def main():
brick.sound.beep()
sens1 = LegoPort(address ='ev3-ports:in1') # which port?? 1,2,3, or 4
#sens2 = LegoPort(address ='ev3-ports:in2') # which port?? 1,2,3, or 4
sens1.mode = 'ev3-analog'
#sens2.mode = 'ev3-analog'
utime.sleep(0.5)
sensor_left=MySensor(Port.S1) # same port as above
sensor_right=MySensor(Port.S2) # same port as above
left_motor = Motor(Port.A)
right_motor = Motor(Port.D)
speed = 0
value = 100
while True:
left_color = sensor_left.readvalue()
right_color = sensor_right.readvalue()
print('left sensor is ', left_color)
print('right sensor is ', right_color)
left_motor.run(speed)
right_motor.run(speed)
def main():
sens1 = LegoPort(address='ev3-ports:in4')
sens1.mode = 'ev3-analog'
utime.sleep(0.5)
sensor_left = mySensor(Port.S2)
sensor_right = mySensor(Port.S4)
i = 1
tot = 0
while i < 5:
val1 = sensor_left.readvalue()
val2 = sensor_right.readvalue()
summer = val1 + val2
avg = summer / 2
tot = avg + tot
i = i + 1
errleft = sensor_left.readvalue() - tot / i
errright = sensor_right.readvalue() - tot / i
tail.dc(60)
# differ = 1
# differ1 =adjustMovement(val1,val2, differ)
while True:
val1 = sensor_left.readvalue()
val2 = sensor_right.readvalue()
#print(val1 , ',', val2)
adjustMovement(val1 - errleft, val2 - errright)
def __init__(self):
# Set LEGO port for NXT Temp sensor
lego_port = LegoPort(INPUT_2)
lego_port.mode = 'other-i2c'
sleep(0.5)
# Settings for I2C (SMBus(4) for INPUT_2)
self.lego_bus = SMBus(4)
# LM75 address
self.address = NXT_SENSOR_ADDRESS
def __init__(self):
# Set LEGO port for Pixy2 on input port 4
lego_port = LegoPort(INPUT_4)
lego_port.mode = 'other-i2c'
sleep(0.5)
# Settings for I2C (SMBus(6) for INPUT_4)
self.lego_bus = SMBus(6)
# Pixy2 address
self.address = 0x54
def __init__(self):
# Set LEGO port for arduino i2c
lego_port = LegoPort(INPUT_4)
lego_port.mode = 'other-i2c'
sleep(0.5)
# Settings for I2C (SMBus(4) for INPUT_2)
self.lego_bus = SMBus(6)
# HTU21D address
self.address = ARDUINO_ADDRESS
def __init__(self):
# Set LEGO port for HTU21D sensor
lego_port = LegoPort(INPUT_4)
lego_port.mode = 'other-i2c'
sleep(0.5)
# Settings for I2C (SMBus(4) for INPUT_2)
self.lego_bus = SMBus(6)
# HTU21D address
self.address = 0x40
def __init__(self,
address=None,
name_pattern=SYSTEM_DEVICE_NAME_CONVENTION,
name_exact=False,
**kwargs):
port = LegoPort(address=address)
port.mode = 'uart'
port.set_device = 'lego-ev3-ir'
super(InfraredSensor, self).__init__(address,
name_pattern,
name_exact,
driver_name='lego-ev3-ir',
**kwargs)
def __init__(self,
address=None,
name_pattern=SYSTEM_DEVICE_NAME_CONVENTION,
name_exact=False,
**kwargs):
port = LegoPort(address=address)
port.mode = 'analog'
port.set_device = 'lego-ev3-touch'
time.sleep(3)
super(TouchMuxed,
self).__init__(address,
name_pattern,
name_exact,
driver_name=['lego-ev3-touch', 'lego-nxt-touch'],
**kwargs)
def main():
brick.sound.beep()
sens = LegoPort(address='ev3-ports:in1') # which port?? 1,2,3, or 4
sens.mode = 'ev3-analog'
utime.sleep(0.5)
sensor_left = MySensor(Port.S1) # same port as above
sensor_right = MySensor(Port.S3) # same port as above
robot.drive(0, 0)
while True:
lightLevel = sensor_left.readvalue()
lightLevel2 = sensor_right.readvalue()
print('Left', lightLevel, 'Right', lightLevel2)
robot.drive(1, control(lightLevel2, lightLevel))
wait(200)
def main():
brick.sound.beep()
sens1 = LegoPort(address='ev3-ports:in4') # which port?? 1,2,3, or 4
#sens2 = LegoPort(address ='ev3-ports:in4') # which port?? 1,2,3, or 4
sens1.mode = 'ev3-analog'
#sens2.mode = 'ev3-analog'
utime.sleep(0.5)
sensor_left = MySensor(Port.S4) # same port as above
sensor_right = MySensor(Port.S2) # same port as above
left_motor = Motor(Port.A)
right_motor = Motor(Port.D)
speed = 200
Kp = 3
speed = 250
Kd = 0.4
diff = 0
curr_gain = 0.8
last = [0, 0]
while True:
difflast = diff
left_color = sensor_left.readvalue()
right_color = sensor_right.readvalue()
if last is [0, 0]:
last = [left_color, right_color]
left_color, right_color = left_color * curr_gain + (
last[0] *
(1 - curr_gain)), right_color * curr_gain + (last[1] *
(1 - curr_gain))
last = [left_color, right_color]
diff = left_color - right_color
deriv = diff - difflast
# print(diff)
# print(deriv)
print("Left: {}, Right: {}, Diff: {}".format(left_color, right_color,
diff))
controller = ((Kp * diff) + (Kd + deriv)) / 2
left_motor.run(speed + controller)
right_motor.run(speed - controller)
def main():
#brick.sound.beep()
sens = LegoPort(address='ev3-ports:in1') # which port?? 1,2,3, or 4
sens.mode = 'ev3-analog'
utime.sleep(0.5)
sensor_left = MySensor(Port.S1) # same port as above
sensor_right = MySensor(Port.S3) # same port as above
robot.drive(0, 0)
while True:
lightLevel = sensor_left.readvalue()
lightLevel2 = sensor_right.readvalue()
print('Left', lightLevel)
print('Right', lightLevel2)
controller.right = lightLevel2
controller.left = lightLevel
robot.drive(50, controller.setangle())
#
# ref. https://github.com/ev3dev/ev3dev-lang-python-demo/blob/stretch/platform/brickpi3-motor-and-sensor.py
import time, tty, sys
from ev3dev2 import list_devices
from ev3dev2.port import LegoPort
from ev3dev2.motor import OUTPUT_A, LargeMotor, SpeedPercent
from ev3dev2.sensor import INPUT_2
from ev3dev2.sensor.lego import Sensor
p2 = LegoPort(INPUT_2)
# http://docs.ev3dev.org/projects/lego-linux-drivers/en/ev3dev-stretch/brickpi3.html#brickpi3-in-port-modes
p2.mode = 'nxt-i2c'
# allow for some time for mode to setup
time.sleep(0.5)
# http://docs.ev3dev.org/projects/lego-linux-drivers/en/ev3dev-stretch/sensors.html#supported-sensors
""" https://github.com/ev3dev/ev3dev/issues/640
dlech commented on May 15, 2016
You are forgetting the I2C address for set_device
$ echo mx-pps58-nx 0x0C >/sys/class/lego-port/port0/set_device """
# set device name and i2c address (in hex)
p2.set_device = 'ms-absolute-imu 0x11'
import time
# import sys
# import copy
# import os
# import json
logging.basicConfig(
level=logging.INFO,
format='%(asctime)s:%(levelname)s:%(threadName)s:%(message)s')
log = logging.getLogger(__name__)
port1 = INPUT_7
port4 = INPUT_8
legoPort1 = LegoPort(port1)
legoPort1.mode = 'nxt-i2c'
legoPort1.set_device = 'ms-absolute-imu 0x11'
# legoPort4 = LegoPort(port4)
# legoPort4.mode = 'nxt-i2c'
# legoPort4.set_device = 'ms-absolute-imu 0x11'
print('Pausing 2 seconds...')
time.sleep(2)
print('Done, creating sensor class object for {}, {}'.format(port1, port4))
sensor1 = Sensor(address='{}:i2c17'.format(port1))
# sensor4 = Sensor(address='{}:i2c17'.format(INPUT_4))
target_mode = 'ALL'
sensor1.mode = target_mode
# sensor4.mode = target_mode
while True:
# log.info('Joint 3 ({}) X/Y/Z angle = {}/{}/{}'.format(INPUT_4, sensor4.value(0), sensor4.value(1), sensor4.value(2)))
from ev3dev2.motor import LargeMotor, OUTPUT_A, OUTPUT_B
from ev3dev2.port import LegoPort
def limit_speed(speed):
""" Limit speed in range [-1000,1000] """
if speed > 1000:
speed = 1000
elif speed < -1000:
speed = -1000
return speed
# Set LEGO port for Pixy on input port 1
in1 = LegoPort(INPUT_1)
in1.mode = 'auto'
# Wait 2 secs for the port to get ready
sleep(2)
# Connect Pixy camera
pixy = Sensor(INPUT_1)
# Set mode to detect signature 1 only
pixy.mode = 'SIG1'
# Signatures we're interested in (SIG1)
sig = 1
# Connect TouchSensor (to stop script)
ts = TouchSensor(INPUT_4)
# Connect LargeMotors
# 5/10/2021 Ron King initial dev
# ref. https://github.com/ev3dev/ev3dev-lang-python-demo/blob/stretch/platform/brickpi3-motor-and-sensor.py
import time, tty, sys
from ev3dev2 import list_devices
from ev3dev2.port import LegoPort
from ev3dev2.motor import OUTPUT_A, LargeMotor, SpeedPercent
from ev3dev2.sensor import INPUT_4
from ev3dev2.sensor.lego import Sensor
p4 = LegoPort(INPUT_4)
# http://docs.ev3dev.org/projects/lego-linux-drivers/en/ev3dev-stretch/brickpi3.html#brickpi3-in-port-modes
p4.mode = 'ev3-uart'
# allow for some time for mode to setup
time.sleep(0.5)
# http://docs.ev3dev.org/projects/lego-linux-drivers/en/ev3dev-stretch/sensors.html#supported-sensors
""" https://github.com/ev3dev/ev3dev/issues/640
dlech commented on May 15, 2016
You are forgetting the I2C address for set_device
$ echo mx-pps58-nx 0x0C >/sys/class/lego-port/port0/set_device
dmesg -w
# Date Author Change Notes # 3/22/2020 Ron King initial dev # 6/14/2020 Ron King changed to input port 3 with no time limit, IR-PROX mode only # added work-around for bogus intermittent readings of '0' # import time, tty, sys from ev3dev2 import list_devices from ev3dev2.port import LegoPort from ev3dev2.motor import OUTPUT_A, LargeMotor, SpeedPercent from ev3dev2.sensor import INPUT_3 from ev3dev2.sensor.lego import InfraredSensor p3 = LegoPort(INPUT_3) # http://docs.ev3dev.org/projects/lego-linux-drivers/en/ev3dev-stretch/brickpi3.html#brickpi3-in-port-modes p3.mode = 'ev3-uart' # http://docs.ev3dev.org/projects/lego-linux-drivers/en/ev3dev-stretch/sensors.html#supported-sensors p3.set_device = 'lego-ev3-ir' # Connect infrared to any sensor port ir = InfraredSensor(INPUT_3) # allow for some time to load the new drivers time.sleep(0.5) ir.mode = 'IR-PROX' irProxVal = 100 prev_irProxVal = 0 badValCount = 0
# - LEGO LargeMotor connected to port BAM1
# - LEGO LargeMotor connected to port BBM1
# - LEGO LargeMotor connected to port BBM2
# - LEGO MediumMotor connected to port BAM2
# - LEGO TouchSensor connected to port BAS2
# - LEGO TouchSensor connected to port BBS2
#
from time import sleep
from ev3dev2.port import LegoPort
from ev3dev2.motor import Motor, LargeMotor, OUTPUT_D
from ev3dev2.sensor.lego import TouchSensor
# Configure ports for sensors
port_BAS2 = LegoPort('pistorms:BAS2')
port_BAS2.mode = 'ev3-analog'
port_BBS2 = LegoPort('pistorms:BBS2')
port_BBS2.mode = 'ev3-analog'
sleep(2)
class ExceededRetries(Exception):
''' Custom exception for exceeding retries at Remote I/O error.'''
pass
def try_except(func):
''' Retry function when Remote I/O error occurs.'''
def wrapper(*args, **kwargs):
for i in range(10):
try:
# 5/31/2021 Ron King - work-around for bogus intermittent readings of '0' (possibly a f/w bug in BrickPi3)
#
# ref. https://github.com/ev3dev/ev3dev-lang-python-demo/blob/stretch/platform/brickpi3-motor-and-sensor.py
import time, tty, sys
from ev3dev2 import list_devices
from ev3dev2.port import LegoPort
from ev3dev2.motor import OUTPUT_A, LargeMotor, SpeedPercent
from ev3dev2.sensor import INPUT_2
from ev3dev2.sensor.lego import GyroSensor
p2 = LegoPort(INPUT_2)
# http://docs.ev3dev.org/projects/lego-linux-drivers/en/ev3dev-stretch/brickpi3.html#brickpi3-in-port-modes
p2.mode = 'ev3-uart'
# allow for some time for mode to setup
time.sleep(0.5)
# http://docs.ev3dev.org/projects/lego-linux-drivers/en/ev3dev-stretch/sensors.html#supported-sensors
""" https://github.com/ev3dev/ev3dev/issues/640
dlech commented on May 15, 2016
You are forgetting the I2C address for set_device
$ echo mx-pps58-nx 0x0C >/sys/class/lego-port/port0/set_device
dmesg -w
"""
1: INPUT_1,
2: INPUT_2,
3: INPUT_3,
4: INPUT_4,
}
lego_port = portMap.get(port, 'Invalid Port')
# EV3 Display
lcd = Display()
# Connect ToucSensor
ts = TouchSensor(INPUT_4)
# Set LEGO port for Pixy2 on input port 1
in1 = LegoPort(lego_port)
in1.mode = 'other-i2c'
# Short wait for the port to get ready
sleep(0.5)
# Settings for I2C (SMBus(3) for INPUT_1)
bus = SMBus(port + 2)
# Make sure the same address is set in Pixy2
address = 0x54
# Signatures we're interested in (SIG1)
sigs = 255
# Data for requesting block
data = [174, 193, 32, 2, sigs, 1]
f = open('tmp_camera_data.txt', 'r+', os.O_NONBLOCK)
# Make sure the same address is set in Pixy2
PIXY2_I2C_ADDRESS = 0x54
# Data for requesting block
GET_OBJECTS_COMMAND = [174, 193, 32, 2, 255, 255]
# Defines all of the LEGO Motor Ports
lmA = LargeMotor(OUTPUT_A)
lmB = LargeMotor(OUTPUT_B)
lmC = LargeMotor(OUTPUT_C)
mmD = MediumMotor(OUTPUT_D)
# Set LEGO port for Pixy2 on input port 1
in4 = LegoPort(INPUT_4)
in4.mode = 'other-i2c'
# List of valid three-in-a-rows
isValidThreeInARow = [[0, 1, 2], [3, 4, 5], [6, 7, 8], [0, 3, 6], [0, 4, 8],
[1, 4, 7], [2, 5, 8], [2, 4, 6]]
#Speed of the wheels
speed = 10
# number of rotations to pick up a coin
pickingUpCoin = -0.16
# lower the claw this number of rotations + extra for each coin to pick up
lowerToReachCoin = 0.12
# lower the claw this number of rotations in addition to the above to pick up each coin
#
# uses ev3dev2-based code
#
# Date Author Change Notes
# 4/12/2020 Ron King initial dev
import time, tty, sys
from ev3dev2 import list_devices
from ev3dev2.port import LegoPort
from ev3dev2.motor import OUTPUT_A, LargeMotor, SpeedPercent
from ev3dev2.sensor import INPUT_1
from ev3dev2.sensor.lego import TouchSensor
p1 = LegoPort(INPUT_1)
# http://docs.ev3dev.org/projects/lego-linux-drivers/en/ev3dev-stretch/brickpi3.html#brickpi3-in-port-modes
p1.mode = 'nxt-analog'
# http://docs.ev3dev.org/projects/lego-linux-drivers/en/ev3dev-stretch/sensors.html
p1.set_device = 'lego-nxt-touch'
# Connect infrared to any sensor port
ts = TouchSensor(INPUT_1)
# allow for some time to load the new drivers
time.sleep(0.5)
tsVal = False
prev_tsVal = False
print(
"#######################################################################")
print(
# Date Author Change Notes
# 4/15/2020 Ron King initial dev
# ref. https://github.com/ev3dev/ev3dev-lang-python-demo/blob/stretch/platform/brickpi3-motor-and-sensor.py
import time, tty, sys
from ev3dev2 import list_devices
from ev3dev2.port import LegoPort
from ev3dev2.motor import OUTPUT_A, LargeMotor, SpeedPercent
from ev3dev2.sensor import INPUT_1
from ev3dev2.sensor.lego import Sensor
p1 = LegoPort(INPUT_1)
# http://docs.ev3dev.org/projects/lego-linux-drivers/en/ev3dev-stretch/brickpi3.html#brickpi3-in-port-modes
p1.mode = 'nxt-i2c'
# allow for some time for mode to setup
time.sleep(0.5)
# http://docs.ev3dev.org/projects/lego-linux-drivers/en/ev3dev-stretch/sensors.html#supported-sensors
""" https://github.com/ev3dev/ev3dev/issues/640
dlech commented on May 15, 2016
You are forgetting the I2C address for set_device
$ echo mx-pps58-nx 0x0C >/sys/class/lego-port/port0/set_device
dmesg -w
"""
def __init__(self,
robot_config_file,
initRobotConfig,
timeStep,
odometryTimer=0.1,
defaultLogging=30):
"""
Creates the main bot class.
"""
if not os.path.exists(robot_config_file):
raise ValueError(f'Cannot find configuration file '
f'"{robot_config_file}"')
with open(robot_config_file, 'r') as f:
self.robotConfiguration = json.load(f)
# Adjust JSON just read
self.__adjustConfigDict(self.robotConfiguration)
# Exception Queue for inter threads exception communications
self.exceptionQueue = queue.Queue()
self.mqttMoveQueue = queue.Queue()
self.baseMovementLock = asyncio.locks.Lock()
self.timeStep = timeStep
self.powerSupply = PowerSupply()
# region sensor Init
self.sensors = {}
for sensor in self.robotConfiguration["sensors"]:
sensorDict = self.robotConfiguration["sensors"][sensor]
legoPort = LegoPort(sensorDict["input"])
# Applies to both I2C and SDK controled sensors
if legoPort.mode != sensorDict["mode"]:
legoPort.mode = sensorDict["mode"]
# Only applies to sensors controled by the python SDK
if "set_device" in sensorDict:
legoPort.set_device = sensorDict["set_device"]
time.sleep(1)
address = sensorDict["input"]
self.sensors[sensor] = sensorDict["sensorType"](address=address)
# endregion
# base Init
self.base = DiffDriveBase(self.robotConfiguration["base"],
initRobotConfig, odometryTimer)
# arm/endeffector Init
self.arm = Arm(armLinkDefinitions=self.robotConfiguration["arm"])
# Other matrix init
self.M0e = mr.RpToTrans(
R=np.array(
self.robotConfiguration["arm"]["arm1"]["manipulatorConfiguration"]["M0e"]["rotationMatrix"]).T, # noqa F501
p=self.robotConfiguration["arm"]["arm1"]["manipulatorConfiguration"]["M0e"]["p"]) # noqa F501
self.Toe_grip = mr.RpToTrans(
R=np.array(
self.robotConfiguration["arm"]["arm1"]["manipulatorConfiguration"]["Toe_grip"]["rotationMatrix"]).T, # noqa F501
p=self.robotConfiguration["arm"]["arm1"]["manipulatorConfiguration"]["Toe_grip"]["p"]) # noqa F501
self.Tbc = mr.RpToTrans(
R=np.array(
self.robotConfiguration["cameraConfiguration"]["Tbc"]["rotationMatrix"]).T, # noqa F501
p=self.robotConfiguration["cameraConfiguration"]["Tbc"]["p"])
self.Tcb = mr.TransInv(self.Tbc)
# Reset all motors at init
self.urgentStop = False
log.info(LOGGER_DDR_MAIN, 'Done main robot init.')
tank_pair = MoveTank(OUTPUT_B,OUTPUT_C)
steer_pair = MoveSteering(OUTPUT_B,OUTPUT_C)
MediumMotor_Claw = MediumMotor(OUTPUT_A)
MediumMotor_lift = MediumMotor(OUTPUT_D)
sound = Sound()
leds = Leds()
btn = Button()
# Mindstorms EV3-Sensor-Mux connected to EV3 Ultrasonic Sensor, Infrared Sensor and Gyro Sensor --------------------
us_port = LegoPort(address='ev3-ports:in2:i2c80:mux1')
ir_port = LegoPort(address='ev3-ports:in2:i2c81:mux2')
gyro_port = LegoPort(address='ev3-ports:in2:i2c82:mux3')
us_port.mode = 'uart'
ir_port.mode = 'uart'
gyro_port.mode = 'uart'
us_port.set_device = 'lego-ev3-us'
ir_port.set_device = 'lego-ev3-ir'
gyro_port.set_device = 'lego-ev3-gyro'
sleep(2)
us = UltrasonicSensor('ev3-ports:in2:i2c80:mux1')
ir = InfraredSensor('ev3-ports:in2:i2c81:mux2')
gyro = GyroSensor('ev3-ports:in2:i2c82:mux3')
us_value = us.value(0)
us_dist = us.distance_centimeters # takes multiple measurements
import utime, array
from pybricks.ev3devio import Ev3devSensor
class EV3Sensor(Ev3devSensor):
_ev3dev_driver_name = 'ev3-analog-01'
def read(self):
self._mode('ANALOG')
return self._value(0)
# this is a hack to set the mode properly
from ev3dev2.port import LegoPort
s2 = LegoPort(address='ev3-ports:in2')
s2.mode = 'ev3-analog'
utime.sleep(1)
s3 = LegoPort(address='ev3-ports:in3')
s3.mode = 'ev3-analog'
utime.sleep(1)
# Write your program here
brick.sound.beep()
# testing
# sensor=EV3Sensor(Port.S1) # same port as above
# while True:
# print(sensor.read())
# wait(2000)
# global object declarations
# # Date Author Change Notes # 4/11/2020 Ron King initial dev import time, tty, sys from ev3dev2 import list_devices from ev3dev2.port import LegoPort from ev3dev2.motor import OUTPUT_A, LargeMotor, SpeedPercent from ev3dev2.sensor import INPUT_1 from ev3dev2.sensor.lego import UltrasonicSensor ### Ref: https://github.com/ev3dev/ev3dev-lang-python-demo/blob/stretch/platform/brickpi3-motor-and-sensor.py p1 = LegoPort(INPUT_1) # http://docs.ev3dev.org/projects/lego-linux-drivers/en/ev3dev-stretch/brickpi3.html#brickpi3-in-port-modes p1.mode = 'ev3-uart' # http://docs.ev3dev.org/projects/lego-linux-drivers/en/ev3dev-stretch/sensors.html#supported-sensors p1.set_device = 'lego-ev3-us' # Connect infrared to any sensor port us = UltrasonicSensor(INPUT_1) # allow for some time to load the new drivers time.sleep(0.5) usDistCmVal = 0 prev_usDistCmVal = 0 startTime = time.time() badValCount = 0
from ev3dev2.sensor import INPUT_2
from ev3dev2.sensor.lego import Sensor
from ev3dev2.sensor import I2cSensor
p2 = LegoPort(INPUT_2)
# p2 = LegoPort('spi0.1:S2:i2c1')
print("wait 2")
# allow for some time to stabilze
time.sleep(1)
# http://docs.ev3dev.org/projects/lego-linux-drivers/en/ev3dev-stretch/brickpi3.html#brickpi3-in-port-modes
print("valid port (p2) modes are...", p2.modes)
# p2.mode = 'nxt-i2c' ## this works on most of the other i2c sensors used so far (Ron King, 5/7/2021)
p2.mode = 'none' ## setting to 'none' so smbus can access (Ron King, 5/10/2021)
print("...port (p2) mode currently set to...", p2.mode)
print("")
print("wait 3")
# allow for some time to stabilze
time.sleep(1)
# http://docs.ev3dev.org/projects/lego-linux-drivers/en/ev3dev-stretch/sensors.html#supported-sensors
""" https://github.com/ev3dev/ev3dev/issues/640
dlech commented on May 15, 2016
You are forgetting the I2C address for set_device
$ echo mx-pps58-nx 0x0C >/sys/class/lego-port/port0/set_device
motor B = Right motor """ import time, tty, sys, threading import numpy as np from ev3dev2 import list_devices from ev3dev2.port import LegoPort from ev3dev2.motor import LargeMotor, OUTPUT_A, OUTPUT_B, SpeedPercent, SpeedDPS, MoveTank from ev3dev2.sensor import INPUT_1, INPUT_2, INPUT_3 from ev3dev2.sensor.lego import InfraredSensor, UltrasonicSensor from ev3dev2.sensor.lego import Sensor p1 = LegoPort(INPUT_1) # http://docs.ev3dev.org/projects/lego-linux-drivers/en/ev3dev-stretch/brickpi3.html#brickpi3-in-port-modes p1.mode = 'ev3-uart' # http://docs.ev3dev.org/projects/lego-linux-drivers/en/ev3dev-stretch/sensors.html#supported-sensors p1.set_device = 'lego-ev3-us' # Connect lego-ev3-us to any sensor port us = UltrasonicSensor(INPUT_1) # allow for some time to load the new drivers time.sleep(0.5) usDistCmVal = 0 prev_usDistCmVal = 0 p2 = LegoPort(INPUT_2) # http://docs.ev3dev.org/projects/lego-linux-drivers/en/ev3dev-stretch/brickpi3.html#brickpi3-in-port-modes
print("wait 1")
# allow for some time to stabilze
time.sleep(3)
p2 = LegoPort(INPUT_2)
print("valid port (p2) modes are...", p2.modes)
print("")
print("wait 2")
# allow for some time to stabilze
time.sleep(3)
# http://docs.ev3dev.org/projects/lego-linux-drivers/en/ev3dev-stretch/brickpi3.html#brickpi3-in-port-modes
p2.mode = 'nxt-i2c' ## this works on most of the other i2c sensors used so far (Ron King, 5/7/2021)
print("wait 3")
# allow for some time to stabilze
time.sleep(3)
# http://docs.ev3dev.org/projects/lego-linux-drivers/en/ev3dev-stretch/sensors.html#supported-sensors
""" https://github.com/ev3dev/ev3dev/issues/640
dlech commented on May 15, 2016
You are forgetting the I2C address for set_device
$ echo mx-pps58-nx 0x0C >/sys/class/lego-port/port0/set_device
dmesg -w