# Code 310 - L1 trigger
# Code 311 - R1 trigger
# Code 314 - Share button
# Code 315 - Options button
# Code 316 - PS button
elif ev_type == 3:
# Type 3 event - sticks
# Code 3 - right stick horizontal
# Code 2 - L2 trigger
# Code 5 - R2 trigger
# Code 0 - left stick horizontal (left is 0)
# Code 1 - left stick vertical (forward is 0)
# Code 4 - r stick vertical
# Code 17 - dpad vertical
# Code 16 - dpad horizontal
if code == 3:
left = scale(value, (0, 255), (40, -40))
if code == 1: # Righ stick vertical
forward = scale(value, (0, 255), (100, -100))
# Set motor voltages.
left_motor.dc(-forward)
right_motor.dc(-forward)
# Track the steering angle
steer_motor.track_target(left)
# Finally, read another event
event = in_file.read(EVENT_SIZE)
in_file.close()
# setup serial port
serial = UARTDevice(Port.S4, baudrate=9600, timeout=None)
serial.clear()
while (1):
if SystemLink.Get_SL('Start27') == 'true':
throw_ball()
SystemLink.Put_SL('Start27', 'BOOLEAN', 'false')
if touch1.pressed() == True:
throw_ball()
SystemLink.Put_SL('Start28', 'BOOLEAN', 'true')
if len(ev3.buttons.pressed()) > 0:
print("Catching Ball")
wait(3000)
motorD.track_target(40)
# collect data from serial port and move armw
while (1):
serial.clear()
ang1 = ""
ang2 = ""
curr_byte = serial.read()
#print(curr_byte)
# decode instructions once b'a' is seen
if curr_byte == b'a':
# get angles
curr_byte = serial.read()
while (curr_byte != b'b'):
ang1 += curr_byte.decode('utf-8')
curr_byte = serial.read()
#!/usr/bin/env pybricks-micropython
from pybricks import ev3brick as brick
from pybricks.ev3devices import (Motor, TouchSensor, ColorSensor,
InfraredSensor, UltrasonicSensor, GyroSensor)
from pybricks.parameters import (Port, Stop, Direction, Button, Color,
SoundFile, ImageFile, Align)
from pybricks.tools import print, wait, StopWatch
from pybricks.robotics import DriveBase
left_motor = Motor(Port.B)
left_motor.track_target(360)
left_motor.run_angle(360, 360, Stop.BRAKE, True)
from pybricks.ev3devices import (Motor, TouchSensor, ColorSensor,
InfraredSensor, UltrasonicSensor, GyroSensor)
from pybricks.parameters import Port, Stop, Direction, Button, Color
from math import sin, radians, pi, atan2, degrees
from connection import SpikePrimeStreamReader, SpikeRCWheel
# Create the connection. See README.md to find the address for your SPIKE hub.
wheel = SpikeRCWheel('38:0B:3C:A3:45:0D')
steer_motor = Motor(Port.A)
sheet_motor = Motor(Port.D)
sheet_spd = 0
left = 0
sheet_pos = 0
# Now you can simply read values!
while True:
steer_motor.track_target(wheel.steering() * -1 + wheel.right_thumb())
if wheel.left_paddle() > 15:
sheet_spd = wheel.left_paddle() * -10
else:
sheet_spd = wheel.right_paddle() * 10
sheet_motor.run(sheet_spd)
motorB.run_angle(speed=500, rotation_angle=180, then=Stop.HOLD, wait=True)
printMotor(motorB, ev3.screen)
waiter(ir)
ev3.screen.print('=run target 90=')
motorB.run_target(speed=500, target_angle=90, then=Stop.HOLD, wait=True)
printMotor(motorB, ev3.screen)
waiter(ir)
ev3.screen.print('=angle 90=')
motorB.run_angle(speed=500, rotation_angle=90, then=Stop.HOLD, wait=True)
printMotor(motorB, ev3.screen)
waiter(ir)
ev3.screen.print('=track target 90=')
motorB.track_target(target_angle=90)
waiter(ir)
ev3.screen.print('=until stalled=')
motorB.run_until_stalled(15, then=Stop.COAST, duty_limit=10)
printMotor(motorB, ev3.screen)
waiter(ir)
ev3.screen.print('=duty 100=')
motorB.dc(100)
waiter(ir)
printMotor(motorB, ev3.screen)
motorB.stop()
waiter(ir)
ev3.screen.print('=duty -100=')
#!/usr/bin/env pybricks-micropython
from pybricks import ev3brick as brick
from pybricks.ev3devices import Motor
from pybricks.parameters import Port, Button, Stop
from pybricks.tools import print, wait, StopWatch
import math
motor = Motor(Port.B)
watch = StopWatch()
amplitude = 90
while True:
bts = brick.buttons()
t = watch.time() / 1000
angle = math.sin(t) * amplitude
motor.track_target(angle)
if Button.CENTER in bts:
break
skr = list()
skk = list()
for i in range(3):
robot.drive(100, 0)
while not (dcl.color() == Color.BLACK and dcp.color() == Color.BLACK):
wait(10)
robot.drive_time(50, 0, 330)
if i == 0:
mc.run_time(-700, 2100)
sh_code()
# robot.drive_time(150, 0, 870)
nch_hr()
for j in range(2):
mb.track_target(360)
wait(1300)
mb.stop()
wait(300)
# mc.run_time(-300, 1000)
for i in range(2):
robot.drive(100, 0)
while dr.distance() > 45:
wait(10)
robot.stop()
line()
robot.drive_time(0, 100, 835)
# mc.run_time(300, 1000)
if i == 0:
mc.run_time(700, 2100)
else:
# Read from the file
# long int, long int, unsigned short, unsigned short, unsigned int
FORMAT = 'llHHI'
EVENT_SIZE = struct.calcsize(FORMAT)
event = in_file.read(EVENT_SIZE)
while event:
brick.light(Color.GREEN)
(tv_sec, tv_usec, ev_type, code, value) = struct.unpack(FORMAT, event)
if ev_type == 1:
if code == 305:
# Taskuparkki Ympyralla
brick.light(Color.RED)
brick.light(Color.ORANGE)
steer_motor.track_target(45)
#brick.sound.beep(500, 1000, 200)
robot.drive_time(-40, 0, 1000)
steer_motor.track_target(0)
#.sound.beep(500, 1000, 200)
robot.drive_time(-40, 0, 500)
steer_motor.track_target(-35)
#brick.sound.beep(500, 1000, 200)
robot.drive_time(-40, 0, 1000)
steer_motor.track_target(0)
#brick.sound.beep(500, 1000, 200)
robot.drive_time(-30, 0, 300)
robot.drive_time(30, 0, 500)
#while obstacle_sensor.distance() > 100:
# robot.drive(-100, 0)
# brick.sound.beep(500, 1000, 200)
t.start() # start angle-integration routine
# max speed (deg/sec * 10) and accel (deg/s ^2)
#test_motor.set_run_settings(500, 400)
# Run the motor up to 500 deg/s to a target angle of X degrees.
#test_motor.run_target(500, 360)
# Play another beep sound.
# This time with a higher pitch (1000 Hz) and longer duration (500 ms).
brick.sound.beep(100, 10)
# ==========================================
mC.track_target(0)
# mC.stop(Stop.HOLD)
pi = 3.14159265359 # roughly
pi2 = pi * 2.0 # roughly
angB = 0
angC = 0
# wiggle-waggle loop running one wheel, then the other
while True:
sstart = watch.time() / 1000
mB.reset_angle(0)
while True:
seconds = watch.time() / 1000 - sstart # time in seconds
angle_now = (2 - (1 + cos(seconds))) * amplitude
elif ev_type == 3 and code == 1:
left_stick_y = value
process_event = True
if process_event:
# Scale stick positions to -100,100
forward = scale(left_stick_y, (0, 65535), (100, -100))
left = scale(left_stick_x, (0, 65535),
(max_steering_angle, -max_steering_angle))
if (-left_stick_deadzone < forward and forward < left_stick_deadzone
and -left_stick_deadzone < left
and left < left_stick_deadzone):
# Stop driving motors
left_motor.dc(0)
right_motor.dc(0)
# Set steering to center
steer_motor.track_target(0)
else:
# Set motor voltages. If we're steering left, the left motor
# must run backwards so it has a -left component
# It has a forward component for going forward too.
left_motor.dc(-forward)
right_motor.dc(forward)
# Set steering angle
steer_motor.track_target(-left)
# Finally, read another event
event = in_file.read(EVENT_SIZE)
in_file.close()
