def __init__(self):
# Connect the required equipement
self.lm = ev3.LargeMotor('outB')
self.rm = ev3.LargeMotor('outC')
self.mm = ev3.MediumMotor()
self.ir = ev3.InfraredSensor()
self.ts = ev3.TouchSensor()
self.cs = ev3.ColorSensor()
self.screen = ev3.Screen()
# Check if everything is attached
check(self.lm.connected, 'My left leg is missing!')
check(self.rm.connected, 'Right leg is not found!')
check(self.mm.connected, 'My left arm is not connected!')
check(self.ir.connected, 'My eyes, I can not see!')
check(self.ts.connected, 'Touch sensor is not attached!')
check(self.cs.connected, 'Color sensor is not responding!')
# Reset the motors
for m in (self.lm, self.rm, self.mm):
m.reset()
m.position = 0
m.stop_action = 'brake'
self.draw_face()
quote('initiating')
def tacto(done):
infra = ev3.InfraredSensor()
assert infra.connected
touch = ev3.TouchSensor()
assert touch.connected
screen = ev3.Screen()
sound = ev3.Sound()
screen.draw.text((60, 40), 'Caminando')
screen.update()
while infra.proximity > 30:
if done.is_set():
break
time.sleep(0.1)
done.set() #lo detiene de su locura haha
ev3.Leds.set_color(ev3.Leds.LEFT, ev3.Leds.RED)
ev3.Leds.set_color(ev3.Leds.RIGHT, ev3.Leds.RED)
screen.clear()
screen.draw.text((60, 20), 'There is something is front of me')
screen.update()
while not touch_s.is_pressed:
sound.speak("Where should i go next?").wait()
time.sleep(0.5)
done.set() #lo detiene de su locura haha
def feel(done):
ir = ev3.InfraredSensor(); assert ir.connected
ts = ev3.TouchSensor(); assert ts.connected
screen = ev3.Screen()
sound = ev3.Sound()
screen.draw.text((60,40), 'Going for a walk')
screen.update()
while ir.proximity > 30:
if done.is_set():
break
time.sleep(0.1)
done.set() #this will set it running in a circle
ev3.Leds.set_color(ev3.Leds.LEFT, ev3.Leds.RED)
ev3.Leds.set_color(ev3.Leds.RIGHT, ev3.Leds.RED)
screen.clear()
screen.draw.text((60,20), 'There is something is front of me')
screen.update()
while not ts.is_pressed:
sound.speak("Where should I go next?").wait()
time.sleep(0.5)
done.set() #will stop the circle dance
def generate_qr(self, token):
print("token ", token)
screen = ev3.Screen()
#print("Creating QR image")
qr = pyqrcode.create(token)
qr.png('qrTest.png', scale=4)
def __init__(self):
self.running = True
# Creates the one and only Screen object and prepares a few Image objects.
self.lcd_screen = ev3.Screen()
# All of these images are exactly 178 by 128 pixels, the exact screen resolution
# They are made by Lego and ship with the Lego Mindstorm EV3 Home Edition software
self.eyes = Image.open(
"/home/robot/csse120/assets/images/ev3_lego/eyes_neutral.bmp")
self.angry_eyes = Image.open(
"/home/robot/csse120/assets/images/ev3_lego/eyes_angry.bmp")
self.puppy_dog_eyes = Image.open(
"/home/robot/csse120/assets/images/ev3_lego/eyes_disappointed.bmp")
self.sad_eyes = Image.open(
"/home/robot/csse120/assets/images/ev3_lego/eyes_hurt.bmp")
self.shifty_eyes = Image.open(
"/home/robot/csse120/assets/images/ev3_lego/eyes_pinch_left.bmp")
self.progress_0 = Image.open(
"/home/robot/csse120/assets/images/ev3_lego/progress_bar_0.bmp")
self.progress_50 = Image.open(
"/home/robot/csse120/assets/images/ev3_lego/progress_bar_50.bmp")
self.progress_100 = Image.open(
"/home/robot/csse120/assets/images/ev3_lego/progress_bar_100.bmp")
self.teary_eyes = Image.open(
"/home/robot/csse120/assets/images/ev3_lego/eyes_tear.bmp")
def screen_example():
"""Shows the commands to add a full screen image. There is more you could do with the screen, but not the focus
here. Look online to learn more. https://sites.google.com/site/ev3python/learn_ev3_python/screen"""
from PIL import Image
lcd_screen = ev3.Screen()
image = Image.open("/home/robot/csse120/assets/images/ev3_lego/eyes_angry.bmp")
lcd_screen.image.paste(image, (0, 0))
lcd_screen.update()
def __init__(self):
self.mqtt_client = None
self.lcd = ev3.Screen()
self.guess = ''
self.word = ['p', 'r', 'o', 'j', 'e', 'c', 't']
self.hp = 3
self.index = 0
self.running = False
self.robot = robo.Snatch3r()
self.touch_sensor = ev3.TouchSensor()
def __init__(self):
self.running = True
# Creates the Screen object and prepares Image objects.
self.lcd_screen = ev3.Screen()
# All of these images are exactly 178 by 128 pixels,
# the exact screen resolution
# They are made by Lego and ship with the Lego Mindstorm
# EV3 Home Edition software
# I found the in m3_ir_events_with_the_screen and the assets
self.eyes = Image.open("/home/robot/csse120/assets"
"/images/ev3_lego/eyes_neutral.bmp")
self.accept = Image.open("/home/robot/csse120/assets"
"/images/ev3_lego/accept.bmp")
self.decline = Image.open("/home/robot/csse120"
"/assets/images/ev3_lego/Decline.bmp")
def main():
left_motor = ev3.LargeMotor('outC')
right_motor = ev3.LargeMotor('outB')
lcd = ev3.Screen()
ts = ev3.TouchSensor('in2')
assert ts.connected, "Connect a touch sensor to any port"
us = ev3.UltrasonicSensor()
us.mode = 'US-DIST-CM'
units = us.units
# reports 'cm' even though the sensor measures 'mm'
errors = []
errors.append(0)
while not ts.value(): # Stop program by pressing touch sensor button
# US sensor will measure distance to the closest
# object in front of it.
separation = 20
distance = us.value() / 10 # convert mm to cm
error = distance - separation
err = errors.pop()
de = error - err
errors.append(err)
errors.append(error)
#Calculate the integral of error(sum of errors)
sum_of_errors = reduce(lambda x, y: x + y, errors)
print(str(distance) + " " + units)
print(str(error) + " " + units)
lcd.draw.text((10, 10), str(distance) + " " + units)
lcd.draw.text((10, 10), str(error) + " " + units)
if distance != separation: #This is an inconveniently large distance
output = (50 * (error)) + (de) + (sum_of_errors) + 0
if (output > 1000):
output = 990
elif (output < -1000):
output = -990
left_motor.run_forever(speed_sp=output)
right_motor.run_forever(speed_sp=output)
def __init__(self):
self.mqtt_client = None
self.lcd = ev3.Screen()
self.num_active_dice = 5
self.max_die_value = 6
self.consecutive_correct = 0
self.dice_values = [0, 0, 0, 0, 0]
self.dice_images = [Image.open('/home/robot/csse120/assets/images/dice/none.bmp'),
Image.open('/home/robot/csse120/assets/images/dice/one.bmp'),
Image.open('/home/robot/csse120/assets/images/dice/two.bmp'),
Image.open('/home/robot/csse120/assets/images/dice/three.bmp'),
Image.open('/home/robot/csse120/assets/images/dice/four.bmp'),
Image.open('/home/robot/csse120/assets/images/dice/five.bmp'),
Image.open('/home/robot/csse120/assets/images/dice/six.bmp'),
Image.open('/home/robot/csse120/assets/images/dice/seven.bmp'),
Image.open('/home/robot/csse120/assets/images/dice/eight.bmp'),
Image.open('/home/robot/csse120/assets/images/dice/nine.bmp')]
self.randomly_display_new_dice()
self.running = False
def __init__(self):
# Connect the required equipement
self.lm = ev3.LargeMotor('outB')
self.rm = ev3.LargeMotor('outC')
self.mm = ev3.MediumMotor()
self.ir = ev3.InfraredSensor()
self.ts = ev3.TouchSensor()
self.cs = ev3.ColorSensor()
self.screen = ev3.Screen()
# Reset the motors
for m in (self.lm, self.rm, self.mm):
m.reset()
m.position = 0
m.stop_action = 'brake'
self.draw_face()
quote('initiating')
def approach():
left_motor = ev3.LargeMotor('outC')
right_motor = ev3.LargeMotor('outB')
lcd = ev3.Screen()
ts = ev3.TouchSensor('in2')
assert ts.connected, "Connect a touch sensor to any port"
us = ev3.UltrasonicSensor()
us.mode = 'US-DIST-CM'
units = us.units
# reports 'cm' even though the sensor measures 'mm'
separation = 20
constant = 50
while not ts.value(): # Stop program by pressing touch sensor button
# US sensor will measure distance to the closest
# object in front of it.
distance = us.value() / 10 # convert mm to cm
error = distance - separation
#Calculate the derivative of the errors
print(str(distance) + " " + units)
print(str(error) + " " + units)
lcd.draw.text((10, 10), str(distance) + " " + units)
lcd.draw.text((10, 10), str(error) + " " + units)
if distance != separation: #This is an inconveniently large distance
output = constant * error + 0
if (output > 1000):
output = 990
else:
output = constant * error + 0
left_motor.run_forever(speed_sp=output)
right_motor.run_forever(speed_sp=output)
else:
Sound.tone(1000, 200).wait() #1000Hz for 0.2s
sleep(0.5)
#!/usr/bin/env python3
#print("Loading...")
import ev3dev.ev3 as ev3
import ev3dev.fonts
import urllib.request
import time
m = ev3.LargeMotor("outA")
m2 = ev3.LargeMotor("outD")
scr = ev3.Screen()
HEADER_TEXT = "http://lonk.pw/k8"
AUTO_RES = None
if AUTO_RES != None:
HEADER_TEXT = "DEBUG MODE"
header_font = ev3dev.fonts.load("lutBS14")
scr.draw.text((scr.xres/2-scr.draw.textsize(HEADER_TEXT, font=header_font)[0]/2, 1), HEADER_TEXT, font=header_font)
scr.update()
code = ""
code_font = ev3dev.fonts.load('ncenB24')
def draw_code():
scr.draw.rectangle([(2,40), (scr.xres-2,70)], "white")
if len(code) > 0:
def __init__(self):
self.screen = ev3.Screen()
self.board = Board(screen=self.screen)
##!/usr/bin/env python3
import ev3dev.ev3 as ev3
from threading import Thread
left_motor = ev3.LargeMotor('outC')
right_motor = ev3.LargeMotor('outB')
lcd = ev3.Screen()
ts = ev3.TouchSensor('in2'); assert ts.connected, "Connect a touch sensor to any port"
us = ev3.UltrasonicSensor()
us.mode='US-DIST-CM'
units = us.units # reports 'cm' even though the sensor measures 'mm'
def stop():
left_motor.stop()
right_motor.stop()
def drive_straight(distance):
radius = 2.8#take measurement
pi = math.pi
circumference = 2*pi*radius
angle = (distance*360)/circumference
left_motor.run_to_rel_pos(position_sp=angle, speed_sp=450 )
right_motor.run_to_rel_pos(position_sp=angle, speed_sp=450)
right_motor.wait_while('running')
left_motor.wait_while('running')
def spin(angle = 360, speed=450):
left_motor.run_to_rel_pos(position_sp=angle, speed_sp=450)
left_motor.run_to_rel_pos(position_sp= (-1)*angle, speed_sp=450)
def turnRight(angle=90, speed=10):
#!/usr/bin/env python3
import ev3dev.ev3 as ev3
import time
lcd = ev3.Screen() # The EV3 display
rightMotor = ev3.LargeMotor('outB') # The motor connected to the right wheel
leftMotor = ev3.LargeMotor('outC') # The motor connected to the left wheel
button = ev3.Button() # Any button
camera = ev3.Sensor(address=ev3.INPUT_1) # The camera
assert camera.connected, "Error while connecting Pixy camera to port 2"
lcd = ev3.Screen()
ts = ev3.TouchSensor('in2')
assert ts.connected, "Connect a touch sensor to any port"
us = ev3.UltrasonicSensor()
us.mode = 'US-DIST-CM'
units = us.units
# reports 'cm' even though the sensor measures 'mm'
CAMERA_WIDTH_PIXELS = 255
CAMERA_HEIGHT_PIXELS = 255
leftMotor = ev3.LargeMotor('outC')
rightMotor = ev3.LargeMotor('outB')
lcd = ev3.Screen()
ts = ev3.TouchSensor('in2')
assert ts.connected, "Connect a touch sensor to any port"
us = ev3.UltrasonicSensor()
def execute(self):
global instruction
global gyro
global ultra
global motorLeft
global motorRight
#Lock/unlock
a = 1 << 5 | 24 | 2 << 1
b = 0
if locked:
b = 255
bus = smbus.SMBus(6)
bus.write_i2c_block_data(0x04, a, [b])
#QR/No QR
old_token = None
if token:
motorLeft.run_forever(speed_sp=0)
motorRight.run_forever(speed_sp=0)
old_token = token
self.generate_qr(token)
screen = ev3.Screen()
while token:
if not old_token == token:
motorLeft.run_forever(speed_sp=0)
motorRight.run_forever(speed_sp=0)
old_token = token
self.generate_qr(token)
motorLeft.run_forever(speed_sp=0)
motorRight.run_forever(speed_sp=0)
screen.clear()
qrImage = Image.open('qrTest.png')
screen.image.paste(qrImage, (0, 0))
screen.update()
screen.clear()
screen.update()
if instruction == None:
motorLeft.run_forever(speed_sp=0)
motorRight.run_forever(speed_sp=0)
return
stop = instruction['onOff'] == 0
c = instruction['correction']
if stop:
motorLeft.run_forever(speed_sp=0)
motorRight.run_forever(speed_sp=0)
return
forward = instruction['turnAngle'] == 0
remaining = instruction['distance']
if forward:
ultra.mode = 'US-DIST-CM'
dist = ultra.value()
print("DIST:", dist)
if dist > 100:
motorLeft.run_forever(speed_sp=remaining / 1.5 + 20 - c * 20)
motorRight.run_forever(speed_sp=remaining / 1.5 + 20 + c * 20)
#motorLeft.run_forever(speed_sp=50)
#motorRight.run_forever(speed_sp=50)
if dist < 100:
motorLeft.run_forever(speed_sp=0)
motorRight.run_forever(speed_sp=0)
else:
targetAngle = instruction['turnAngle'] * 180 / 3.14159
currentAngle = gyro.value()
diff = targetAngle - currentAngle #distance to go in degrees
#speed = (diff*diff)*(80/(180*180)) * 2 + 10
speed = 20
if abs(diff) < 30:
speed = 10
if diff > 0:
motorLeft.run_forever(speed_sp=-speed)
motorRight.run_forever(speed_sp=speed)
else:
motorLeft.run_forever(speed_sp=speed)
motorRight.run_forever(speed_sp=-speed)
def __init__(self):
self.screen = ev3.Screen()
self.draw_face()
