ent_motor_esq = OUTPUT_C
ent_motor_dir = OUTPUT_D
ent_motor_grande = OUTPUT_B
ent_motor_medio = OUTPUT_A
ent_sc_esq = INPUT_3
ent_sc_dir = INPUT_4
ent_us_lat = INPUT_2
ent_us_fr = INPUT_1
steering_pair = MoveSteering(ent_motor_esq, ent_motor_dir)
garra_g = LargeMotor(ent_motor_grande)
garra_m = MediumMotor(ent_motor_medio)
cor_esq = ColorSensor(ent_sc_esq)
cor_dir = ColorSensor(ent_sc_dir)
usl = UltrasonicSensor(ent_us_lat)
usf = UltrasonicSensor(ent_us_fr)
sound = Sound()
btn = Button()
#começar código
sound.beep()
tamanhos = ['azul', 'vermelho', 'vermelho', 'amarelo']
item_lista = 2
mapadecores = ['vermelho', 'amarelo', 'azul']
waiting = True
pegar_cano = False
def distancia_media(sensor):
a1 = sensor.distance_centimeters
sleep(0.05)
#!/usr/bin/env python3
from ev3dev2.motor import LargeMotor, OUTPUT_A, OUTPUT_B, SpeedPercent, MoveTank
from ev3dev2.sensor import INPUT_4
from ev3dev2.sensor.lego import ColorSensor
from ev3dev2.sensor import INPUT_3
from ev3dev2.sensor.lego import UltrasonicSensor
from ev3dev2.sound import Sound
from time import sleep
check_white = 0
chage_lotation = 0
cs = ColorSensor()
ul = UltrasonicSensor()
s = Sound()
tank_drive = MoveTank(left_motor_port = OUTPUT_A, right_motor_port = OUTPUT_B)
speed_change1 = 25
speed_change2 = 100
#처음에 직진
while True:
if cs.value() < 45:
tank_drive.on(100, 100)
else:
break
#라인 따라 가기
while True:
if ul.value() < 250:
break
else :
if cs.value() < 11:
#!/usr/bin/env python3
from ev3dev2.motor import OUTPUT_A, OUTPUT_D, MoveTank, SpeedPercent, follow_for_ms
from ev3dev2.sensor.lego import ColorSensor
from ev3dev2.sound import Sound
from ColorTank import ColorTank
import time
import sys
sound = Sound()
# tank = MoveTank(OUTPUT_A, OUTPUT_D)
# tank.cs = ColorSensor()
color_tank = ColorTank(OUTPUT_A, OUTPUT_D, 'IR-REMOTE', 'COL-COLOR')
sound.beep()
while True:
color_tank.process()
time.sleep(2)
# try:
# Follow the line for 4500ms
# tank.follow_line(
# kp=11.3, ki=0.05, kd=3.2,
# speed=SpeedPercent(30),
# follow_for=follow_for_ms,
# ms=4500
# )
# except Exception:
# tank.stop()
#/usr/bin/env python3
from ev3dev2.sound import Sound
from time import sleep
sound = Sound()
#play a standard beep
sound.beep()
sleep(2) # pause for 2 seconds
# Play a SINGLE 2000 Hz tone for 1.5 seconds
sound.play_tone(2000, 1.5)
sleep(2)
# Play a SEQUENCE of tones
sound.tone([(200, 2000, 400), (800, 1800, 2000)])
sleep(2)
# Play a 500 Hz tone for 1 second and then wait 0.4 seconds
# before playing the next tone
# Play the tone three times
# [(500, 1000, 400)] * 3 is the same as
# [(500, 1000, 400), (500, 1000, 400), (500, 1000, 400)]
sound.tone([(500, 1000, 400)] * 3)
sleep(2)
#text to speech
sound.speak('Hello, my name is E V 3!')
def race_loss_routine():
'''Call this in case the worst happens'''
Sound().speak('We did everything right!', play_type=Sound.PLAY_LOOP)
#!/usr/bin/env python3
import os
import sys
import time
from ev3dev2.motor import LargeMotor, OUTPUT_A, OUTPUT_D, SpeedPercent, MoveTank, MoveSteering, MediumMotor, OUTPUT_B
from ev3dev2.sensor import INPUT_1, INPUT_4, INPUT_2, INPUT_3
from ev3dev2.sensor.lego import TouchSensor, InfraredSensor, ColorSensor
from ev3dev2.led import Leds
from ev3dev2.button import Button
from ev3dev2.sound import Sound
ON = True
OFF = False
music = Sound()
music.play_file("Confirm.wav")
tank_drive = MoveTank(OUTPUT_A, OUTPUT_D)
steering_drive = MoveSteering(OUTPUT_A, OUTPUT_D)
ir = InfraredSensor()
ir.mode = "IR-PROX"
touch_sensor = TouchSensor()
touch_sensor.mode = "TOUCH"
color_arm = MediumMotor(OUTPUT_B)
display_button = Button()
color_sensor = ColorSensor()
def deploy_color_sensor():
color_arm.on_for_rotations(SpeedPercent(5), 0.30)
time.sleep(4.5)
if color_sensor.color == 1:
music.speak("I found something black on the surface of Mars")
from ev3dev2.sensor.lego import TouchSensor
from ev3dev2.sensor.lego import UltrasonicSensor
from ev3dev2.sound import Sound
from time import sleep
flip = 1
def drive():
global flip
flip = flip * -1
tank_drive.on_for_seconds(SpeedPercent(30 * flip), SpeedPercent(30 * flip),
1, True, True)
s = Sound()
tank_drive = MoveTank(OUTPUT_A, OUTPUT_D)
for x in range(4):
drive()
s.beep()
sleep(1)
for x in range(4):
drive()
s.beep(play_type=Sound.PLAY_NO_WAIT_FOR_COMPLETE)
sleep(3)
for x in range(4):
drive()
s.speak("testjes tests tests tests")
#!/usr/bin/env python3
"""Make robot say whatever color it observes with the color sensor."""
from ev3dev2.sensor.lego import ColorSensor
from time import sleep
from ev3dev2.sound import Sound
color_sensor = ColorSensor()
sound = Sound()
while True:
color = color_sensor.color
text = ColorSensor.COLORS[color]
sound.speak(text)
sleep(2)
ent_sc_esq = INPUT_3
ent_sc_dir = INPUT_4
ent_us_lat = INPUT_2
ent_us_fr = INPUT_1
steering_pair = MoveSteering(ent_motor_esq, ent_motor_dir)
garra_g = LargeMotor(ent_motor_grande)
garra_m = MediumMotor(ent_motor_medio)
cor_esq = ColorSensor(ent_sc_esq)
cor_dir = ColorSensor(ent_sc_dir)
usl = UltrasonicSensor(ent_us_lat)
usf = UltrasonicSensor(ent_us_fr)
sound = Sound()
btn = Button()
# FUNÇÕES
def distancia(sensor):
a1 = sensor.distance_centimeters
sleep(0.1)
a2 = sensor.distance_centimeters
sleep(0.1)
a3 = sensor.distance_centimeters
sleep(0.1)
distancia = max(a1, a2, a3)
return distancia
class R3ptar:
def __init__(self,
turn_motor_port: str = OUTPUT_A,
move_motor_port: str = OUTPUT_B,
scare_motor_port: str = OUTPUT_D,
touch_sensor_port: str = INPUT_1,
color_sensor_port: str = INPUT_3,
ir_sensor_port: str = INPUT_4,
ir_beacon_channel: int = 1):
self.turn_motor = MediumMotor(address=turn_motor_port)
self.move_motor = LargeMotor(address=move_motor_port)
self.scare_motor = LargeMotor(address=scare_motor_port)
self.touch_sensor = TouchSensor(address=touch_sensor_port)
self.color_sensor = ColorSensor(address=color_sensor_port)
self.ir_sensor = InfraredSensor(address=ir_sensor_port)
self.ir_beacon_channel = ir_beacon_channel
self.noise = Sound()
def drive_once_by_ir_beacon(self, speed: float = 100):
if self.ir_sensor.top_left(channel=self.ir_beacon_channel) and \
self.ir_sensor.top_right(channel=self.ir_beacon_channel):
self.move_motor.on(speed=speed, brake=False, block=False)
elif self.ir_sensor.bottom_left(channel=self.ir_beacon_channel) and \
self.ir_sensor.bottom_right(channel=self.ir_beacon_channel):
self.move_motor.on(speed=-speed, brake=False, block=False)
elif self.ir_sensor.top_left(channel=self.ir_beacon_channel):
self.turn_motor.on(speed=-50, brake=False, block=False)
self.move_motor.on(speed=speed, brake=False, block=False)
elif self.ir_sensor.top_right(channel=self.ir_beacon_channel):
self.turn_motor.on(speed=50, brake=False, block=False)
self.move_motor.on(speed=speed, brake=False, block=False)
elif self.ir_sensor.bottom_left(channel=self.ir_beacon_channel):
self.turn_motor.on(speed=-50, brake=False, block=False)
self.move_motor.on(speed=-speed, brake=False, block=False)
elif self.ir_sensor.bottom_right(channel=self.ir_beacon_channel):
self.turn_motor.on(speed=50, brake=False, block=False)
self.move_motor.on(speed=-speed, brake=False, block=False)
else:
self.turn_motor.off(brake=True)
self.move_motor.off(brake=False)
def bite_by_ir_beacon(self, speed: float = 100):
if self.ir_sensor.beacon(channel=self.ir_beacon_channel):
self.scare_motor.on_for_seconds(speed=speed,
seconds=1,
brake=True,
block=False)
self.noise.play_file(wav_file='/home/robot/sound/Snake hiss.wav',
volume=100,
play_type=Sound.PLAY_NO_WAIT_FOR_COMPLETE)
self.scare_motor.on_for_seconds(speed=-speed,
seconds=1,
brake=True,
block=True)
while self.ir_sensor.beacon(channel=self.ir_beacon_channel):
pass
def run_away_if_chased(self):
if self.color_sensor.reflected_light_intensity > 30:
self.move_motor.on_for_seconds(speed=50,
seconds=4,
brake=True,
block=False)
for i in range(2):
self.turn_motor.on_for_seconds(speed=50,
seconds=1,
brake=False,
block=True)
self.turn_motor.on_for_seconds(speed=-50,
seconds=1,
brake=False,
block=True)
def bite_if_touched(self):
if self.touch_sensor.is_pressed:
self.scare_motor.on_for_seconds(speed=100,
seconds=1,
brake=True,
block=False)
self.noise.play_file(wav_file='/home/robot/sound/Snake hiss.wav',
volume=100,
play_type=Sound.PLAY_NO_WAIT_FOR_COMPLETE)
self.scare_motor.on_for_seconds(speed=-10,
seconds=10,
brake=True,
block=True)
def main(self, speed: float = 100):
while True:
self.drive_once_by_ir_beacon(speed=speed)
self.bite_by_ir_beacon(speed=speed)
self.bite_if_touched()
self.run_away_if_chased()
class Ev3rstorm(RemoteControlledTank):
def __init__(
self,
left_foot_motor_port: str = OUTPUT_B, right_foot_motor_port: str = OUTPUT_C,
bazooka_blast_motor_port: str = OUTPUT_A,
touch_sensor_port: str = INPUT_1, color_sensor_port: str = INPUT_3,
ir_beacon_channel: int = 1):
super().__init__(
left_motor_port=left_foot_motor_port, right_motor_port=right_foot_motor_port,
polarity=Motor.POLARITY_NORMAL,
speed=1000,
channel=ir_beacon_channel)
self.bazooka_blast_motor = MediumMotor(address=bazooka_blast_motor_port)
self.touch_sensor = TouchSensor(address=touch_sensor_port)
self.color_sensor = ColorSensor(address=color_sensor_port)
self.screen = Display()
self.speaker = Sound()
def blast_bazooka_whenever_touched(self):
while True:
if self.touch_sensor.is_pressed:
if self.color_sensor.ambient_light_intensity < 5: # 15 not dark enough
self.speaker.play_file(
wav_file='/home/robot/sound/Up.wav',
volume=100,
play_type=Sound.PLAY_WAIT_FOR_COMPLETE)
self.bazooka_blast_motor.on_for_rotations(
speed=100,
rotations=-3,
brake=True,
block=True)
else:
self.speaker.play_file(
wav_file='/home/robot/sound/Down.wav',
volume=100,
play_type=Sound.PLAY_WAIT_FOR_COMPLETE)
self.bazooka_blast_motor.on_for_rotations(
speed=100,
rotations=3,
brake=True,
block=True)
self.touch_sensor.wait_for_released()
def main(self):
self.screen.image_filename(
filename='/home/robot/image/Target.bmp',
clear_screen=True)
self.screen.update()
Process(target=self.blast_bazooka_whenever_touched,
daemon=True).start()
super().main() # RemoteControlledTank.main()
ent_motor_esq = OUTPUT_C
ent_motor_dir = OUTPUT_D
ent_motor_grande = OUTPUT_B
ent_motor_medio = OUTPUT_A
ent_sc_esq = INPUT_3
ent_sc_dir = INPUT_4
ent_us_lat = INPUT_2
ent_us_fr = INPUT_1
steering_pair = MoveSteering(ent_motor_esq, ent_motor_dir)
garra_g = LargeMotor(ent_motor_grande)
garra_m = MediumMotor(ent_motor_medio)
cor_esq = ColorSensor(ent_sc_esq)
cor_dir = ColorSensor(ent_sc_dir)
usl = UltrasonicSensor(ent_us_lat)
usf = UltrasonicSensor(ent_us_fr)
sound = Sound()
btn = Button()
def RGBtoHSV(rgb):
x = max(rgb)
y = min(rgb)
if x == y:
z = 1
else:
z = x - y
r = rgb[0]
g = rgb[1]
b = rgb[2]
if r >= g and r >= b: #se o vermelho é o máximo
if g >= b:
class Rov3r(IRBeaconRemoteControlledTank):
def __init__(self,
left_motor_port: str = OUTPUT_B,
right_motor_port: str = OUTPUT_C,
gear_motor_port: str = OUTPUT_A,
touch_sensor_port: str = INPUT_1,
color_sensor_port: str = INPUT_3,
ir_sensor_port: str = INPUT_4,
ir_beacon_channel: int = 1):
super().__init__(left_motor_port=left_motor_port,
right_motor_port=right_motor_port,
ir_sensor_port=ir_sensor_port,
ir_beacon_channel=ir_beacon_channel)
self.gear_motor = MediumMotor(address=gear_motor_port)
self.touch_sensor = TouchSensor(address=touch_sensor_port)
self.color_sensor = ColorSensor(address=color_sensor_port)
self.ir_sensor = InfraredSensor(address=ir_sensor_port)
self.speaker = Sound()
self.dis = Display(desc='Display')
def spin_gears(self, speed: float = 100):
if self.ir_sensor.beacon(channel=1):
self.gear_motor.on(speed=speed, block=False, brake=False)
else:
self.gear_motor.off(brake=True)
def change_screen_when_touched(self):
if self.touch_sensor.is_pressed:
self.dis.image_filename(filename='/home/robot/image/Angry.bmp',
clear_screen=True)
self.dis.update()
else:
self.dis.image_filename(filename='/home/robot/image/Fire.bmp',
clear_screen=True)
self.dis.update()
def make_noise_when_seeing_black(self):
if self.color_sensor.color == ColorSensor.COLOR_BLACK:
self.speaker.play_file(wav_file='/home/robot/sound/Ouch.wav',
volume=100,
play_type=Sound.PLAY_WAIT_FOR_COMPLETE)
def main(self):
self.speaker.play_file(wav_file='/home/robot/sound/Yes.wav',
volume=100,
play_type=Sound.PLAY_WAIT_FOR_COMPLETE)
while True:
self.drive_once_by_ir_beacon(speed=100)
self.make_noise_when_seeing_black()
self.spin_gears(speed=100)
self.change_screen_when_touched()
def music():
Sound.play("sounds/titanic.wav").wait()
from ev3dev2.sound import Sound #dicionário que permite tocar músicas
from ev3dev.ev3 import * #nao sei a diferença do de cima
from time import sleep
#from threading import Thread #dicionário que permite executar ações ao mesmo tempo
from multiprocessing import Process #multi-process
from ev3dev2.motor import LargeMotor, MediumMotor, MoveSteering, OUTPUT_D, OUTPUT_A, OUTPUT_B, SpeedRPS #dicionário dos motores disponíveis e usados no robot
from PIL import Image #dicionário que permite apresentar imagens .bmp no lcd
from ev3dev2.sensor.lego import GyroSensor
from threading import Thread #dicionário que permite executar ações ao mesmo tempo
import os
#os.system('setfont Lat15-TerminusBold14')
os.system('setfont Lat15-TerminusBold32x16')
mySound = Sound()
import colorTest
import coord
#############################################
# TO DO LIST #
#############################################
'''
definir a melhor velocidade para o robot se mover
definir a melhor velocidade para a garra abrir e fechar
definir quantas rotações (ou segundos) são necessarias para andar 1 casa
definir os angulos de rotação
definir multiprocessing para andar e fazer a leitura ao mesmo tempo
'''
##########################################################################################
#!/usr/bin/env micropython
from ev3dev2.motor import LargeMotor, MediumMotor, OUTPUT_A, OUTPUT_D
from ev3dev2.sensor import INPUT_4
from ev3dev2.sensor.lego import InfraredSensor
from ev3dev2.sound import Sound
from multiprocessing import Process
from time import sleep
LARGE_MOTOR = LargeMotor(address=OUTPUT_D)
MEDIUM_MOTOR = MediumMotor(address=OUTPUT_A)
IR_SENSOR = InfraredSensor(address=INPUT_4)
SPEAKER = Sound()
def rattle():
while True:
MEDIUM_MOTOR.on_for_seconds(speed=10,
seconds=1,
brake=False,
block=True)
SPEAKER.play_file(wav_file='/home/robot/sound/Snake rattle.wav',
volume=50,
play_type=Sound.PLAY_WAIT_FOR_COMPLETE)
MEDIUM_MOTOR.on_for_seconds(speed=-10,
seconds=1,
# port 1 = Barometer sensor # port 2 = Ultrasonic sensor, Infrared Sensor and Gyro Sensor via EV3 Port splitter # port 3 = Thermometer # port 4 = Sound Sensor # port A = Medium Motor (Claw) # port B = Large Motor # port C = Large Motor # port D = Medium Motor (Lift) tank_pair = MoveTank(OUTPUT_B,OUTPUT_C) steer_pair = MoveSteering(OUTPUT_B,OUTPUT_C) MediumMotor_Claw = MediumMotor(OUTPUT_A) MediumMotor_lift = MediumMotor(OUTPUT_D) sound = Sound() leds = Leds() btn = Button() # Mindstorms EV3-Sensor-Mux connected to EV3 Ultrasonic Sensor, Infrared Sensor and Gyro Sensor -------------------- us_port = LegoPort(address='ev3-ports:in2:i2c80:mux1') ir_port = LegoPort(address='ev3-ports:in2:i2c81:mux2') gyro_port = LegoPort(address='ev3-ports:in2:i2c82:mux3') us_port.mode = 'uart' ir_port.mode = 'uart' gyro_port.mode = 'uart' us_port.set_device = 'lego-ev3-us' ir_port.set_device = 'lego-ev3-ir'
#!/usr/bin/env micropython
from ev3dev2.sound import Sound
player = Sound()
player.play_song((
('D4', 'e3'), # intro anacrouse
('D4', 'e3'),
('D4', 'e3'),
('G4', 'h'), # meas 1
('D5', 'h'),
('C5', 'e3'), # meas 2
('B4', 'e3'),
('A4', 'e3'),
('G5', 'h'),
('D5', 'q'),
('C5', 'e3'), # meas 3
('B4', 'e3'),
('A4', 'e3'),
('G5', 'h'),
('D5', 'q'),
('C5', 'e3'), # meas 4
('B4', 'e3'),
('C5', 'e3'),
('A4', 'h.'),
))
#!/usr/bin/env python3
from __future__ import absolute_import
from ev3dev.ev3 import *
from roberta.ev3 import Hal
from ev3dev2.motor import LargeMotor, MediumMotor
from ev3dev2.motor import MoveSteering, OUTPUT_A, OUTPUT_D
from ev3dev2.motor import MoveTank, OUTPUT_A, OUTPUT_D
from ev3dev2.sound import Sound
from ev3dev import ev3 as ev3dev
#lm = LargeMotor(OUTPUT_A)
#rm = LargeMotor(OUTPUT_D)
mm = MediumMotor(OUTPUT_B)
sound = Sound()
opts = '-a 200 -s 130 -v'
text = 'Saluton amikoj, mi estas Robi! mi sxatas muziki kaj danci'
sound.speak(text, espeak_opts=opts+'eo')
class BreakOutOfALoop(Exception): pass
class ContinueLoop(Exception): pass
_brickConfiguration = {
'wheel-diameter': 5.6,
'track-width': 18.0,
'actors': {
'A':Hal.makeLargeMotor(ev3dev.OUTPUT_A, 'on', 'foreward', 'right'),
'D':Hal.makeLargeMotor(ev3dev.OUTPUT_D, 'on', 'foreward', 'left'),
}
from ev3dev2.motor import LargeMotor, OUTPUT_A, OUTPUT_B, SpeedPercent, MoveTank
from ev3dev2.sensor import INPUT_1
from ev3dev2.sensor.lego import TouchSensor
from ev3dev2.led import Leds
ts = TouchSensor(INPUT_1)
leds = Leds()
print("Press the touch sensor to change the LED color!")
# m = LargeMotor(OUTPUT_A)
# m.on_for_rotations(SpeedPercent(75), 5)
from ev3dev2.sound import Sound
sound = Sound()
sound.speak("LICKo is going to win it all this year! Lets goooooooooooo!")
flip = True
while True:
# if ts.is_pressed:
if flip:
leds.set_color("LEFT", "GREEN")
leds.set_color("RIGHT", "GREEN")
else:
leds.set_color("LEFT", "RED")
leds.set_color("RIGHT", "RED")
flip = not flip
# don't let this loop use 100% CPU
sleep(0.2)
class Gripp3r:
def __init__(self,
left_motor_port: str = OUTPUT_B,
right_motor_port: str = OUTPUT_C,
grip_motor_port: str = OUTPUT_A,
touch_sensor_port: str = INPUT_1,
ir_sensor_port: str = INPUT_4,
ir_beacon_channel: int = 1):
self.tank_driver = MoveTank(left_motor_port=left_motor_port,
right_motor_port=right_motor_port,
motor_class=LargeMotor)
self.grip_motor = MediumMotor(address=grip_motor_port)
self.touch_sensor = TouchSensor(address=touch_sensor_port)
self.ir_sensor = InfraredSensor(address=ir_sensor_port)
self.ir_beacon_channel = ir_beacon_channel
self.speaker = Sound()
def keep_driving_by_ir_beacon(self, speed: float = 100):
while True:
if self.ir_sensor.top_left(channel=self.ir_beacon_channel) and \
self.ir_sensor.top_right(channel=self.ir_beacon_channel):
# go forward
self.tank_driver.on(left_speed=speed, right_speed=speed)
elif self.ir_sensor.bottom_left(channel=self.ir_beacon_channel) and \
self.ir_sensor.bottom_right(channel=self.ir_beacon_channel):
# go backward
self.tank_driver.on(left_speed=-speed, right_speed=-speed)
elif self.ir_sensor.top_left(channel=self.ir_beacon_channel) and \
self.ir_sensor.bottom_right(channel=self.ir_beacon_channel):
# turn around left
self.tank_driver.on(left_speed=-speed, right_speed=speed)
elif self.ir_sensor.top_right(channel=self.ir_beacon_channel) and \
self.ir_sensor.bottom_left(channel=self.ir_beacon_channel):
# turn around right
self.tank_driver.on(left_speed=speed, right_speed=-speed)
elif self.ir_sensor.top_left(channel=self.ir_beacon_channel):
# turn left
self.tank_driver.on(left_speed=0, right_speed=speed)
elif self.ir_sensor.top_right(channel=self.ir_beacon_channel):
# turn right
self.tank_driver.on(left_speed=speed, right_speed=0)
elif self.ir_sensor.bottom_left(channel=self.ir_beacon_channel):
# left backward
self.tank_driver.on(left_speed=0, right_speed=-speed)
elif self.ir_sensor.bottom_right(channel=self.ir_beacon_channel):
# right backward
self.tank_driver.on(left_speed=-speed, right_speed=0)
else:
self.tank_driver.off(brake=False)
def grip_or_release_by_ir_beacon(self, speed: float = 50):
while True:
if self.ir_sensor.beacon(channel=self.ir_beacon_channel):
if self.touch_sensor.is_pressed:
self.speaker.play_file(
wav_file='/home/robot/sound/Air release.wav',
volume=100,
play_type=Sound.PLAY_NO_WAIT_FOR_COMPLETE)
self.grip_motor.on_for_seconds(speed=speed,
seconds=1,
brake=True,
block=True)
else:
self.speaker.play_file(
wav_file='/home/robot/sound/Airbrake.wav',
volume=100,
play_type=Sound.PLAY_NO_WAIT_FOR_COMPLETE)
self.grip_motor.on(speed=-speed, brake=False, block=False)
self.touch_sensor.wait_for_pressed()
self.grip_motor.off(brake=True)
while self.ir_sensor.beacon(channel=self.ir_beacon_channel):
pass
def main(self, speed: float = 100):
self.grip_motor.on_for_seconds(speed=-50,
seconds=1,
brake=True,
block=True)
while True:
Process(target=self.grip_or_release_by_ir_beacon).start()
self.keep_driving_by_ir_beacon(speed=speed)
class Dinor3x(IRBeaconRemoteControlledTank):
"""
Challenges:
- Can you make DINOR3X remote controlled with the IR-Beacon?
- Can you attach a colorsensor to DINOR3X, and make it behave differently
depending on which color is in front of the sensor
(red = walk fast, white = walk slow, etc.)?
"""
def __init__(
self,
left_motor_port: str = OUTPUT_B, right_motor_port: str = OUTPUT_C,
jaw_motor_port: str = OUTPUT_A,
touch_sensor_port: str = INPUT_1,
ir_sensor_port: str = INPUT_4, ir_beacon_channel: int = 1):
super().__init__(
left_motor_port=left_motor_port, right_motor_port=right_motor_port,
ir_sensor_port=ir_sensor_port, ir_beacon_channel=ir_beacon_channel)
self.jaw_motor = MediumMotor(address=jaw_motor_port)
self.touch_sensor = TouchSensor(address=touch_sensor_port)
self.ir_sensor = InfraredSensor(address=ir_sensor_port)
self.ir_beacon_channel = ir_beacon_channel
self.button = Button()
self.speaker = Sound()
def calibrate_legs(self):
self.tank_driver.on(
left_speed=10,
right_speed=20)
self.touch_sensor.wait_for_released()
self.tank_driver.off(brake=True)
self.left_motor.on(speed=40)
self.touch_sensor.wait_for_pressed()
self.left_motor.off(brake=True)
self.left_motor.on_for_rotations(
rotations=-0.2,
speed=50,
brake=True,
block=True)
self.right_motor.on(speed=40)
self.touch_sensor.wait_for_pressed()
self.right_motor.off(brake=True)
self.right_motor.on_for_rotations(
rotations=-0.2,
speed=50,
brake=True,
block=True)
self.left_motor.reset()
self.right_motor.reset()
def close_mouth(self):
self.jaw_motor.on(
speed=20,
block=False,
brake=False)
sleep(1)
self.jaw_motor.off(brake=True)
def roar(self):
self.speaker.play_file(
wav_file='/home/robot/sound/T-rex roar.wav',
volume=100,
play_type=Sound.PLAY_NO_WAIT_FOR_COMPLETE)
self.jaw_motor.on_for_degrees(
speed=40,
degrees=-60,
block=True,
brake=True)
for i in range(12):
self.jaw_motor.on_for_seconds(
speed=-40,
seconds=0.05,
block=True,
brake=True)
self.jaw_motor.on_for_seconds(
speed=40,
seconds=0.05,
block=True,
brake=True)
self.jaw_motor.on(
speed=20,
brake=False,
block=False)
sleep(0.5)
def walk_until_blocked(self):
self.steer_driver.on(
steering=0,
speed=-40)
while self.ir_sensor.proximity >= 25:
pass
self.steer_driver.off(brake=True)
def run_away(self):
self.steer_driver.on_for_rotations(
speed=75,
steering=0,
rotations=3,
brake=True,
block=True)
def jump(self):
"""
Dinor3x Mission 02 Challenge: make it jump
"""
...
# TRANSLATED FROM EV3-G MY BLOCKS
# -------------------------------
def leg_adjust(
self,
cyclic_degrees: float,
speed: float = 40,
leg_offset_percent: float = 0,
mirrored_adjust: bool = False,
brake: bool = True):
...
def leg_to_pos(
self,
speed: float = 40,
left_position: float = 0,
right_position: float = 0):
self.tank_driver.stop(brake=True)
self.left_motor.on_for_degrees(
speed=speed,
degrees=left_position -
cyclic_position_offset(
rotation_sensor=self.left_motor.position,
cyclic_degrees=360),
brake=True,
block=True)
self.right_motor.on_for_degrees(
speed=speed,
degrees=right_position -
cyclic_position_offset(
rotation_sensor=self.right_motor.position,
cyclic_degrees=360),
brake=True,
block=True)
def turn(self, speed: float = 40, n_steps: int = 1):
...
def walk(self, speed: float = 40):
...
def walk_steps(self, speed: float = 40, n_steps: int = 1):
...
def play_random_quote():
'''A word from our sponsor, Anatoly Dyatlov'''
index = random.randint(0, len(soundList) - 1)
# keep moving while speaking
Sound().speak(soundList[index], play_type=Sound.PLAY_NO_WAIT_FOR_COMPLETE)
ent_sc_dir = INPUT_4
ent_us_lat = INPUT_2
ent_us_fr = INPUT_1
steering_pair = MoveSteering(ent_motor_esq, ent_motor_dir)
tank = MoveTank(ent_motor_esq, ent_motor_dir)
tank.cs = ColorSensor(ent_sc_esq)
garra_g = LargeMotor(ent_motor_grande)
garra_m = MediumMotor(ent_motor_medio)
cor_esq = ColorSensor(ent_sc_esq)
cor_dir = ColorSensor(ent_sc_dir)
usl = UltrasonicSensor(ent_us_lat)
usf = UltrasonicSensor(ent_us_fr)
sound = Sound()
btn = Button()
#Funções
#Cor
#Locomoção
# Reconhecimento de cor
def RGBtoHSV(rgb):
x = max(rgb)
y = min(rgb)
if x == y:
z = 1
def play_beep(hz=300.0, length=1.0):
Sound().play_tone(hz, length)
#!/usr/bin/env python3
from ev3dev2.motor import LargeMotor, SpeedPercent, MoveTank, MediumMotor, OUTPUT_A, OUTPUT_B, OUTPUT_C, OUTPUT_D
from ev3dev2.sensor import INPUT_1, INPUT_2, INPUT_3, INPUT_4
from ev3dev2.sensor.lego import TouchSensor, ColorSensor
from ev3dev2.led import Leds
from ev3dev2.sound import Sound
import time, os
os.system('setfont ' + 'Lat15-Terminus24x12')
sound = Sound()
sound.speak('hello')
from ev3dev2.motor import LargeMotor, OUTPUT_A, OUTPUT_B, OUTPUT_C, OUTPUT_D, SpeedPercent, MoveTank, MediumMotor#gives us accses to everything we need to run EV3 dev
from ev3dev2.sensor import INPUT_1, INPUT_2, INPUT_3, INPUT_4
from ev3dev2.sensor.lego import ColorSensor
from ev3dev2.sensor.lego import GyroSensor
from ev3dev2.button import Button
from ev3dev2.sound import Sound
from ev3dev2.display import Display
import time
import sys
btn = Button() # variable so we can get buttons pressed on EV3
color = ColorSensor(INPUT_4) # color sensor for checking attachment color
tank_drive = MoveTank(OUTPUT_B, OUTPUT_C) # Creates a variable so we can control the drivetrain
motorA = MediumMotor(OUTPUT_A) # left medium motor
motorD = MediumMotor(OUTPUT_D) # right medium motor
gyro = GyroSensor(INPUT_1) # gyro variable
Sound_ = Sound() # beepity beep
Display_ = Display() # for displaying text
Sound_.play_tone(frequency=400, duration=0.5, volume=50) #plays a note so we know when the code starts
#---------------------------------------------------------------------------------------------------------------------------------------------------
#------------------------------------------------Distance conversion--------------------------------------------------------------------------------
# Distance Conversion
wheelDiameter_mm = 56 # Look at the first number on the NUMBERxNUMBER on wheel
wheelCircumference_cm = (wheelDiameter_mm/10) * 3.14159265358979323846284338 # Convert to cm and multiply by pi for circumference
wheelCircumference_in = (wheelDiameter_mm/25.4) * 3.14159265358979323846284338 # Convert to in and multiply by pi for circumference
# inches to rotations:
# example: drive.on_for_rotations(SpeedPercent(100), SpeedPrecent(100), inToRotations(5))
# to go 5 inches
def inToRotations(inches):
return inches/wheelCircumference_in
# centimeters to rotations:
#!/usr/bin/env python3
from ev3dev2.button import Button
from time import sleep
from ev3dev2.led import Leds
from ev3dev2.sound import Sound
import os
import sys
os.system('setfont Lat15-TerminusBold14')
btn = Button()
loop = True
leds = Leds()
sound = Sound()
while loop:
if btn.left == True:
leds.set_color('LEFT', 'RED')
elif btn.right == True:
leds.set_color('RIGHT', 'RED')
elif btn.up == True:
leds.set_color('RIGHT', 'YELLOW')
elif btn.down == True:
leds.set_color('LEFT', 'AMBER')
elif btn.enter == True:
loop = False
else:
print('Do something!')
sound.play_tone(1500, 1)
sleep(0.5)
sound.play_tone(1400, 1)
sleep(0.5)
sound.play_tone(1300, 1)
#!/usr/bin/env python3
import numpy as np
from ev3dev2.sensor import INPUT_1, INPUT_3
from ev3dev2.sensor.lego import ColorSensor, UltrasonicSensor
from ev3dev2.button import Button
from ev3dev2.sound import Sound
import time
"""load up peripherals. sensors motors buttons etc"""
button = Button()
l_sensor3 = ColorSensor(INPUT_3)
l_sensor1 = ColorSensor(INPUT_1)
u_sensor = UltrasonicSensor()
sound = Sound()
def return_pressed_button(button):
"""waits for center button to be pressed and then returns the button object"""
pressed_button = None
while True:
sound.play_tone(400, 0.5)
#print(button.buttons_pressed)
print("press button:")
if button.enter:
print(button.enter)
sound.play_tone(300, 0.5)
pressed_button = button
break
return True, pressed_button
from ev3dev2.sensor import INPUT_1, INPUT_2, INPUT_3, INPUT_4
from ev3dev2.sensor.lego import ColorSensor
from ev3dev2.sensor.lego import GyroSensor
from ev3dev2.button import Button
from ev3dev2.sound import Sound
from ev3dev2.display import Display
import time
import sys
btn = Button()
color = ColorSensor(INPUT_4)
tank_drive = MoveTank(OUTPUT_B,
OUTPUT_C) #This is the template whenever we code
motorA = MediumMotor(OUTPUT_A)
motorD = MediumMotor(OUTPUT_D)
Sound_ = Sound()
Display_ = Display()
Sound_.play_tone(frequency=400, duration=0.5,
volume=50) #plays a note so we know when the code starts
#yellow = forwards
def swing_and_safety():
tank_drive = MoveTank(OUTPUT_B, OUTPUT_C)
motorA = MediumMotor(OUTPUT_A)
motorD = MediumMotor(OUTPUT_D)
tank_drive.on_for_rotations(SpeedPercent(50), SpeedPercent(50),
6.67) #ROBOT MOVES FORWARD FROM BASE
tank_drive.on_for_rotations(SpeedPercent(20), SpeedPercent(20),
.8) # ROBOT MOVES INTO SWING
tank_drive.on_for_rotations(SpeedPercent(-30), SpeedPercent(-30),
from ev3dev2.button import Button
from ev3dev2.sound import Sound
from ev3dev2.display import Display
from PIL import Image
import array
import random
import os
#logging
logging.basicConfig(level=logging.DEBUG, format='%(asctime)s %(levelname)5s: %(message)s')
log=logging.getLogger(__name__)
log.info("Starting Snake")
btn=Button()
sound=Sound()
display=Display()
# declare the variables
# direction x: 0-no move; 1-left; -1-right
dx=0
# direction y: 0-no move; 1-down; -1-up
dy=0
# Set burger position x
hx=random.randint(10, 170)
# set burger position y
hy=random.randint(20, 120)
# set the start x position of snake
Sx=[80]
# set the start y position of snake
Sy=[60]
def sound(self):
return Sound()
