class AutonomousCar:
def __init__(self, settings):
self.settings = settings
self.go_ahead = True
self.turn = False
self.turn_angle = 30
if bool(random.getrandbits(1)):
self.turn_angle *= -1
self.initiate_objects()
if settings['run_test']:
self.test_function()
else:
self.calibrate()
self.the_loop()
def initiate_objects(self):
self.hub = MSHub()
self.hub.status_light.on('orange')
self.motor_front = Motor(self.settings['motor_front_port'])
self.motor_rear = Motor(self.settings['motor_rear_port'])
self.dist_sens = DistanceSensor(self.settings['dist_sens_port'])
def calibrate(self):
self.motor_front.run_to_position(self.settings['motor_front_angle'])
def test_function(self):
self.hub.light_matrix.show_image('PACMAN')
sounds_and_colors = [(65, "blue"), (70, "azure"), (60, "cyan")]
for i in sounds_and_colors:
self.hub.speaker.beep(i[0], 0.3)
self.hub.status_light.on(i[1])
self.hub.light_matrix.off()
def end_turn(self):
self.turn = False
self.motor_front.run_for_degrees(self.turn_angle * -1)
def the_loop(self):
self.hub.light_matrix.write('GO')
self.hub.status_light.on('green')
loop_time_diff = 0
loop_start_time = time.time()
turn_time_diff = 0
turn_start_time = None
while loop_time_diff < self.settings['how_long_run']:
how_far = self.dist_sens.get_distance_cm()
rear_speed = self.settings.get('motor_rear_speed')
if self.turn:
self.hub.status_light.on('yellow')
turn_time_control = time.time()
turn_time_diff = turn_time_control - turn_start_time
if isinstance(
how_far, int
) and how_far <= self.settings['dist_threshold_low']:
self.go_ahead = False
self.end_turn()
elif turn_time_diff >= self.settings['turn_in_seconds']:
self.end_turn()
elif self.go_ahead:
self.hub.status_light.on('green')
rear_speed = rear_speed * -1
if isinstance(
how_far, int
) and how_far <= self.settings['dist_threshold_low']:
self.go_ahead = False
else:
self.hub.status_light.on('blue')
if isinstance(
how_far, int
) and how_far >= self.settings['dist_threshold_high']:
self.turn = True
turn_start_time = time.time()
self.motor_front.run_for_degrees(self.turn_angle)
self.go_ahead = True
self.motor_rear.start(rear_speed)
wait_for_seconds(0.25)
loop_time_control = time.time()
loop_time_diff = loop_time_control - loop_start_time
self.motor_rear.stop()
self.calibrate()
self.hub.light_matrix.write('STOP')
# # Set arm motors to starting position
# %%
print("Setting arm motors to position 0...")
motor_left_arm.run_to_position(0)
motor_right_arm.run_to_position(0)
print("DONE!")
# %% [markdown]
# # Configure sensor
# %%
print("Configuring sensors...")
color_sensor = ColorSensor('C')
distance_sensor = DistanceSensor('D')
distance_sensor.light_up_all()
print("DONE!")
# %% [markdown]
# # Make Charlie roam around
# %%
print("Roaming...")
# While testing, it can be quite annoying having Charlie moving around.
# If you wish, you can just comment the following line. This way,
# Charlie will stay still while you test your program.
motors_wheels.start()
# %% [markdown]
def initiate_objects(self):
self.hub = MSHub()
self.hub.status_light.on('orange')
self.motor_front = Motor(self.settings['motor_front_port'])
self.motor_rear = Motor(self.settings['motor_rear_port'])
self.dist_sens = DistanceSensor(self.settings['dist_sens_port'])
# https://antonsmindstorms.com
# This code is meant to run on a LEGO MINDSTORMS Robot Inventor Snake
# Connect to it using a steering wheel or app:
# https://play.google.com/store/apps/details?id=com.antonsmindstorms.mindstormsrc&hl=nl&gl=US
# Building instructions for the snake:
# https://antonsmindstorms.com/product/robot-snake-with-multiple-51515-inventor-sets/
from hub import port
from time import sleep_ms
import math
from projects.mpy_robot_tools.rc import RCReceiver, R_STICK_VER, L_STICK_HOR, SETTING2
from projects.mpy_robot_tools.motor_sync import Mechanism, AMHTimer
from mindstorms import DistanceSensor
ds = DistanceSensor('A')
rcv = RCReceiver(name="snake")
motors = [
port.C.motor,
port.D.motor,
port.E.motor,
port.F.motor,
]
def sine_wave_w_params(amplitude=100, period=1000, offset_factor=0):
def function(x, delay_setting=0, baseline=0):
# global baseline, delay_setting
return baseline + math.sin((x - delay_setting * offset_factor) /
period * 2 * math.pi) * amplitude
motor_turret = Motor('B') # Turrent spinning
# %%
print("Setting motors to position 0...")
motor_steer.run_to_position(45, speed=100)
motor_steer.run_to_position(0, speed=100)
motor_turret.run_to_position(0, speed=75)
print("DONE!")
# %% [markdown]
# # Initialize distance sensor
# %%
print("Initializing distance sensor...")
distance_sensor = DistanceSensor('D')
print("DONE!")
# %% [markdown]
# # Put the AAT MS5 in motion
#
# The tank will move until the distance sensor detects an obstacle.
#
# The steering is given by `POSITION`.
# * A value between `0` and `90` will steer the tank to the left.
# - A value closer to `0` will make the tank turn wider.
# - A value closer to `90` will make the tank turn tighter.
#
# * A value between `270` and `360` will steer the tank to the right.
# - A value closer to `270` will make the tank turn tighter.
# - A value closer to `360` will make the tank turn wider.
# Radar car - this car drives only north<->south or east<->west, when hitting a wall rotating to where is the most space.
from mindstorms import MSHub, Motor, MotorPair, DistanceSensor
import math
import sys
# Setup hardware
hub = MSHub()
mradar = Motor("C")
sradar = DistanceSensor("F")
mdrive = MotorPair("A", "B")
# Lights up 5x5 matrix.
# Parameter `bits` is a 25 bits vector: a 1 switches on that led.
# Bit 24 is upper left, bit 0 is lower right.
def set_image(bits):
hub.light_matrix.off()
cur = 1 << 24
for y in range(5):
for x in range(5):
if bits & cur: hub.light_matrix.set_pixel(x, y, 100)
cur >>= 1
# Emits 3 tone fancy beep
def beep():
hub.speaker.beep(60, 0.1)
hub.speaker.beep(70, 0.1)
hub.speaker.beep(62, 0.1)
# %% [markdown]
# # Set arm motors to starting position
# %%
print("Setting arm motors to position 0...")
motor_left_arm.run_to_position(0)
motor_right_arm.run_to_position(0)
print("DONE!")
# %% [markdown]
# # Make Charlie shy
# %%
# Initialize the distance sensor.
print("Initializing the distance sensor...")
distance_sensor = DistanceSensor('D')
print("DONE!")
# %%
# Turn on the lights of the distance sensor.
print("Turning on the distance sensor...")
distance_sensor.light_up_all(100)
print("DONE!")
# %% [markdown]
# Define Charlie's shy reaction.
# %%
while True:
# Get distance measurement.
# %% [markdown]
# # Set arm motors to starting position
# %%
print("Setting arm motors to position 0...")
motor_left_arm.run_to_position(0)
motor_right_arm.run_to_position(0)
print("DONE!")
# %% [markdown]
# # Configure sensor
# %%
print("Configuring distance sensor...")
distance_sensor = DistanceSensor('D')
distance_sensor.light_up_all()
print("DONE!")
# %% [markdown]
# # High five!
# %%
print("Waiting for high five intention...")
distance_sensor.wait_for_distance_closer_than(12, unit='cm')
distance_sensor.light_up_all(0)
print("DONE!")
# %%
print("Let's high five!")
motor_right_arm.run_for_degrees(-120)