def ConnectToNxt():
brick = nxt.bluesock.BlueSock('00:16:53:04:17:F1').connect()
motor_right = Motor(brick, PORT_A)
motor_left = Motor(brick, PORT_C)
ultrasonic_front = Ultrasonic(brick, PORT_2)
ultrasonic_left = Ultrasonic(brick, PORT_1)
ultrasonic_right = Ultrasonic(brick, PORT_3)
return motor_right, motor_left, ultrasonic_front, ultrasonic_left, ultrasonic_right
def main():
b = find_one_brick()
eyes = Motor(b, PORT_A)
wheels = [Motor(b, PORT_B), Motor(b, PORT_C)]
ultrasonic = Ultrasonic(b, PORT_4)
phizic(eyes, wheels, ultrasonic)
def main(robot):
# Définition des moteurs / capteurs
m_left = Motor(robot, PORT_B)
m_right = Motor(robot, PORT_A)
touch_right = Touch(robot, PORT_2)
touch_left = Touch(robot, PORT_1)
ultrason = Ultrasonic(robot, PORT_3)
DEFAULT_POWER = 80
DISTANCE_LIMIT = 20
TURN_TIME = 1.5
# Début
while True:
m_left.run(power=DEFAULT_POWER)
m_right.run(power=DEFAULT_POWER)
while not touch_right.is_pressed() and not touch_left.is_pressed(
) and ultrason.get_distance() > DISTANCE_LIMIT:
sleep(0.01)
print("Aieee")
if touch_right.is_pressed():
m_left.run(power=DEFAULT_POWER)
m_left.run(power=-DEFAULT_POWER)
else:
m_left.run(power=-DEFAULT_POWER)
m_left.run(power=DEFAULT_POWER)
sleep(TURN_TIME)
def initialize(self):
super(DrivarNxt, self).initialize()
self.m_block = nxt.locator.find_one_brick()
self.m_leftMotor = Motor(self.m_block, PORT_A)
self.m_rightMotor = Motor(self.m_block, PORT_C)
self.m_ultrasonicSensor = Ultrasonic(self.m_block, PORT_4)
self.m_initialized = True
def initialize(self):
super(DrivarNxt, self).initialize()
self.block = nxt.locator.find_one_brick()
self.leftMotor = Motor(self.block, PORT_A)
self.rightMotor = Motor(self.block, PORT_C)
self.penMotor = Motor(self.block, PORT_B)
self.ultrasonicSensor = Ultrasonic(self.block, PORT_4)
self.lightSensor = Light(self.block, PORT_3)
self.initialized = True
def getCompass(self, port):
if self._bricks:
try:
port = int(port)
except:
pass
if (port in NXT_SENSOR_PORTS):
try:
port_aux = NXT_SENSOR_PORTS[port]
sensor = Ultrasonic(self._bricks[self.active_nxt], port_aux)
return sensor.get_sample()
except:
return ERROR
else:
raise logoerror(ERROR_PORT_S % port)
else:
raise logoerror(ERROR_BRICK)
def __init__(self, brick='NXT'):
r'''Creates a new Alpha Rex controller.
brick
Either an nxt.brick.Brick object, or an NXT brick's name as a
string. If omitted, a Brick named 'NXT' is looked up.
'''
if isinstance(brick, basestring):
brick = find_one_brick(name=brick)
self.brick = brick
self.arms = Motor(brick, PORT_C)
self.left = Motor(brick, PORT_A)
self.right = Motor(brick, PORT_B)
self.direction = HTCompass(brick, PORT_2)
self.ultrasonic = Ultrasonic(brick, PORT_4)
def __init__(self, brick='NXT'):
r'''Creates a new Alpha Rex controller.
brick
Either an nxt.brick.Brick object, or an NXT brick's name as a
string. If omitted, a Brick named 'NXT' is looked up.
'''
if isinstance(brick, str):
brick = find_one_brick(name=brick)
self.brick = brick
self.arms = Motor(brick, PORT_A)
self.legs = [Motor(brick, PORT_B), Motor(brick, PORT_C)]
self.touch = Touch(brick, PORT_1)
self.sound = Sound(brick, PORT_2)
self.light = Light(brick, PORT_3)
self.ultrasonic = Ultrasonic(brick, PORT_4)
def see(self, ultrasonicPort='PORT_4', ultrasonicDistance=25, operator='<', initial=False):
"""
Use the ultrasonic sensor to see obstacles (0-255) with 25 being about a foot away
ultrasonicPort (str): The port used for the ultrasonic sensor (default='PORT_4')
ultrasonicDistance (int): The distance that the ultrasonic returns true [0-255, 25~1foot] (default=25)
operator (str): The operator for comparing distance ['<','>','=','!='] (default='<')
"""
ultrasonic=Ultrasonic(self.nxt.brick, eval(ultrasonicPort))
if initial:
return False #don't return true until actually checked sensor value
else:
data = ultrasonic.get_sample() #integer between 0 and 255
output = operation(data,operator,ultrasonicDistance)
if output:
print 'Ultrasonic Distsance is '+operator+' '+str(ultrasonicDistance)
return output
def __init__(self, brick="NXT"):
if isinstance(brick, basestring):
brick = find_one_brick(name=brick)
self.motor = True
self.sensor = True
try:
self.brick = brick
except:
print("No brick found")
try:
self.wheels = [Motor(brick, PORT_A), Motor(brick, PORT_B)]
except:
self.motor = False
print("No motors detected!")
try:
self.bat_eyes = Ultrasonic(brick, PORT_1)
except Exception as e:
self.sensor = False
print(e)
print("No sensor found")
def getDistance(self, port):
if self._bricks:
time.sleep(0.5)
try:
port = int(port)
except:
pass
if (port in NXT_SENSOR_PORTS):
res = ERROR
#try:
port_aux = NXT_SENSOR_PORTS[port]
sensor = Ultrasonic(self._bricks[self.active_nxt], port_aux)
res = sensor.get_sample()
#except:
#pass
return res
else:
pass
else:
pass
def sonar_reading():
x = [Ultrasonic(brick, PORT_1).get_sample(), 0]
return x
def ultrasonic(port):
u = Ultrasonic(b, SENSORS[port])
return str(u.get_distance())
brick = nxtConnect.btConnect(brickName)
print(brick.get_device_info()) # check what brick you connected to
from time import sleep
from nxt.motor import Motor, PORT_A, PORT_B, PORT_C
from nxt.sensor import Touch, PORT_4, PORT_3, PORT_2, Light, PORT_1, Ultrasonic
#from basicFunctions import step, calibrate
light = Light(brick, PORT_1)
turningMotor = Motor(brick, PORT_B)
walkingMotor = Motor(brick, PORT_C)
armMotor = Motor(brick, PORT_A)
legPosition = Touch(brick, PORT_3)
ultrasonic = Ultrasonic(brick, PORT_4)
def step(forwardPower):
#print('stepping')
walkingMotor.run(power = forwardPower)
sleep(.1)
while True:
if legPosition.is_pressed() == True:
walkingMotor.run(power = 0)
walkingMotor.brake()
return
def lineFollow():
step(120)
pass
def ultrasonic(self):
us = Ultrasonic(self.brick, PORT_3)
return us.get_distance()
print(brick.get_device_info()) # check what brick you connected to
from time import sleep
from nxt.sensor import Light, Touch, Ultrasonic
from nxt.sensor import PORT_1, PORT_2, PORT_3, PORT_4
from nxt.motor import Motor, PORT_A, PORT_B, PORT_C
"""##########################################################################################
################################ IMPORT MOTORS AND SENSORS HERE ################################
###########################################################################################"""
motorLeft = Motor(brick, PORT_B)
motorRight = Motor(brick, PORT_C)
armMotor = Motor(brick, PORT_A)
light = Light(brick, PORT_3)
touch = Touch(brick, PORT_4)
sonar = Ultrasonic(brick, PORT_2)
led = Light(brick, PORT_1) # experimental
"""########################################################################################"""
def binIdent():
n = 50
#wait .25 seconds after the kill-switch is released
sleep(.25)
while n > 0:
print("Bin Identification Running, power = %d" % n)
# print(sonar.get_distance())
armMotor.run(power=n)
# the bluetooth function of the nxt library works too, but "wastes"
# time searching for devices.
brick = nxtConnect.btConnect(brickName)
print(brick.get_device_info()) # check what brick you connected to
from time import sleep
from nxt.motor import Motor, PORT_A, PORT_B, PORT_C
from nxt.sensor import Touch, PORT_4, PORT_3, PORT_2, Light, PORT_1, Ultrasonic
light = Light(brick, PORT_4)
turningMotor = Motor(brick, PORT_B)
walkingMotor = Motor(brick, PORT_C)
armMotor = Motor(brick, PORT_A)
touch = Touch(brick, PORT_1)
ultrasonic = Ultrasonic(brick, PORT_2)
compass = Ultrasonic(brick, PORT_3)
# LINE FOLLOW VARIABLES
turningPower = 65 # 70, normalized, motor power used when turning in line follow
negInertiaPower = 70 # 65, normalized, motor power for negative inertia
findLineTimeOut = 0.5 # 0.5, time between switching motor to the opposite direction
negInertiaLengthOnWhite = 0.07 # 0.2, time before braking on negative inertia when originally on white
negInertiaLengthOnBlack = 0.07 # 0.05, time before braking on ngative inertia when originally on black (should be smaller than white to prevent overshooting the line)
# CALIBRATION VARIABLES
calTurningPower = 70 # 70, normalized, motor power used to turn when calibrate
calFirstTurnTime = 0.2 # 0.2, time to turn on first turn
calSecondTurnTme = 0.1 # 0.15, time to turn on second turn
calDelta = 10 # no default since it's new, range of light values for which line follow continues going straight (range is 2 * delta)
brick = nxtConnect.btConnect(brickName)
from time import sleep
from nxt.motor import SynchronizedMotors
# see files in library ( /usr/local/lib/python2.7/dist-packages/nxt )
# for a more comprehensive list of ports / commands available
from nxt.motor import Motor, PORT_A, PORT_B, PORT_C
from nxt.sensor import Light, Sound, Touch, Ultrasonic
from nxt.sensor import PORT_1, PORT_2, PORT_3, PORT_4
try:
motorLeft = Motor(brick, PORT_A) # plug motor into Port A
motorRight = Motor(brick, PORT_B) # plug motor into Port B
motorBoth = nxt.SynchronizedMotors(motorRight, motorLeft, 0)
ultraSensor = Ultrasonic(brick,
PORT_1) # plug ultrasonic sensor into Port 1
#motorSync = SynchronizedMotors(motorA, motorB, 10000)
#motorSync.idle()
while ultraSensor.get_sample() > 10:
print("Current ultrasonic sensor state: {}".format(
ultraSensor.get_sample()))
motorBoth.run(power=-120)
'''motorA.run(power = -128) #go forward
motorB.run(power = -128) #go forward'''
finally:
Motor(brick, PORT_A).idle() # otherwise motor keeps running
Motor(brick, PORT_B).idle() # otherwise motor keeps running
print("Terminating Program")
brick.sock.close()
