import joke
from gyro import gyro
#joke.play_joke("start_up")
import time
import motor
sensor_overview = {
"v_color": INPUT_2,
"r_color": INPUT_3,
"ultra": INPUT_4,
"gryo": INPUT_1
}
infrared_sensor = lego.UltrasonicSensor(sensor_overview["ultra"])
color_sensor_v = lego.ColorSensor(sensor_overview["v_color"])
color_sensor_r = lego.ColorSensor(sensor_overview["r_color"])
gyro_sensor = gyro(sensor_overview["gryo"])
def get_color():
return [color_sensor_v.color_name, color_sensor_r.color_name]
def print_sensor(comment=""):
dist = infrared_sensor.distance_centimeters
color = get_color()
gyro = gyro_sensor.get_angel_and_rate()
print(comment, dist, color, gyro)
os.system('setfont Lat15-TerminusBold14')
import ev3dev2.display as display # Only need this when running on ev3
disp = display.Display()
else:
# We are running remotely, so assume we are using RPYC
import rpyc
conn = rpyc.classic.connect(
'ev3dev.local') # host name or IP address of the EV3
sensors = conn.modules['ev3dev2.sensor.lego'] # import ev3dev2 remotely
motors = conn.modules['ev3dev2.motor']
tank = motors.MoveTank('outB', 'outC')
distSensorType = 'Ultrasonic' # Change to 'IR' for the IR sensor
if distSensorType == 'Ultrasonic':
distSensor = sensors.UltrasonicSensor()
distSensor.mode = 'US-DIST-CM' # Measure distance in centimeters
else:
distSensor = sensors.InfraredSensor()
distSensor.mode = 'IR-PROX' # Put sensor in Proximity mode to measure distance from an obstacle
ts = sensors.TouchSensor()
np.set_printoptions(precision=3)
# touch sensor
# 0: touchsensor not pressed
# 1: touchsensor pressed
numTouchSensorStates = 2
# Ultrasonic returns 0 to 255 cm. IR sensor returns 0 to 100 (v).
#!/usr/bin/env python3
# Code adapted from https://github.com/tjohnson250/ev3rl/blob/master/qlearn%20touch%20and%20distance%20sensor.py
# many thanks to TJohnson
import datetime
import numpy as np
import ev3dev2.sensor.lego as sensors
import ev3dev2.motor as motors
import random
import os
#set up sensors
ultra = sensors.UltrasonicSensor()
ultra.mode = 'US-DIST-CM'
# Reducing the distance sensor states to 5 discrete states
numDistSensorStates = 5
bins = [0]
for i in range(numDistSensorStates - 1):
bins.append((i + 1) * 8)
# returns the discrete distance from the ultrasonic sensor
def getCoarseDistance(sensor, bins):
rawDist = ultra.distance_centimeters
dist = np.digitize([rawDist], bins)[0]
return dist - 1
def __init__(self):
super().__init__()
self.running = False
self.reload()
self.motors = []
try:
self.motors.append(motor.LargeMotor(motor.OUTPUT_A))
except:
pass
try:
self.motors.append(motor.LargeMotor(motor.OUTPUT_B))
except:
pass
try:
self.motors.append(motor.LargeMotor(motor.OUTPUT_C))
except:
pass
try:
self.motors.append(motor.LargeMotor(motor.OUTPUT_D))
except:
pass
self.servos = []
try:
self.servos.append(motor.MediumMotor(motor.OUTPUT_A))
self._servo_counter += 1
except:
pass
try:
self.servos.append(motor.MediumMotor(motor.OUTPUT_B))
self._servo_counter += 1
except:
pass
try:
self.servos.append(motor.MediumMotor(motor.OUTPUT_C))
self._servo_counter += 1
except:
pass
try:
self.servos.append(motor.MediumMotor(motor.OUTPUT_D))
self._servo_counter += 1
except:
pass
self.sound = None
try:
self.sound = sound.Sound()
except:
pass
self.infrared_sensor = None
try:
self.infrared_sensor = lego.InfraredSensor(sensor.INPUT_4)
except:
pass
self.ultrasonic_sensor = None
if self.infrared_sensor == None:
try:
self.ultrasonic_sensor = lego.UltrasonicSensor(sensor.INPUT_4)
except:
pass
self.running = True