def main(self, speed: float = 1000):
self.medium_motor.run_time(
speed=-200, # deg/s
time=1000, # ms
then=Stop.HOLD,
wait=True)
run_parallel(self.keep_driving_by_ir_beacon, self.hammer_by_ir_beacon)
def main(self):
self.screen.load_image(ImageFile.EVIL)
run_parallel(
self.be_noisy_to_people,
self.sting_by_ir_beacon,
self.pinch_if_touched,
self.keep_driving_by_ir_beacon)
def main(
self,
driving_speed: float = 1000 # mm/s
):
self.screen.load_image(ImageFile.TARGET)
run_parallel(self.keep_driving_by_ir_beacon,
self.blast_bazooka_whenever_touched)
def main(self, speed: float = 1000):
self.grip_motor.run_time(speed=-500,
time=1000,
then=Stop.BRAKE,
wait=True)
run_parallel(self.grip_or_release_by_ir_beacon,
self.keep_driving_by_ir_beacon)
def main(
self,
driving_speed: float = 1000 # mm/s
):
self.screen.load_image(ImageFile.TARGET)
run_parallel(
self.keep_driving_by_ir_beacon,
# FIXME: following thread seems to fail to run
self.dance_whenever_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.keep_detecting_objects_by_ir_sensor,
self.blast_bazooka_whenever_touched)
def main(self, speed: float = 1000):
run_parallel(
self.say_when_touched,
self.spin_fan,
self.keep_driving_by_ir_beacon)
TOUCH_SENSOR = TouchSensor(port=Port.S1)
IR_SENSOR = InfraredSensor(port=Port.S4)
MOTOR = Motor(port=Port.A)
def touch_to_turn_motor_clockwise():
while True:
if TOUCH_SENSOR.pressed():
MOTOR.run_time(
speed=1000, # deg/s
time=1000, # ms
then=Stop.HOLD,
wait=True)
def press_any_ir_remote_button_to_turn_motor_counterclockwise():
while True:
if IR_SENSOR.buttons(channel=1):
MOTOR.run_time(
speed=-1000, # deg/s
time=1000, # ms
then=Stop.HOLD,
wait=True)
run_parallel(touch_to_turn_motor_clockwise,
press_any_ir_remote_button_to_turn_motor_counterclockwise)
# observation: both threads run successfully WITH mutual blocking
# i.e. 1 thread CANNOT interrupt/reverse the other thread's Motor movement mid-stream
def main(self):
self.speaker.play_file(file=SoundFile.YES)
run_parallel(self.scan_colors, self.make_noise_when_touched,
self.throw_by_ir_beacon, self.keep_driving_by_ir_beacon)
#!/usr/bin/env pybricks-micropython
from pybricks.experimental import run_parallel
from dinor3x_pybricks import Dinor3x
DINOR3X = Dinor3x()
DINOR3X.calibrate_legs()
DINOR3X.close_mouth()
while True:
# recalibrate legs so that the legs don't get too tired
DINOR3X.calibrate_legs()
DINOR3X.walk_until_blocked()
# FIXME: TypeError: unsupported type for __hash__: 'bound_method'
run_parallel(DINOR3X.roar, DINOR3X.run_away)
def main(self):
run_parallel(self.keep_driving_by_ir_beacon,
self.back_whenever_touched)
def main(self, speed: float = 1000):
self.screen.load_image(ImageFile.PINCHED_MIDDLE)
run_parallel(self.keep_driving_by_ir_beacon, self.move_when_touched,
self.move_when_see_smothing, self.drill)
def task2():
wait(500)
return "OK2"
def task3():
# Unhandled Exception should interrupt all other tasks
raise Exception("oops")
def task4():
# Unhandled BaseException does not interrupt other tasks
raise SystemExit
result = run_parallel(task1, task2)
print(repr(result[task1]))
print(repr(result[task2]))
try:
run_parallel(task1, task2, task3)
except RuntimeError as ex:
print(ex.args[0]) # message
print(repr(ex.args[1][task1]))
# sometimes task2 finishes before being interrupted
# print(repr(ex.args[1][task2]))
print(repr(ex.args[1][task3]))
result = run_parallel(task1, task2, task4)
print(repr(result[task1]))
print(repr(result[task2]))
#!/usr/bin/env pybricks-micropython
from pybricks.ev3devices import TouchSensor, Motor
from pybricks.parameters import Port, Stop
from pybricks.experimental import run_parallel
TOUCH_SENSOR = TouchSensor(port=Port.S1)
MOTOR = Motor(port=Port.A)
def motor_on_when_touched():
while True:
if TOUCH_SENSOR.pressed():
MOTOR.run_time(
speed=1000, # deg/s
time=1000, # ms
then=Stop.COAST,
wait=True)
def do_nothing():
while True:
pass
run_parallel(motor_on_when_touched, do_nothing)
#!/usr/bin/env pybricks-micropython
from pybricks.hubs import EV3Brick
from pybricks.parameters import Color
from pybricks.tools import wait, StopWatch
from pybricks.experimental import run_parallel
# This program requires LEGO EV3 MicroPython v2.0 or higher.
ev3 = EV3Brick()
ev3.speaker.set_volume(30, 'PCM')
watch = StopWatch()
def task_screen():
idx = 0
while True:
ev3.screen.load_image('pic/frame%d.png' % idx)
curms = watch.time()
nidx = int(curms * 15 / 1000)
idx = nidx + 1
waitms = int(idx * 1000 / 15 - curms)
wait(waitms)
if idx >= 3284:
break
return
def task_speaker():
ev3.speaker.play_file('BadApple.wav')
return
run_parallel(task_screen, task_speaker)
def main(self, speed: float = 1000):
run_parallel(
self.bite_by_ir_beacon,
self.bite_if_touched,
self.run_away_if_chased,
self.keep_driving_by_ir_beacon)
def main(self):
run_parallel(self.keep_driving_by_ir_beacon,
self.grip_or_release_claw_by_ir_beacon)
def main(self, speed: float = 1000):
run_parallel(
self.spin_blade_by_ir_beacon,
self.keep_driving_by_ir_beacon)
MEDIUM_MOTOR.run_time(
speed=-100,
time=1000,
then=Stop.COAST,
wait=True)
sleep(1)
def scare_people():
while True:
if IR_SENSOR.distance() < 30:
LARGE_MOTOR.run_time(
speed=1000,
time=1000,
then=Stop.COAST,
wait=True)
else:
LARGE_MOTOR.run_time(
speed=-300,
time=1000,
then=Stop.COAST,
wait=True)
run_parallel(
scare_people,
rattle)
else:
if time() % 3 < 1.5:
DRIVE_BASE.drive(
speed=100, # degrees per second
turn_rate=-30 # degrees per second
)
else:
DRIVE_BASE.drive(
speed=100, # degrees per second
turn_rate=30 # degrees per second
)
BRICK.screen.load_image(ImageFile.AWAKE)
def laugh_whenever_touched():
while True:
if TOUCH_SENSOR.pressed():
BRICK.speaker.play_file(file=SoundFile.LAUGHING_2)
MEDIUM_MOTOR.run_angle(
speed=1000, # degrees per second
rotation_angle=6 * 360, # degrees
then=Stop.HOLD,
wait=True)
run_parallel(run_away_whenever_dark, laugh_whenever_touched)
#!/usr/bin/env pybricks-micropython
from pybricks.experimental import run_parallel
from kraz3 import Kraz3
kraz3 = Kraz3()
run_parallel(kraz3.keep_driving_by_ir_beacon,
kraz3.kungfu_manoeuvre_whenever_touched_or_remote_controlled,
kraz3.keep_reacting_to_colors)
def main(self):
self.screen.load_image(ImageFile.PINCHED_MIDDLE)
run_parallel(self.keep_driving_by_ir_beacon,
self.blast_bazooka_by_ir_beacon)
#!/usr/bin/env pybricks-micropython
from bobb3e import Bobb3e
from pybricks.experimental import run_parallel
bobb3e = Bobb3e()
bobb3e.ev3_brick.screen.print('BOBB3E')
run_parallel(bobb3e.drive_or_operate_forks_by_ir_beacon,
bobb3e.sound_alarm_whenever_reversing)
