def __init__(self):
self.hub = PrimeHub()
self.colorsensor = ColorSensor('B')
self.force = ForceSensor('A')
self.boundary = None# Initial Decision boundary
self.ATraining = []# Initial A examples
self.BTraining = []# Initial B examples
self.averageA = None# Initial average for the A training
self.averageB = None# Initial average for the B training
def __init__(self, dsPort):
self.prime_hub = PrimeHub()
self.hub.speaker.beep(72,0.5)
self.hand_distance = DistanceSensor(dsPort)
self.boundary = None # Initial Decision boundary
self.ATraining = [] # Initial A examples
self.BTraining = [] # Initial B example
self.averageA = None # Initial average for the A training
self.averageB = None # Initial average for the B training
def __init__(self, leftmotorport, rightmotorport, headmotorport=None):
"""Assumes a three motor puppy configuration
with two legs and one head motor"""
self.prime_hub = PrimeHub()
self.prime_hub.light_matrix.show_image('HAPPY')
self.legR = Motor(rightmotorport) # right leg
self.legL = Motor(leftmotorport) # left leg
#self.legs = DriveBase(self.legL, self.legR, 30, 80)
if headmotorport is not None:
# If no headmotorport is given, it is not assigned.
self.head = Motor(headmotorport) # head motor
else:
self.head = None
# This example finds and connects to a peripheral running the
# UART service (e.g. ble_simple_peripheral.py).
from spike import PrimeHub
from spike import Motor
# Do something
hub = PrimeHub()
import bluetooth
import random
import struct
import time
import micropython
import ubinascii
def light(n):
x=n%5
y=n//5
hub.light_matrix.set_pixel(x, y)
from micropython import const
if 'FLAG_INDICATE' in dir(bluetooth):
# We're on MINDSTORMS Robot Inventor
# New version of bluetooth
# This example finds and connects to a peripheral running the
# UART service (e.g. ble_simple_peripheral.py).
from spike import PrimeHub
from spike import Motor
# Do something
hubprime = PrimeHub()
import hub
motor_drive = Motor("B")
motor_steer = Motor("A")
motor_steer.run_to_position(17)
import bluetooth
import random
import struct
import time
import micropython
import ubinascii
def light(n):
x = n % 5
y = n // 5
hubprime.light_matrix.set_pixel(x, y)
from micropython import const
_IRQ_CENTRAL_CONNECT = const(1 << 0)
# 8-11: 1st motor in extended address space
#12-15: 2nd motor in extended address space
def turnMotorOn(PFSensor, PFM):
print(PFM)
if PFM < 4:
PFSensor.PFComboDirectCommand(bytes([PFM]), PFMotor.FORWARD, PFMotor.FLOAT)
elif PFM < 8:
PFSensor.PFComboDirectCommand(bytes([PFM-4]), PFMotor.FLOAT, PFMotor.FORWARD)
elif PFM < 12:
PFSensor.PFComboDirectCommand(bytes([PFM-8]), PFMotor.FORWARD, PFMotor.FLOAT, 1)
elif PFM < 16:
PFSensor.PFComboDirectCommand(bytes([PFM-12]), PFMotor.FLOAT, PFMotor.FORWARD, 1)
utime.sleep_ms(100)
#This is the actual start of the program
myHub = PrimeHub()
mySensor = colorDistanceSensor("F", 7)
selectedMotor = 0
myHub.light_matrix.write('turn 4 receivers on and press RIGHT')
myHub.right_button.wait_until_pressed()
#Send 4 ChangeAddressSpace commands to each of the sensors to make sure that they switch the address space.
#(You might have to restart the program if they still don't change on first try)
for x in range(1):
mySensor.PFChangeAddressSpace(PFChannel.CHANNEL_1)
#utime.sleep_ms(100)
mySensor.PFChangeAddressSpace(PFChannel.CHANNEL_2)
#utime.sleep_ms(100)
mySensor.PFChangeAddressSpace(PFChannel.CHANNEL_3)
#utime.sleep_ms(100)
mySensor.PFChangeAddressSpace(PFChannel.CHANNEL_4)
from spike import PrimeHub
#from mindstorms import MSHub
#DON'T FORGET TO IMPORT THE LIBRARY
#(or paste it here)
technicHub = PrimeHub()
#technicHub = MSHub()
mySensor = colorDistanceSensor("E")
mode = 0;
while True:
value = mySensor.read()
technicHub.light_matrix.write(value)
print(value)
if technicHub.left_button.is_pressed():
mode = mode - 1
mySensor.changeMode(mode)
if technicHub.right_button.is_pressed():
mode = mode + 1
mySensor.changeMode(mode)
