class Remote():
def __init__(self):
self.ir = InfraredSensor()
self.ir.mode = 'IR-REMOTE'
self.drive = Driver()
self.ir.on_channel1_beacon = self.beacon_channel_1_action
self.ir.on_channel1_top_left = self.top_left_channel_1_action
self.ir.on_channel1_bottom_left = self.bot_left_channel_1_action
self.ir.on_channel1_top_right = self.top_right_channel_1_action
self.ir.on_channel1_bottom_right = self.bot_right_channel_1_action
def beacon_channel_1_action(self, state):
print(self.ir.beacon())
if state:
print("Beacon pressed, now stopping")
self.drive.stop()
def top_left_channel_1_action(self, state):
print(self.ir.top_left())
while state:
self.drive.move_cm(5)
self.drive.stop()
def bot_left_channel_1_action(self, state):
print(self.ir.bottom_left())
while state:
self.drive.move_neg_cm(5)
self.drive.stop()
def top_right_channel_1_action(self, state):
print(self.ir.top_right())
while state:
self.drive.turn_degrees(10)
self.drive.stop()
def bot_right_channel_1_action(self, state):
print(self.ir.bottom_right())
while state:
self.drive.turn_neg_degrees(10)
self.drive.stop()
def remote(self):
try:
while True:
self.ir.process()
time.sleep(0.01)
except Exception as e:
print(e)
self.drive.stop()
class R3ptar:
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.ir_beacon_channel = ir_beacon_channel
self.noise = Sound()
def keep_driving_by_ir_beacon(self, speed: float = 100):
while True:
if self.ir_sensor.top_left(channel=self.ir_beacon_channel) and \
self.ir_sensor.top_right(channel=self.ir_beacon_channel):
self.move_motor.on(speed=speed, brake=False, block=False)
elif self.ir_sensor.bottom_left(channel=self.ir_beacon_channel) and \
self.ir_sensor.bottom_right(channel=self.ir_beacon_channel):
self.move_motor.on(speed=-speed, brake=False, block=False)
elif self.ir_sensor.top_left(channel=self.ir_beacon_channel):
self.turn_motor.on(speed=-50, brake=False, block=False)
self.move_motor.on(speed=speed, brake=False, block=False)
elif self.ir_sensor.top_right(channel=self.ir_beacon_channel):
self.turn_motor.on(speed=50, brake=False, block=False)
self.move_motor.on(speed=speed, brake=False, block=False)
elif self.ir_sensor.bottom_left(channel=self.ir_beacon_channel):
self.turn_motor.on(speed=-50, brake=False, block=False)
self.move_motor.on(speed=-speed, brake=False, block=False)
elif self.ir_sensor.bottom_right(channel=self.ir_beacon_channel):
self.turn_motor.on(speed=50, brake=False, block=False)
self.move_motor.on(speed=-speed, brake=False, block=False)
else:
self.turn_motor.off(brake=True)
self.move_motor.off(brake=False)
def bite_by_ir_beacon(self, speed: float = 100):
while True:
if self.ir_sensor.beacon(channel=self.ir_beacon_channel):
self.scare_motor.on_for_seconds(speed=speed,
seconds=1,
brake=True,
block=False)
self.noise.play_file(
wav_file='/home/robot/sound/Snake hiss.wav',
volume=100,
play_type=Sound.PLAY_NO_WAIT_FOR_COMPLETE)
self.scare_motor.on_for_seconds(speed=-speed,
seconds=1,
brake=True,
block=True)
while self.ir_sensor.beacon(channel=self.ir_beacon_channel):
pass
def run_away_if_chased(self):
while True:
if self.color_sensor.reflected_light_intensity > 30:
self.move_motor.on_for_seconds(speed=50,
seconds=4,
brake=True,
block=False)
for i in range(2):
self.turn_motor.on_for_seconds(speed=50,
seconds=1,
brake=False,
block=True)
self.turn_motor.on_for_seconds(speed=-50,
seconds=1,
brake=False,
block=True)
def bite_if_touched(self):
while True:
if self.touch_sensor.is_pressed:
self.scare_motor.on_for_seconds(speed=100,
seconds=1,
brake=True,
block=False)
self.noise.play_file(
wav_file='/home/robot/sound/Snake hiss.wav',
volume=100,
play_type=Sound.PLAY_NO_WAIT_FOR_COMPLETE)
self.scare_motor.on_for_seconds(speed=-10,
seconds=10,
brake=True,
block=True)
def main(self, speed: float = 100):
Thread(target=self.bite_by_ir_beacon).start()
Thread(target=self.bite_if_touched).start()
Thread(target=self.run_away_if_chased).start()
self.keep_driving_by_ir_beacon(speed=speed)
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.tank_driver = MoveTank(left_motor_port=left_foot_motor_port,
right_motor_port=right_foot_motor_port,
motor_class=LargeMotor)
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.ir_beacon_channel = ir_beacon_channel
self.leds = Leds()
self.speaker = Sound()
self.screen = Display()
def drive_once_by_ir_beacon(self, speed: float = 100):
# forward
if self.ir_sensor.top_left(
channel=self.ir_beacon_channel) and self.ir_sensor.top_right(
channel=self.ir_beacon_channel):
self.tank_driver.on(left_speed=speed, right_speed=speed)
# backward
elif self.ir_sensor.bottom_left(channel=self.ir_beacon_channel
) and self.ir_sensor.bottom_right(
channel=self.ir_beacon_channel):
self.tank_driver.on(left_speed=-speed, right_speed=-speed)
# turn left on the spot
elif self.ir_sensor.top_left(channel=self.ir_beacon_channel
) and self.ir_sensor.bottom_right(
channel=self.ir_beacon_channel):
self.tank_driver.on(left_speed=-speed, right_speed=speed)
# turn right on the spot
elif self.ir_sensor.top_right(
channel=self.ir_beacon_channel) and self.ir_sensor.bottom_left(
channel=self.ir_beacon_channel):
self.tank_driver.on(left_speed=speed, right_speed=-speed)
# turn left forward
elif self.ir_sensor.top_left(channel=self.ir_beacon_channel):
self.tank_driver.on(left_speed=0, right_speed=speed)
# turn right forward
elif self.ir_sensor.top_right(channel=self.ir_beacon_channel):
self.tank_driver.on(left_speed=speed, right_speed=0)
# turn left backward
elif self.ir_sensor.bottom_left(channel=self.ir_beacon_channel):
self.tank_driver.on(left_speed=0, right_speed=-speed)
# turn right backward
elif self.ir_sensor.bottom_right(channel=self.ir_beacon_channel):
self.tank_driver.on(left_speed=-speed, right_speed=0)
# otherwise stop
else:
self.tank_driver.off(brake=False)
def dance_if_ir_beacon_pressed(self):
while self.ir_sensor.beacon(channel=self.ir_beacon_channel):
self.tank_driver.on_for_seconds(left_speed=randint(-100, 100),
right_speed=randint(-100, 100),
seconds=1,
brake=False,
block=True)
def detect_object_by_ir_sensor(self):
if self.ir_sensor.proximity < 25:
self.leds.animate_police_lights(color1=Leds.ORANGE,
color2=Leds.RED,
group1=Leds.LEFT,
group2=Leds.RIGHT,
sleeptime=0.5,
duration=5,
block=False)
self.speaker.play_file(wav_file='/home/robot/sound/Object.wav',
volume=100,
play_type=Sound.PLAY_WAIT_FOR_COMPLETE)
self.speaker.play_file(wav_file='/home/robot/sound/Detected.wav',
volume=100,
play_type=Sound.PLAY_WAIT_FOR_COMPLETE)
self.speaker.play_file(
wav_file='/home/robot/sound/Error alarm.wav',
volume=100,
play_type=Sound.PLAY_WAIT_FOR_COMPLETE)
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_file(wav_file='/home/robot/sound/Up.wav',
volume=100,
play_type=Sound.PLAY_WAIT_FOR_COMPLETE)
self.bazooka_blast_motor.on_for_rotations(speed=100,
rotations=-3,
brake=True,
block=True)
self.speaker.play_file(
wav_file='/home/robot/sound/Laughing 1.wav',
volume=100,
play_type=Sound.PLAY_WAIT_FOR_COMPLETE)
else:
self.speaker.play_file(wav_file='/home/robot/sound/Down.wav',
volume=100,
play_type=Sound.PLAY_WAIT_FOR_COMPLETE)
self.bazooka_blast_motor.on_for_rotations(speed=100,
rotations=3,
brake=True,
block=True)
self.speaker.play_file(
wav_file='/home/robot/sound/Laughing 2.wav',
volume=100,
play_type=Sound.PLAY_WAIT_FOR_COMPLETE)
self.touch_sensor.wait_for_released()
def main(self, driving_speed: float = 100):
self.screen.image_filename(filename='/home/robot/image/Target.bmp',
clear_screen=True)
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()
class Remote():
def __init__(self):
self.ir = InfraredSensor()
self.ir.mode = 'IR-REMOTE'
self.drive = Driver()
self.ir.on_channel1_beacon = self.beacon_channel_1_action
self.ir.on_channel1_top_left = self.top_left_channel_1_action
self.ir.on_channel1_bottom_left = self.bot_left_channel_1_action
self.ir.on_channel1_top_right = self.top_right_channel_1_action
self.ir.on_channel1_bottom_right = self.bot_right_channel_1_action
self.name = sys.argv[1]
self.ghost = []
self.now = 0
def beacon_channel_1_action(self, state):
print(self.ir.beacon())
if state:
print("Beacon pressed, now stopping")
with open(self.name + '.pkl', 'wb') as f:
pickle.dump(self.ghost, f)
def top_left_channel_1_action(self, state):
print(self.ir.top_left())
if state:
self.now = time.time()
self.drive.move()
else:
self.ghost.append(('forward', time.time() - self.now))
self.drive.stop()
def bot_left_channel_1_action(self, state):
print(self.ir.bottom_left())
if state:
self.now = time.time()
self.drive.reverse()
else:
self.ghost.append(('backward', time.time() - self.now))
self.drive.stop()
def top_right_channel_1_action(self, state):
print(self.ir.top_right())
if state:
self.now = time.time()
self.drive.turn(100)
else:
self.ghost.append(('right', time.time() - self.now))
self.drive.stop()
def bot_right_channel_1_action(self, state):
print(self.ir.bottom_right())
if state:
self.now = time.time()
self.drive.turn(-100)
else:
self.ghost.append(('left', time.time() - self.now))
self.drive.stop()
def remote(self):
try:
while True:
self.ir.process()
time.sleep(0.01)
except Exception as e:
print(e)
self.drive.stop()
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.tank_driver = MoveTank(left_motor_port=left_foot_motor_port,
right_motor_port=right_foot_motor_port,
motor_class=LargeMotor)
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.ir_beacon_channel = ir_beacon_channel
self.speaker = Sound()
def drive_once_by_ir_beacon(self, speed: float = 100):
# forward
if self.ir_sensor.top_left(
channel=self.ir_beacon_channel) and self.ir_sensor.top_right(
channel=self.ir_beacon_channel):
self.tank_driver.on(left_speed=speed, right_speed=speed)
# backward
elif self.ir_sensor.bottom_left(channel=self.ir_beacon_channel
) and self.ir_sensor.bottom_right(
channel=self.ir_beacon_channel):
self.tank_driver.on(left_speed=-speed, right_speed=-speed)
# turn left on the spot
elif self.ir_sensor.top_left(channel=self.ir_beacon_channel
) and self.ir_sensor.bottom_right(
channel=self.ir_beacon_channel):
self.tank_driver.on(left_speed=-speed, right_speed=speed)
# turn right on the spot
elif self.ir_sensor.top_right(
channel=self.ir_beacon_channel) and self.ir_sensor.bottom_left(
channel=self.ir_beacon_channel):
self.tank_driver.on(left_speed=speed, right_speed=-speed)
# turn left forward
elif self.ir_sensor.top_left(channel=self.ir_beacon_channel):
self.tank_driver.on(left_speed=0, right_speed=speed)
# turn right forward
elif self.ir_sensor.top_right(channel=self.ir_beacon_channel):
self.tank_driver.on(left_speed=speed, right_speed=0)
# turn left backward
elif self.ir_sensor.bottom_left(channel=self.ir_beacon_channel):
self.tank_driver.on(left_speed=0, right_speed=-speed)
# turn right backward
elif self.ir_sensor.bottom_right(channel=self.ir_beacon_channel):
self.tank_driver.on(left_speed=-speed, right_speed=0)
# otherwise stop
else:
self.tank_driver.off(brake=False)
def keep_driving_by_ir_beacon(self, speed: int = 100):
while True:
self.drive_once_by_ir_beacon(speed=speed)
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_file(
wav_file='/home/robot/sound/Up.wav',
volume=100,
play_type=Sound.PLAY_WAIT_FOR_COMPLETE)
self.bazooka_blast_motor.on_for_rotations(speed=100,
rotations=-3,
brake=True,
block=True)
else:
self.speaker.play_file(
wav_file='/home/robot/sound/Down.wav',
volume=100,
play_type=Sound.PLAY_WAIT_FOR_COMPLETE)
self.bazooka_blast_motor.on_for_rotations(speed=100,
rotations=3,
brake=True,
block=True)
self.touch_sensor.wait_for_released()
def main(self, driving_speed: float = 100):
Thread(target=self.blast_bazooka_whenever_touched).start()
self.keep_driving_by_ir_beacon(speed=driving_speed)
class Kraz33Hors3:
def __init__(self,
back_foot_motor_port: str = OUTPUT_B,
front_foot_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):
self.tank_driver = MoveTank(left_motor_port=back_foot_motor_port,
right_motor_port=front_foot_motor_port,
motor_class=LargeMotor)
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.ir_beacon_channel = ir_beacon_channel
def drive_once_by_ir_beacon(self, speed: float = 100):
# forward
if self.ir_sensor.top_left(
channel=self.ir_beacon_channel) and self.ir_sensor.top_right(
channel=self.ir_beacon_channel):
self.tank_driver.on_for_seconds(left_speed=speed,
right_speed=-speed,
seconds=1,
brake=False,
block=True)
# backward
elif self.ir_sensor.bottom_left(channel=self.ir_beacon_channel
) and self.ir_sensor.bottom_right(
channel=self.ir_beacon_channel):
self.tank_driver.on_for_seconds(left_speed=-speed,
right_speed=speed,
seconds=1,
brake=False,
block=True)
# move crazily
elif self.ir_sensor.beacon(channel=self.ir_beacon_channel):
self.gear_motor.on(speed=speed, brake=False, block=False)
self.tank_driver.on_for_seconds(left_speed=-speed / 3,
right_speed=-speed / 3,
seconds=1,
brake=False,
block=True)
else:
self.gear_motor.off(brake=False)
def keep_driving_by_ir_beacon(self, speed: float = 100):
while True:
self.drive_once_by_ir_beacon(speed=speed)
def back_whenever_touched(self, speed: float = 100):
while True:
if self.touch_sensor.is_pressed:
self.tank_driver.on_for_seconds(left_speed=-speed,
right_speed=speed,
seconds=1,
brake=False,
block=True)
def main(self):
Process(target=self.back_whenever_touched, daemon=True).start()
self.keep_driving_by_ir_beacon()
class Gripp3r:
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.tank_driver = MoveTank(left_motor_port=left_motor_port,
right_motor_port=right_motor_port,
motor_class=LargeMotor)
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.speaker = Sound()
def drive_once_by_ir_beacon(self, speed: float = 100):
if self.ir_sensor.top_left(channel=self.ir_beacon_channel) and \
self.ir_sensor.top_right(channel=self.ir_beacon_channel):
# go forward
self.tank_driver.on(left_speed=speed, right_speed=speed)
elif self.ir_sensor.bottom_left(channel=self.ir_beacon_channel) and \
self.ir_sensor.bottom_right(channel=self.ir_beacon_channel):
# go backward
self.tank_driver.on(left_speed=-speed, right_speed=-speed)
elif self.ir_sensor.top_left(channel=self.ir_beacon_channel) and \
self.ir_sensor.bottom_right(channel=self.ir_beacon_channel):
# turn around left
self.tank_driver.on(left_speed=-speed, right_speed=speed)
elif self.ir_sensor.top_right(channel=self.ir_beacon_channel) and \
self.ir_sensor.bottom_left(channel=self.ir_beacon_channel):
# turn around right
self.tank_driver.on(left_speed=speed, right_speed=-speed)
elif self.ir_sensor.top_left(channel=self.ir_beacon_channel):
# turn left
self.tank_driver.on(left_speed=0, right_speed=speed)
elif self.ir_sensor.top_right(channel=self.ir_beacon_channel):
# turn right
self.tank_driver.on(left_speed=speed, right_speed=0)
elif self.ir_sensor.bottom_left(channel=self.ir_beacon_channel):
# left backward
self.tank_driver.on(left_speed=0, right_speed=-speed)
elif self.ir_sensor.bottom_right(channel=self.ir_beacon_channel):
# right backward
self.tank_driver.on(left_speed=-speed, right_speed=0)
else:
self.tank_driver.off(brake=False)
def grip_or_release_by_ir_beacon(self, speed: float = 50):
if self.ir_sensor.beacon(channel=self.ir_beacon_channel):
if self.touch_sensor.is_pressed:
self.speaker.play_file(
wav_file='/home/robot/sound/Air release.wav',
volume=100,
play_type=Sound.PLAY_NO_WAIT_FOR_COMPLETE)
self.grip_motor.on_for_seconds(speed=speed,
seconds=1,
brake=True,
block=True)
else:
self.speaker.play_file(
wav_file='/home/robot/sound/Airbrake.wav',
volume=100,
play_type=Sound.PLAY_NO_WAIT_FOR_COMPLETE)
self.grip_motor.on(speed=-speed, brake=False, block=False)
self.touch_sensor.wait_for_pressed()
self.grip_motor.off(brake=True)
while self.ir_sensor.beacon(channel=self.ir_beacon_channel):
pass
def main(self, speed: float = 100):
self.grip_motor.on_for_seconds(speed=-50,
seconds=1,
brake=True,
block=True)
while True:
self.drive_once_by_ir_beacon(speed=speed)
self.grip_or_release_by_ir_beacon()
class Kraz33Hors3:
def __init__(self,
back_foot_motor_port: str = OUTPUT_B,
front_foot_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):
self.tank_driver = MoveTank(left_motor_port=back_foot_motor_port,
right_motor_port=front_foot_motor_port,
motor_class=LargeMotor)
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.ir_beacon_channel = ir_beacon_channel
def drive_once_by_ir_beacon(self, speed: float = 100):
# forward
if self.ir_sensor.top_left(
channel=self.ir_beacon_channel) and self.ir_sensor.top_right(
channel=self.ir_beacon_channel):
self.tank_driver.on_for_seconds(left_speed=speed,
right_speed=-speed,
seconds=1,
brake=False,
block=True)
# backward
elif self.ir_sensor.bottom_left(channel=self.ir_beacon_channel
) and self.ir_sensor.bottom_right(
channel=self.ir_beacon_channel):
self.tank_driver.on_for_seconds(left_speed=-speed,
right_speed=speed,
seconds=1,
brake=False,
block=True)
# move crazily
elif self.ir_sensor.beacon(channel=self.ir_beacon_channel):
self.gear_motor.on(speed=speed, brake=False, block=False)
self.tank_driver.on_for_seconds(left_speed=-speed / 3,
right_speed=-speed / 3,
seconds=1,
brake=False,
block=True)
else:
self.gear_motor.off(brake=False)
def keep_driving_by_ir_beacon(self, speed: float = 100):
while True:
self.drive_once_by_ir_beacon(speed=speed)
def back_whenever_touched(self, speed: float = 100):
while True:
if self.touch_sensor.is_pressed:
self.tank_driver.on_for_seconds(left_speed=-speed,
right_speed=speed,
seconds=1,
brake=False,
block=True)
def main(self):
# FIXME: when this thread is activated, the program encounters OSError after a while:
# Traceback (most recent call last):
# File "/home/robot/Kraz33-Mov3r/Kraz33-Mov3r.EV3Dev2.MicroPython.Threading.FIXME.py", line 92, in <module>
# File "/home/robot/Kraz33-Mov3r/Kraz33-Mov3r.EV3Dev2.MicroPython.Threading.FIXME.py", line 86, in main
# File "/home/robot/Kraz33-Mov3r/Kraz33-Mov3r.EV3Dev2.MicroPython.Threading.FIXME.py", line 68, in keep_driving_by_ir_beacon
# File "/home/robot/Kraz33-Mov3r/Kraz33-Mov3r.EV3Dev2.MicroPython.Threading.FIXME.py", line 43, in drive_once_by_ir_beacon
# File "ev3dev2/motor.py", line 1957, in on_for_rotations
# File "ev3dev2/motor.py", line 1945, in on_for_degrees
# File "ev3dev2/motor.py", line 1803, in _block
# File "ev3dev2/motor.py", line 1787, in wait_until_not_moving
# File "ev3dev2/motor.py", line 928, in wait_until_not_moving
# File "ev3dev2/motor.py", line 908, in wait
# OSError: 4
Thread(target=self.back_whenever_touched).start()
self.keep_driving_by_ir_beacon()
class Dinor3x:
FAST_WALK_SPEED = 80
NORMAL_WALK_SPEED = 40
SLOW_WALK_SPEED = 20
def __init__(self,
jaw_motor_port: str = OUTPUT_A,
left_motor_port: str = OUTPUT_B,
right_motor_port: str = OUTPUT_C,
touch_sensor_port: str = INPUT_1,
color_sensor_port: str = INPUT_3,
ir_sensor_port: str = INPUT_4,
ir_beacon_channel: int = 1):
self.jaw_motor = MediumMotor(address=jaw_motor_port)
self.left_motor = LargeMotor(address=left_motor_port)
self.right_motor = LargeMotor(address=right_motor_port)
self.tank_driver = MoveTank(left_motor_port=left_motor_port,
right_motor_port=right_motor_port,
motor_class=LargeMotor)
self.steer_driver = MoveSteering(left_motor_port=left_motor_port,
right_motor_port=right_motor_port,
motor_class=LargeMotor)
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.speaker = Sound()
self.roaring = False
self.walk_speed = self.NORMAL_WALK_SPEED
def roar_by_ir_beacon(self):
"""
Dinor3x roars when the Beacon button is pressed
"""
if self.ir_sensor.beacon(channel=self.ir_beacon_channel):
self.roaring = True
self.open_mouth()
self.roar()
elif self.roaring:
self.roaring = False
self.close_mouth()
def change_speed_by_color(self):
"""
Dinor3x changes its speed when detecting some colors
- Red: walk fast
- Green: walk normally
- White: walk slowly
"""
if self.color_sensor.color == ColorSensor.COLOR_RED:
self.speaker.speak(text='RUN!',
volume=100,
play_type=Sound.PLAY_NO_WAIT_FOR_COMPLETE)
self.walk_speed = self.FAST_WALK_SPEED
self.walk(speed=self.walk_speed)
elif self.color_sensor.color == ColorSensor.COLOR_GREEN:
self.speaker.speak(text='Normal',
volume=100,
play_type=Sound.PLAY_NO_WAIT_FOR_COMPLETE)
self.walk_speed = self.NORMAL_WALK_SPEED
self.walk(speed=self.walk_speed)
elif self.color_sensor.color == ColorSensor.COLOR_WHITE:
self.speaker.speak(text='slow...',
volume=100,
play_type=Sound.PLAY_NO_WAIT_FOR_COMPLETE)
self.walk_speed = self.SLOW_WALK_SPEED
self.walk(speed=self.walk_speed)
def walk_by_ir_beacon(self):
"""
Dinor3x walks or turns according to instructions from the IR Beacon
- 2 top/up buttons together: walk forward
- 2 bottom/down buttons together: walk backward
- Top Left / Red Up: turn left on the spot
- Top Right / Blue Up: turn right on the spot
- Bottom Left / Red Down: stop
- Bottom Right / Blue Down: calibrate to make the legs straight
"""
# forward
if self.ir_sensor.top_left(channel=self.ir_beacon_channel) and \
self.ir_sensor.top_right:
self.walk(speed=self.walk_speed)
# backward
elif self.ir_sensor.bottom_left(channel=self.ir_beacon_channel) and \
self.ir_sensor.bottom_right(channel=self.ir_beacon_channel):
self.walk(speed=-self.walk_speed)
# turn left on the spot
elif self.ir_sensor.top_left(channel=self.ir_beacon_channel):
self.turn(speed=self.walk_speed)
# turn right on the spot
elif self.ir_sensor.top_right(channel=self.ir_beacon_channel):
self.turn(speed=-self.walk_speed)
# stop
elif self.ir_sensor.bottom_left(channel=self.ir_beacon_channel):
self.tank_driver.off(brake=True)
# calibrate legs
elif self.ir_sensor.bottom_right(channel=self.ir_beacon_channel):
self.calibrate_legs()
def calibrate_legs(self):
self.tank_driver.on(left_speed=10, right_speed=20)
self.touch_sensor.wait_for_released()
self.tank_driver.off(brake=True)
self.left_motor.on(speed=40)
self.touch_sensor.wait_for_pressed()
self.left_motor.off(brake=True)
self.left_motor.on_for_rotations(rotations=-0.2,
speed=50,
brake=True,
block=True)
self.right_motor.on(speed=40)
self.touch_sensor.wait_for_pressed()
self.right_motor.off(brake=True)
self.right_motor.on_for_rotations(rotations=-0.2,
speed=50,
brake=True,
block=True)
self.left_motor.reset()
self.right_motor.reset()
def walk(self, speed: float = 100):
self.calibrate_legs()
self.steer_driver.on(steering=0, speed=-speed)
def turn(self, speed: float = 100):
self.calibrate_legs()
if speed >= 0:
self.left_motor.on_for_degrees(degrees=180,
speed=speed,
brake=True,
block=True)
else:
self.right_motor.on_for_degrees(degrees=180,
speed=-speed,
brake=True,
block=True)
self.tank_driver.on(left_speed=speed, right_speed=-speed)
def close_mouth(self):
self.jaw_motor.on_for_seconds(speed=-20,
seconds=1,
brake=False,
block=False)
def open_mouth(self):
self.jaw_motor.on_for_seconds(speed=20,
seconds=1,
block=False,
brake=False)
def roar(self):
self.speaker.play_file(wav_file='T-rex roar.wav',
volume=100,
play_type=Sound.PLAY_NO_WAIT_FOR_COMPLETE)
self.jaw_motor.on_for_degrees(speed=40,
degrees=-60,
block=True,
brake=True)
for i in range(12):
self.jaw_motor.on_for_seconds(speed=-40,
seconds=0.05,
block=True,
brake=True)
self.jaw_motor.on_for_seconds(speed=40,
seconds=0.05,
block=True,
brake=True)
self.jaw_motor.on_for_seconds(speed=20,
seconds=0.5,
brake=False,
block=True)
def main(self):
self.close_mouth()
while True:
self.roar_by_ir_beacon()
self.change_speed_by_color()
self.walk_by_ir_beacon()
class SuperTurtle:
def __init__(self,
left_leg_motor_port: str = OUTPUT_B,
right_leg_motor_port: str = OUTPUT_C,
shooting_motor_port: str = OUTPUT_A,
ir_sensor_port: str = INPUT_4,
ir_beacon_channel: int = 1,
touch_sensor_port: str = INPUT_1):
self.tank_driver = MoveTank(left_motor_port=left_leg_motor_port,
right_motor_port=right_leg_motor_port,
motor_class=LargeMotor)
self.shooting_motor = MediumMotor(address=shooting_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.speaker = Sound()
def drive_once_by_ir_beacon(self, channel: int = 1, speed: float = 100):
if self.ir_sensor.top_left(
channel=self.ir_beacon_channel) and self.ir_sensor.top_right(
channel=self.ir_beacon_channel):
# go forward
self.tank_driver.on_for_seconds(left_speed=-speed,
right_speed=0,
seconds=1,
brake=True,
block=True)
self.tank_driver.on_for_seconds(left_speed=0,
right_speed=-speed,
seconds=1,
brake=True,
block=True)
elif self.ir_sensor.bottom_left(channel=self.ir_beacon_channel
) and self.ir_sensor.bottom_right(
channel=self.ir_beacon_channel):
# go backward
self.tank_driver.on_for_seconds(left_speed=speed,
right_speed=0,
seconds=1,
brake=True,
block=True)
self.tank_driver.on_for_seconds(left_speed=0,
right_speed=speed,
seconds=1,
brake=True,
block=True)
elif self.ir_sensor.top_left(channel=self.ir_beacon_channel
) and self.ir_sensor.bottom_right(
channel=self.ir_beacon_channel):
# turn around left
self.tank_driver.on_for_seconds(left_speed=0,
right_speed=-speed,
seconds=1,
brake=True,
block=True)
self.tank_driver.on_for_seconds(left_speed=speed,
right_speed=0,
seconds=1,
brake=True,
block=True)
elif self.ir_sensor.top_right(
channel=self.ir_beacon_channel) and self.ir_sensor.bottom_left(
channel=self.ir_beacon_channel):
# turn around right
self.tank_driver.on_for_seconds(left_speed=-speed,
right_speed=0,
seconds=1,
brake=True,
block=True)
self.tank_driver.on_for_seconds(left_speed=0,
right_speed=speed,
seconds=1,
brake=True,
block=True)
elif self.ir_sensor.top_left(channel=self.ir_beacon_channel):
# turn left
self.tank_driver.on(left_speed=0, right_speed=-speed)
elif self.ir_sensor.top_right(channel=self.ir_beacon_channel):
# turn right
self.tank_driver.on(left_speed=-speed, right_speed=0)
elif self.ir_sensor.bottom_left(channel=self.ir_beacon_channel):
# left backward
self.tank_driver.on(left_speed=0, right_speed=speed)
elif self.ir_sensor.bottom_right(channel=self.ir_beacon_channel):
# right backward
self.tank_driver.on(left_speed=speed, right_speed=0)
else:
self.tank_driver.off(brake=False)
def shoot_objects_by_ir_beacon(self, channel: int = 1, speed: float = 1):
if self.ir_sensor.beacon(channel=channel):
self.shooting_motor.on_for_rotations(speed=speed,
rotations=6,
block=True,
brake=True)
while self.ir_sensor.beacon(channel=channel):
pass
else:
self.shooting_motor.off(brake=False)
def seek_the_fruit(self, distance: float = 10):
if self.ir_sensor.proximity <= distance:
self.speaker.play_file(wav_file='/home/robot/sound/Fanfare.wav',
volume=100,
play_type=Sound.PLAY_WAIT_FOR_COMPLETE)
def run_if_chased(self, speed: float = 100, how_many_steps: int = 3):
if self.touch_sensor.is_pressed:
# go forward
for i in range(how_many_steps):
self.tank_driver.on_for_seconds(left_speed=-speed,
right_speed=0,
seconds=1,
brake=True,
block=True)
self.tank_driver.on_for_seconds(left_speed=0,
right_speed=-speed,
seconds=1,
brake=True,
block=True)
class IRBeaconRemoteControlledTank:
def __init__(
self,
left_motor_port: str = OUTPUT_B,
right_motor_port: str = OUTPUT_C,
motor_class=LargeMotor,
polarity: str = Motor.POLARITY_NORMAL,
ir_sensor_port: str = INPUT_4,
# sites.google.com/site/ev3devpython/learn_ev3_python/using-sensors
ir_beacon_channel: int = 1):
self.left_motor = LargeMotor(address=left_motor_port)
self.right_motor = LargeMotor(address=right_motor_port)
self.tank_driver = \
MoveTank(
left_motor_port=left_motor_port,
right_motor_port=right_motor_port,
motor_class=motor_class)
self.steer_driver = \
MoveSteering(
left_motor_port=left_motor_port,
right_motor_port=right_motor_port,
motor_class=motor_class)
self.left_motor.polarity = self.right_motor.polarity = \
self.tank_driver.left_motor.polarity = \
self.tank_driver.right_motor.polarity = \
self.steer_driver.left_motor.polarity = \
self.steer_driver.right_motor.polarity = polarity
self.ir_sensor = InfraredSensor(address=ir_sensor_port)
self.tank_drive_ir_beacon_channel = ir_beacon_channel
def drive_once_by_ir_beacon(self, speed: float = 100):
# forward
if self.ir_sensor.top_left(
channel=self.tank_drive_ir_beacon_channel) and \
self.ir_sensor.top_right(
channel=self.tank_drive_ir_beacon_channel):
self.tank_driver.on(left_speed=speed, right_speed=speed)
# backward
elif self.ir_sensor.bottom_left(
channel=self.tank_drive_ir_beacon_channel) and \
self.ir_sensor.bottom_right(
channel=self.tank_drive_ir_beacon_channel):
self.tank_driver.on(left_speed=-speed, right_speed=-speed)
# turn left on the spot
elif self.ir_sensor.top_left(
channel=self.tank_drive_ir_beacon_channel) and \
self.ir_sensor.bottom_right(
channel=self.tank_drive_ir_beacon_channel):
self.steer_driver.on(steering=-100, speed=speed)
# turn right on the spot
elif self.ir_sensor.top_right(
channel=self.tank_drive_ir_beacon_channel) and \
self.ir_sensor.bottom_left(
channel=self.tank_drive_ir_beacon_channel):
self.steer_driver.on(steering=100, speed=speed)
# turn left forward
elif self.ir_sensor.top_left(
channel=self.tank_drive_ir_beacon_channel):
self.steer_driver.on(steering=-50, speed=speed)
# turn right forward
elif self.ir_sensor.top_right(
channel=self.tank_drive_ir_beacon_channel):
self.steer_driver.on(steering=50, speed=speed)
# turn left backward
elif self.ir_sensor.bottom_left(
channel=self.tank_drive_ir_beacon_channel):
self.tank_driver.on(left_speed=0, right_speed=-speed)
# turn right backward
elif self.ir_sensor.bottom_right(
channel=self.tank_drive_ir_beacon_channel):
self.tank_driver.on(left_speed=-speed, right_speed=0)
# otherwise stop
else:
self.tank_driver.off(brake=False)
# this method must be used in a parallel process/thread
# in order not to block other operations
def keep_driving_by_ir_beacon(self, speed: float = 100):
while True:
self.drive_once_by_ir_beacon(speed=speed)
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.tank_driver = MoveTank(left_motor_port=left_foot_motor_port,
right_motor_port=right_foot_motor_port,
motor_class=LargeMotor)
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.ir_beacon_channel = ir_beacon_channel
self.leds = Leds()
self.speaker = Sound()
def drive_once_by_ir_beacon(self, speed: float = 100):
# forward
if self.ir_sensor.top_left(
channel=self.ir_beacon_channel) and self.ir_sensor.top_right(
channel=self.ir_beacon_channel):
self.tank_driver.on(left_speed=speed, right_speed=speed)
# backward
elif self.ir_sensor.bottom_left(channel=self.ir_beacon_channel
) and self.ir_sensor.bottom_right(
channel=self.ir_beacon_channel):
self.tank_driver.on(left_speed=-speed, right_speed=-speed)
# turn left on the spot
elif self.ir_sensor.top_left(channel=self.ir_beacon_channel
) and self.ir_sensor.bottom_right(
channel=self.ir_beacon_channel):
self.tank_driver.on(left_speed=-speed, right_speed=speed)
# turn right on the spot
elif self.ir_sensor.top_right(
channel=self.ir_beacon_channel) and self.ir_sensor.bottom_left(
channel=self.ir_beacon_channel):
self.tank_driver.on(left_speed=speed, right_speed=-speed)
# turn left forward
elif self.ir_sensor.top_left(channel=self.ir_beacon_channel):
self.tank_driver.on(left_speed=0, right_speed=speed)
# turn right forward
elif self.ir_sensor.top_right(channel=self.ir_beacon_channel):
self.tank_driver.on(left_speed=speed, right_speed=0)
# turn left backward
elif self.ir_sensor.bottom_left(channel=self.ir_beacon_channel):
self.tank_driver.on(left_speed=0, right_speed=-speed)
# turn right backward
elif self.ir_sensor.bottom_right(channel=self.ir_beacon_channel):
self.tank_driver.on(left_speed=-speed, right_speed=0)
# otherwise stop
else:
self.tank_driver.off(brake=False)
def keep_driving_by_ir_beacon(self, speed: float = 100):
while True:
self.drive_once_by_ir_beacon(speed=speed)
def dance_whenever_ir_beacon_pressed(self):
while True:
while self.ir_sensor.beacon(channel=self.ir_beacon_channel):
self.tank_driver.on_for_seconds(left_speed=randint(-100, 100),
right_speed=randint(-100, 100),
seconds=1,
brake=False,
block=True)
def keep_detecting_objects_by_ir_sensor(self):
while True:
if self.ir_sensor.proximity < 25:
self.leds.animate_police_lights(color1=Leds.ORANGE,
color2=Leds.RED,
group1=Leds.LEFT,
group2=Leds.RIGHT,
sleeptime=0.5,
duration=5,
block=False)
self.speaker.play_file(wav_file='/home/robot/sound/Object.wav',
volume=100,
play_type=Sound.PLAY_WAIT_FOR_COMPLETE)
self.speaker.play_file(
wav_file='/home/robot/sound/Detected.wav',
volume=100,
play_type=Sound.PLAY_WAIT_FOR_COMPLETE)
self.speaker.play_file(
wav_file='/home/robot/sound/Error alarm.wav',
volume=100,
play_type=Sound.PLAY_WAIT_FOR_COMPLETE)
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_file(
wav_file='/home/robot/sound/Up.wav',
volume=100,
play_type=Sound.PLAY_WAIT_FOR_COMPLETE)
self.bazooka_blast_motor.on_for_rotations(speed=100,
rotations=-3,
brake=True,
block=True)
self.speaker.play_file(
wav_file='/home/robot/sound/Laughing 1.wav',
volume=100,
play_type=Sound.PLAY_WAIT_FOR_COMPLETE)
else:
self.speaker.play_file(
wav_file='/home/robot/sound/Down.wav',
volume=100,
play_type=Sound.PLAY_WAIT_FOR_COMPLETE)
self.bazooka_blast_motor.on_for_rotations(speed=100,
rotations=3,
brake=True,
block=True)
self.speaker.play_file(
wav_file='/home/robot/sound/Laughing 2.wav',
volume=100,
play_type=Sound.PLAY_WAIT_FOR_COMPLETE)
self.touch_sensor.wait_for_released()
def main(self, driving_speed: float = 100):
# FIXME
# Unhandled exception in thread started by <bound_method b6bbfd60 <Thread object at b6bbe450>.<function run at 0xb6bb4a20>>
# Traceback (most recent call last):
# File "threading/threading.py", line 15, in run
# File "ev3dev2/sensor/lego.py", line 885, in top_left
# File "ev3dev2/sensor/lego.py", line 919, in buttons_pressed
# File "ev3dev2/sensor/__init__.py", line 203, in value
# File "ev3dev2/__init__.py", line 307, in get_attr_int
# ValueError: invalid syntax for integer with base 10: ''
Thread(target=self.dance_whenever_ir_beacon_pressed).start()
# 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).start()
Thread(target=self.blast_bazooka_whenever_touched).start()
self.keep_driving_by_ir_beacon(speed=driving_speed)