def __get_battery_info(self):
"""
Gets information about the battery from the robot.
Currently only provides measured volts. Could produce later.
"""
ps = ev3.PowerSupply()
self._measured_volts = ps.measured_volts
def get_battert_amperage(self):
"""Obtain the battery measured current in microAmps"""
try:
power_supply = ev3.PowerSupply()
self.battery_amperage = power_supply.measured_current
except Exception as theException:
ev3_remoted.ev3_logger.critical(
"Ev3RobotModel: Exception in routine get_battery_level() + " +
str(theException))
self.battery_amperage = 0
return self.battery_amperage
def get_battery_level(self):
"""Obtain the battery level"""
try:
power_supply = ev3.PowerSupply()
self.battery_level = power_supply.measured_voltage
except Exception as theException:
ev3_remoted.ev3_logger.critical(
"Ev3RobotModel: Exception in routine get_battery_level() + " +
str(theException))
self.battery_level = 0
return self.battery_level
def __init__(self, rightMortor, leftMortor):
self.right_motor = rightMortor
self.left_motor = leftMortor
self.gyro_sensor = ev3.GyroSensor('in4')
self.battery = ev3.PowerSupply()
self._is_loop = True
# 最新取得値
self.gyro_sensor_rate = 0
self.left_motor_position = 0
self.right_motor_position = 0
self.battery_voltage = 0 #mV
def update_server(self):
to_access = "http://" + self.web_server_ip
to_access = to_access + ":" + str(self.web_server_port)
to_access = to_access + "/api/botinfo"
to_provide = {
"name": robot_name,
"x_loc": self.coords[0],
"y_loc": self.coords[1],
"state": "TEMP",
"battery_volts": ev3.PowerSupply().measured_volts,
"bearing": self.send_bearing(self.bearing)
}
post_data = urllib.parse.urlencode(to_provide)
try:
urllib.request.urlopen(
url='{}?{}'.format(to_access, post_data),
data="TEMP=TEMP".encode()
)
except: # noqa: E722
print("[update_server] Has failed - failed to connect to: " + to_access) # noqa: E501
def __init__(self, port, quite):
self.host = socket.gethostbyname(socket.getfqdn())
self.port = port
self.quite = quite
self.__socket = None
self.__started = False
self.__peer_sock = None
self.__peer_addr = None
self.__leftMotor = ev3.LargeMotor('outD')
self.__rightMotor = ev3.LargeMotor('outA')
self.__smallMotor = ev3.MediumMotor('outC')
self.__ir = ev3.InfraredSensor()
self.__power = ev3.PowerSupply()
self.__last_ping = 0
self.__last_ir = 0
self.__last_pwr = 0
self.__gear = 1
def __init__(self):
self.right_motor = Motor('outA')
self.left_motor = Motor('outC')
self.tail_motor = Motor('outB')
self.gyro_sensor = ev3.GyroSensor('in4')
self.battery = ev3.PowerSupply()
# Add or subtract offset and clamp the value between -100 and 100
if dutyInt > 0:
dutyInt = min(100, dutyInt + frictionOffset)
elif dutyInt < 0:
dutyInt = max(-100, dutyInt - frictionOffset)
# Apply the signal to the motor
FastWrite(motorDutyFileHandle, dutyInt)
########################################################################
## One-time Hardware setup
########################################################################
# EV3 Brick
powerSupply = ev3.PowerSupply()
buttons = ev3.Button()
# Gyro Sensor setup. Possibly make this more generic to better support more sensors.
try: # Set LEGO gyro to Gyro Rate mode, if attached
gyroSensor = ev3.GyroSensor()
gyroSensor.mode = gyroSensor.MODE_GYRO_RATE
gyroType = 'LEGO-EV3-Gyro'
except: # Assume HiTechnic Gyro is attached if LEGO Gyro not found
gyroSensor = ev3.Sensor(address="ev3-ports:in2")
gyroType = 'HITECHNIC-NXT-Gyro'
# Open gyro rate sensor value file
gyroSensorValueRaw = open(gyroSensor._path + "/value0", "rb")
# Touch Sensor setup
import sensor
import motors
import lineFollow
from difreg import difreg
from time import sleep
import ev3dev.ev3 as ev
sensor.setmodeSensorsLR(sensor.REFLECT)
power = ev.PowerSupply()
MAXTURNSPEED = 0
MINTURNSPEED = 0
DRIVESPEED = 0
def batteryState():
global MAXTURNSPEED
global MINTURNSPEED
global DRIVESPEED
voltage = power.measured_voltage / 1000000
if voltage < 8.0:
print("State of battery: ")
print(" Under 8.0. Voltage at " + str(voltage))
MAXTURNSPEED = 300
MINTURNSPEED = 100
DRIVESPEED = 800
else:
print("State of battery: ")
print(" Over 8.0. Voltage at " + str(voltage))
MAXTURNSPEED = 300 * 0.7
MINTURNSPEED = 100
