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 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 ultrasonic(self):
us = Ultrasonic(self.brick, PORT_3)
return us.get_distance()
def legPosition():
touchState = touch.get_input_values().calibrated_value
if touchState == 829 or touchState == 810:
return True
else:
return False
def step(forwardPower = 120):
walkingMotor.run(forwardPower)
sleep(.2) # give it time to move off touch sensor
while not legPosition():
pass
walkingMotor.run(0)
walkingMotor.brake()
return
outFile = open('compassValueswithMagnet.txt', 'w')
try:
while True:
step()
compassVal = compass.get_distance()
outFile.write('%f\n' % compassVal)
print(compassVal)
except:
outFile.close()
walkingMotor.idle()
def ultrasonic(port):
u = Ultrasonic(b, SENSORS[port])
return str(u.get_distance())
class Dog(object):
STATE_WALKING = 0
STATE_SEARCHING = 2
STATE_RESTING = 1
def __init__(self):
self.brick = nxt.bluesock.BlueSock('00:16:53:08:51:40').connect()
self.right = Motor(self.brick, PORT_A)
self.left = Motor(self.brick, PORT_C)
self.legs = Legs(self.right, self.left)
#self.ear = Sound(self.brick, PORT_2)
self.sonic = Ultrasonic(self.brick, PORT_4)
self.owner_distance = 0
self.stamina = 200
@property
def distance_ahead(self):
return self.sonic.get_distance()
def tire(self):
self.stamina -= 1
def rest(self):
self.state = self.STATE_RESTING
print "Resting"
self.stop()
time.sleep(random.randint(30, 90))
self.stamina = 200
return self.walk()
def walk(self):
self.state = self.STATE_WALKING
print "Walking"
self.legs.walk()
while True:
if self.distance_ahead < 40:
return self.search()
self.tire()
if self.stamina == 0:
return self.rest()
def search(self):
self.state = self.STATE_SEARCHING
print "Searching"
angle = 0.5
max_angle = 15
direction = random.choice((-1, 1))
while angle < max_angle:
start = time.time()
while self.distance_ahead > 100 and time.time() < start + angle:
self.legs.turn(direction)
self.legs.stop()
if self.distance_ahead <= 100:
return self.walk()
direction *= -1
angle *= 1.5
self.tire()
if self.stamina == 0:
return self.rest()
return self.walk()
def stop(self):
self.legs.stop()
step(100)
binIdentity = binID() # picks up bin and returns what it is (1 for organic, 2 for ceramic, 3 for metallic)
hasBin = True
n = 0 # no bin drop off locations have been found yet
initialCompass = compass.get_distance()
compassUpper = initialCompass + compassDelta
compassLower = initialCompass - compassDelta
while hasBin:
if compassLower < compass.get_distance() < compassUpper:
lineFollow()
else:
n += 1 # bin drop off location found
if n == binIdentity:
binDropOff()
hasBin = False
else:
for i in range(binDropOffStepBuffer): # don't want to register the same bin drop off location twice, may not be necessary
lineFollow()
#main()
while ultrasonic.get_distance() >= 7:
step(100)
print(ultrasonic.get_distance())
sleep(.1)
binPickup()
sleep(.5)
binDropOff()
class Dog(object):
MIN_OWNER_DISTANCE = 30
MAX_OWNER_DISTANCE = 40
LOST_DISTANCE = 100
def __init__(self):
self.brick = nxt.bluesock.BlueSock("00:16:53:08:51:40").connect()
# self.brick = nxt.locator.find_one_brick()
self.right = Motor(self.brick, PORT_A)
self.left = Motor(self.brick, PORT_C)
self.legs = Legs(self.right, self.left)
# self.ear = Sound(self.brick, PORT_2)
self.sonic = Ultrasonic(self.brick, PORT_4)
self.owner_distance = 0
self.last_distance = 255
@property
def distance_ahead(self):
sample = self.sonic.get_distance()
if sample == 255:
self.last_distance += 20
return self.last_distance
self.last_distance = sample
return sample
def wait(self):
print "Waiting"
self.stop()
while True:
distance = self.distance_ahead
if distance > 30 and distance < 40:
self.owner_distance = distance
print "owner distance: %d" % distance
return self.follow()
def follow(self):
print "Following"
while True:
distance = self.distance_ahead
if distance > self.owner_distance + 50:
return self.search()
if distance > self.owner_distance:
self.legs.walk(50 + distance - self.owner_distance)
elif distance < self.owner_distance:
self.legs.walk_back(50 + self.owner_distance - distance)
else:
self.stop()
time.sleep(0.5)
def search(self):
print "Searching"
angle = 0.5
max_angle = 64
direction = random.choice((-1, 1))
while angle < max_angle:
start = time.time()
while self.distance_ahead > 100 and time.time() < start + angle:
self.legs.turn(direction)
self.legs.stop()
if self.distance_ahead <= 100:
return self.follow()
direction *= -1
angle *= 2
return self.wait()
def stop(self):
self.legs.stop()
