_factor = 0.3
left_motor.duty_cycle_sp = target_duty_cycle
right_motor.duty_cycle_sp = target_duty_cycle
left_motor.run_direct()
right_motor.run_direct()
for i in range(100):
left_degrees = left_motor.degrees
right_degrees = right_motor.degrees
steering = (left_degrees - right_degrees) * correction_factor
left_duty = (target_duty_cycle - steering/2.0)
if left_duty > 100:
left_duty = 100
elif left_duty < -100:
left_duty = -100
left_motor.duty_cycle_sp = left_duty
pos_rel = 0
eprint("dt = " + str(dt))
nowError = False
preError = False
error_cont = 0
error = 0
angle = 0 # (deg)
rate = 0 # (deg/s)
time.sleep(0.01)
media_angle = offset() # (deg)
motorLeft.reset()
motorRight.reset()
motorLeft.duty_cycle_sp = 0
motorRight.duty_cycle_sp = 0
motorLeft.run_direct()
motorRight.run_direct()
vel = 0
pos = 0
avance = 0
max_acel = 0
extra_pwr = 0
tiempo = time.time()
t1 = []
t2 = []
t3 = []
import sys import time # TODO: implement fast read/write from ev3dev2.motor import LargeMotor, OUTPUT_A, OUTPUT_D from ev3dev2.sensor.lego import GyroSensor, TouchSensor touch = TouchSensor() gyro = GyroSensor() gyro.mode = gyro.MODE_GYRO_G_A offset = 0 left = LargeMotor(OUTPUT_D) left.duty_cycle_sp = 0 left.command = left.COMMAND_RUN_DIRECT right = LargeMotor(OUTPUT_A) right.duty_cycle_sp = 0 right.command = right.COMMAND_RUN_DIRECT alpha = 0.8 dc_gain = 1.0 p_gain = 1 i_gain = 0.029 d_gain = 0.049 #dt = 30 / 1000 dt = 250 / 1000
