def line_follow(colour_sensor, speed, P_multiplier, D_multiplier, I_multiplier,
sample_time, distance):
global log
robot.reset()
last_error = 0
iteration = 0
p = 0
d = 0
i = 0
error = 0
total = (p + (i * I_multiplier) + d)
if log == True:
data = DataLog('total', 'p', 'i', 'd', 'error', 'last error')
while robot.distance() < distance:
error = threshold - colour_sensor.reflection()
p = error * P_multiplier
d = (error - last_error) / sample_time * D_multiplier
i = error * sample_time + i
total = (p + (i * I_multiplier) + d)
if log == True:
data.log(total, p, i * I_multiplier, d, error, last_error)
#this stays on the right side of the line
robot.drive(speed, total)
last_error = error
time.sleep(sample_time)
robot.stop()
leftmotor.hold()
rightmotor.hold()
def record(self, filename, target, state):
"""
Log data to control error, if the filename wasnt used before a new file will be created
Args:
filename (str): Filename of the log file
target (int, float, str, bool): Anything that is considered the target value of a system
state (int, float, str, bool): Anything that is considered the current state value of a system
"""
if filename not in self.log_files_names:
self.log_files_names.append(filename)
self.log_files.append(
DataLog("Target", "State", "Error", name=filename))
self.log_files_names.index(filename).log(target, state, target - state)
def __init__(self, logger_desc, nb_calibrage_classe):
self.maxSpeed = 200 #mm
self.maxdist = 2 #meters
self.speed = 360
self.turnDiameter = 186 #mm
self.wheelDiameter = 35 #mm
self.motor_left = Motor(Port.B)
self.motor_right = Motor(Port.C)
self.dist = 0
self.color = [0, 0, 0]
self.logger = DataLog("Dist",
"Vitesse",
name="log_test_" + logger_desc,
timestamp=True,
extension='txt',
append=False)
from pybricks.parameters import Port, Stop, Direction, Button, Color
from pybricks.tools import wait, StopWatch, DataLog
from pybricks.robotics import DriveBase
from pybricks.media.ev3dev import SoundFile, ImageFile, Font
# This program requires LEGO EV3 MicroPython v2.0 or higher.
# Click "Open user guide" on the EV3 extension tab for more information.
# Create a data log file in the project folder on the EV3 Brick.
# * By default, the file name contains the current date and time, for example:
# log_2020_02_13_10_07_44_431260.csv
# * You can optionally specify the titles of your data columns. For example,
# if you want to record the motor angles at a given time, you could do:
data = DataLog('time',
'sensor_value',
name='log',
timestamp=False,
extension='csv',
append=False)
colorValues = DataLog('color',
'value',
name='color',
timestamp=False,
extension='csv',
append=False)
message = Font()
# Start a stopwatch to measure elapsed time
watch = StopWatch()
# Create your objects here.
ev3 = EV3Brick()
# Display font, style and size
big = Font(family='Helvetica', size=24, bold=True)
ev3.screen.set_font(big)
if args.predict is None:
# Initialize motors
platform_motor = Motor(args.motor)
# Initialise sensors
platform_color_sensor = ColorSensor(args.color)
trigger_button = TouchSensor(args.touch)
# Initialise DataLog - append target label to filename if supplied
filename = args.filename + args.label
data = DataLog('angle', 'reflectivity', name=filename)
# Initiate platform rotation and measurement on pressing the touch sensor
print(trigger_button.pressed())
while True:
if trigger_button.pressed():
# Play a sound.
ev3.speaker.beep()
# Calculate rotation angle
total_rotation = int(args.rotations) * 360
rotation_speed = int(args.speed)
log_interval = int(args.interval)
# Run the platform motor
#!/usr/bin/env pybricks-micropython
from pybricks.parameters import Color
from pybricks.tools import DataLog
# Create a data log file called my_file.txt
data = DataLog('time', 'angle', name='my_file', timestamp=False, extension='txt')
# The log method uses the print() method to add a line of text.
# So, you can do much more than saving numbers. For example:
data.log('Temperature', 25)
data.log('Sunday', 'Monday', 'Tuesday')
data.log({'Kiwi': Color.GREEN}, {'Banana': Color.YELLOW})
# You can upload the file to your computer, but you can also print the data:
print(data)
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()
sense = AnalogSensor(Port.S1, False)
sense.voltage()
watch = StopWatch()
wheel = Motor(Port.A)
data = DataLog('output.txt', header='Time,Angle,Voltage')
# Turn on a red light
ev3.light.on(Color.RED)
ev3.speaker.say("About to take data")
wheel.run(500)
for i in range(10):
time = watch.time()
angle = wheel.angle()
light = sense.voltage() #This seems to give a EIO error sometimes.
data.log(time, angle, light)
wait(100)
# Turn the light off
ev3.light.off()
learning = 0.3
discount = .9
exploration_rate = 1
min_exploration = .0001
exploration_decay = .4
# policy shaping parameters:
confidence = .99 # confidence that feedback is optimal
likelihood = .5 # likelihood feedback is provided
const = 0.3 # constant used in probability of action equation
rewards = []
num_moves = []
data = DataLog('Episode #', 'Reward', "Time", "Num_feedbacks", "agent_pos", "is_done", \
"username", name="ep_log", timestamp=True, extension='csv', append=False)
q_table_data = DataLog(name="q_table", extension='csv', append=False)
child_fdbktable_data = DataLog(name="child_table",
extension='csv',
append=False)
parent_fdbktable_data = DataLog(name="parent_table",
extension='csv',
append=False)
episode_stopwatch = StopWatch()
episode_stopwatch.reset()
user_color = None
user = None
fam.say("Please enter user")
learning = 0.3
discount = .9
exploration_rate = 1
min_exploration = .0001
exploration_decay = .8
# policy shaping parameters:
confidence = .8 # confidence that feedback is optimal
likelihood = .5 # likelihood feedback is provided
const = 0.3 # constant used in probability of action equation
rewards = []
num_moves = []
data = DataLog('Episode #', 'Reward', "Time", "Num_feedbacks", "agent_pos", "is_done", \
"username", "qtable", name="ep_log", timestamp=True, extension='csv', append=False)
episode_stopwatch = StopWatch()
episode_stopwatch.reset()
user_color = None
user = None
fam.say("Please enter user")
user_color = fam.get_color(3000)
if user_color is Color.RED:
fam.say("Hello child")
user = child
elif user_color is Color.GREEN:
fam.say("Hello parent")
user = parent
elif user_color is Color.BLUE or user_color is None:
# Lane change state
# step 0: drive on the outer lane
# step 1: change lane (from outer to inner)
# step 2: drive on the inner lane
# step 3: change lane (from inner to outer)
step = 0
# Time that state changed previously
previousStateChangedTime = 0
# Time that robot has stopped
stop_time = 0
# The flag to control robot stop or not
stopping = False
data = DataLog('time', 'step', 'color', 'speed', 'distance', 'stop',
'deviation', 'integral', 'derivative', 'front_id', 'front_time',
'front_step', 'front_speed', 'front_distance')
# Initialize Bluetooth client and mailboxes for message passing.
client = BluetoothMailboxClient()
mbox_id = NumericMailbox('id2', client)
mbox_time = NumericMailbox('time2', client)
mbox_lane = NumericMailbox('lane2', client)
mbox_speed = NumericMailbox('speed2', client)
mbox_distance = NumericMailbox('distance2', client)
# Server robot name
SERVER = 'ev3-2'
print('establishing connection...')
client.connect(SERVER)
print('ev3-2 connected!')
#!/usr/bin/env pybricks-micropython
from pybricks.ev3devices import Motor
from pybricks.parameters import Port
from pybricks.tools import DataLog, StopWatch, wait
# Create a data log file in the project folder on the EV3 Brick.
# * By default, the file name contains the current date and time, for example:
# log_2020_02_13_10_07_44_431260.csv
# * You can optionally specify the titles of your data columns. For example,
# if you want to record the motor angles at a given time, you could do:
data = DataLog('time', 'angle')
# Initialize a motor and make it move
wheel = Motor(Port.B)
wheel.run(500)
# Start a stopwatch to measure elapsed time
watch = StopWatch()
# Log the time and the motor angle 10 times
for i in range(10):
# Read angle and time
angle = wheel.angle()
time = watch.time()
# Each time you use the log() method, a new line with data is added to
# the file. You can add as many values as you like.
# In this example, we save the current time and motor angle:
data.log(time, angle)
# Wait some time so the motor can move a bit
from pybricks.ev3devices import (Motor,
ColorSensor, UltrasonicSensor, GyroSensor)
from pybricks.robotics import DriveBase
# Initialize the EV3
ev3 = EV3Brick()
ev3.light.on(Color.RED)
left = Motor(Port.A)
right = Motor(Port.D)
dist = UltrasonicSensor(Port.S4)
wheel_dia = 56
wheel_spacing = 114
car = DriveBase(left,right,wheel_dia,wheel_spacing)
timer = StopWatch()
data = DataLog('output.txt', header = 'iteration,Base time, motor time')
Iteration = 1000
def testBase():
timer.reset()
for i in range(Iteration):
speed = dist.distance()
car.drive(speed,0)
duration = timer.time()
car.stop()
return duration
def testMotor():
timer.reset()
for i in range(Iteration):
speed = dist.distance()
from pybricks.parameters import Port, Button, Color, ImageFile, SoundFile, Stop
from pybricks.robotics import DriveBase
from ucollections import namedtuple
from pybricks.tools import wait, StopWatch, DataLog
from threading import Thread
import sys
# Logging
logging.basicConfig(level=logging.DEBUG,
format='%(asctime)s %(levelname)5s: %(message)s')
log = logging.getLogger(__name__)
log.info("Starting Program")
data = DataLog('time',
'angle',
name='my_file',
timestamp=False,
extension='txt')
start_gyro_value = 0
#region robot functions
def turn_robot_left_in_place(angle):
turn_robot_in_place("LEFT", angle)
def turn_robot_right_in_place(angle):
turn_robot_in_place("RIGHT", angle)
def turn_robot_in_place(direction, angle):
from pybricks.parameters import Port, Stop, Direction, Button, Color
from pybricks.tools import wait, StopWatch, DataLog
from pybricks.robotics import DriveBase
from pybricks.media.ev3dev import SoundFile, ImageFile, Font
# This program requires LEGO EV3 MicroPython v2.0 or higher.
# Click "Open user guide" on the EV3 extension tab for more information.
# Create a data log file in the project folder on the EV3 Brick.
# * By default, the file name contains the current date and time, for example:
# log_2020_02_13_10_07_44_431260.csv
# * You can optionally specify the titles of your data columns. For example,
# if you want to record the motor angles at a given time, you could do:
data = DataLog('time',
'sensor_value',
name='log',
timestamp=False,
extension='csv',
append=False)
# Initialize the EV3 brick.
ev3 = EV3Brick()
# Initialize the gyro sensor. It is used to provide feedback for balancing the
# robot.
gyro_sensor = GyroSensor(Port.S2)
# The following (UPPERCASE names) are constants that control how the program
# behaves.
GYRO_CALIBRATION_LOOP_COUNT = 200
GYRO_OFFSET_FACTOR = 0.0005
