def main():
uartComm = UARTDevice(Port.S2, 9600, 100)
uartComm.clear()
xlimits = [-310, 310]
while True:
reflection = light.reflection()
try:
data_raw = uartComm.read(24).decode().replace('B', '')
data = ujson.loads(data_raw)
except Exception as e:
uartComm.clear()
print(e)
print('Read Failed')
data = {'x': 0, 'y': 0} #need this or robot.drive throws an error
try:
signal = reading(reflection)
uartComm.write(signal)
print(signal) #prints json signal
except Exception as e:
print(e)
print("Write Failed")
#print(data['x'], data['y'])
robot.drive(data['y'] / 2, 0)
print(horz.angle())
horiz_dist = data['x'] * (360 / 90)
constrain(horiz_dist, xlimits)
horz.run_target(100, horiz_dist)
#!/usr/bin/env pybricks-micropython
from pybricks.hubs import EV3Brick
from pybricks.iodevices import UARTDevice
from pybricks.parameters import Port
from pybricks.media.ev3dev import SoundFile
# Initialize the EV3
ev3 = EV3Brick()
# Initialize sensor port 2 as a uart device
ser = UARTDevice(Port.S2, baudrate=115200)
# Write some data
ser.write(b'\r\nHello, world!\r\n')
# Play a sound while we wait for some data
for i in range(3):
ev3.speaker.play_file(SoundFile.HELLO)
ev3.speaker.play_file(SoundFile.GOOD)
ev3.speaker.play_file(SoundFile.MORNING)
print("Bytes waiting to be read:", ser.waiting())
# Read all data received while the sound was playing
data = ser.read_all()
print(data)
uart.clear()
while True:
while not (xBut.pressed() | yBut.pressed()):
wait(100)
if uart.waiting() > 0:
msg = uart.read(1)
uart.clear() #should clear automatically, but needed some help
msg = str(msg)
if msg[2] == 'T':
VibrateMotor()
print('|', end='')
elif msg[2] == 'F':
print('.', end='')
elif msg[2] == 'C':
CompletionVibrate()
while (xBut.pressed() | yBut.pressed()):
if xBut.pressed():
uart.write('x') #send uart 'x'
#print('wrote x')
elif yBut.pressed():
uart.write('y') #send uart 'y'
#print('wrote y')
print()
if uart.waiting() > 0:
VibrateMotor()
uart.read(uart.waiting())
wait(500)
SoundFile, ImageFile, Align)
from pybricks.tools import print, wait, StopWatch
from pybricks.robotics import DriveBase
from pybricks.iodevices import UARTDevice
brick.sound.beep()
ymotor = Motor(Port.B, Direction.CLOCKWISE)
xmotor = Motor(Port.A, Direction.COUNTERCLOCKWISE)
direction = 1
uart = UARTDevice(Port.S3, 9600, timeout=10000)
wait(500)
uart.write('a')
print("Done")
curr = ""
previous = 'q'
uart.write('q')
while True:
xangle = xmotor.angle()
yangle = ymotor.angle()
print(str(xangle) + " " + str(yangle))
if yangle > 20 and xangle > 20:
curr = 'x'
elif yangle > 20 and (xangle < 20 and xangle > -20):
curr = 'y'
elif yangle > 20 and (xangle < -20):
curr = 'z'
baby_car = Motor(Port.A)
# # Setup Sensors
light_sensor = AnalogSensor(Port.S1, False)
light_sensor.voltage()
#calibrate light sensor
whiteLight = lightCalibration()
ev3.speaker.set_volume(100)
ev3.speaker.say("Calibration Complete")
while True:
# ......read in joystick controls
angle1, angle2 = parseAngle()
#print joystick controlls
print("ANGLES: ", angle1, ", ", angle2)
#.....drive car
baby_car_drive(angle1)
big_car_drive(angle2)
#.....read sensor
lightData = light_sensor.voltage()
#wait(10)
#.....send sensor data
print('light: ' + str(lightData))
isLine = lineDetect(lightData, whiteLight)
uart.write(str(isLine))
print('isLine: ' + str(isLine))
#wait(10)
placerwaiting = -120 #angle value for placer in the waiting for brick position (placeholder)
redAngleTarget = 300 #angle value for red mover to move red bricks to cup (placeholder)
redStartAngle = 0 #rest position angle for red mover
trashStartingAngle = 0 #waiting angle for trash mover (placeholder)
trashchuckAngle = 50 #moving angle for trash mover (placeholder)
while True:
#to use: place a brick in the mover and then push the center button
#if center button is pushed, move brick to sensing position and send something to pi to tell it to read
if button.CENTER in brick.buttons():
placer.run_target(300, placedTarget, Stop.BRAKE,
True) #target angle placeholder for now
uart.write("r".encode()) #placeholder value
if uart.waiting() >= 1:
data = uart.read(1)
print(data.decode('utf-8'))
#if red, put in red bin
if data == valIfRed:
#might need to change these to run_angles depending on arm style
redDudes.run_target(300, redAngleTarget, Stop.BRAKE, True)
redDudes.run_target(300, redStartAngle, Stop.BRAKE,
True) #reset the red mover arm
#if not red, throw brick away
if data == valIfNotRed:
#might need to change these to run_angles depending on arm style
# Initializing the uart device
uart2 = UARTDevice(Port.S1, 9600, timeout=2000)
# Initializing all signals
motorx = Motor(Port.A)
motory = Motor(Port.B)
sensor = ColorSensor(Port.S2)
while True:
text =uart2.read_all()
if text == b'R':
motorx.run(500)
elif text == b'L':
motorx.run(-500)
elif text == b'N':
motorx.run(0)
elif text == b'F':
motory.run(500)
elif text == b'B':
motory.run(-500)
elif text == b'M':
motory.run(0)
# Reading out the sensor data and writing it over UART
if not (sensor.color()) == Color.WHITE):
h = 'W'
elif (sensor.color() == Color.WHITE):
h = 'H'
print(h)
uart2.write(h)
#!/usr/bin/env pybricks-micropython
#brickrun -r -- pybricks-micropython
from pybricks.hubs import EV3Brick
from pybricks.tools import wait, StopWatch, DataLog
from pybricks.parameters import Color, Port
from pybricks.ev3devices import Motor
from pybricks.iodevices import AnalogSensor, UARTDevice
# Initialize the EV3
ev3 = EV3Brick()
ev3.speaker.beep()
uart = UARTDevice(Port.S1, 9600, timeout=2000)
# short pins 5/6 (blue and yellow)
uart.write('Test')
wait(10)
data = uart.read_all(
) #if you connect Pin 5 & 6 you should see Test on the screen
ev3.screen.print(data)
uart.write('Test')
uart.waiting() # how many bytes on the port
uart.read(uart.waiting())
# Turn the light off
ev3.light.off()
xangle = motor1.angle()
# Uses the Read positions to drive the system
print('x=', xangle)
print('y=', yangle)
if xangle > 18:
x = 'R'
elif xangle < -18:
x = 'L'
else:
x = 'N'
if yangle > 18:
y = 'F'
elif yangle < -18:
y = 'B'
else:
y = 'M'
# Writes the signal
uart.write(x)
uart.write(y)
fback = uart.read_all()
# Runs the system
if fback == b'W':
motor3.run(1000)
wait(0.01)
elif fback == b'H':
motor3.run(0)
wait(.01)
while True:
hopperMotor.dc(90)
conveyorMotor.run(-35)
reflect = light.reflection()
if count % meanSize:
reflectMeanNum += reflect
else:
reflectMean = reflectMeanNum / meanSize
# Average every 10 readings
reflectMean = reflectMeanNum / meanSize
if reflectMean > 0.5:
if wasBrick == 0:
sendData = bytes('1', 'utf-8')
uart.write(sendData)
wasBrick = 1
brickQueue.append(time.time())
reflectMean = 0
reflectMeanNum = 0
else:
if wasBrick == 1:
wasBrick = 0
# Try to read from serial port
try:
getData = uart.read(1).decode('utf-8')
isRed = True if getData == "0" else False
print(isRed)
except Exception:
#print("Read Failed")
