def motorposition(self, port):
if self._bricks:
port = str(port)
port_up = port.upper()
if (port_up in NXT_MOTOR_PORTS):
port = NXT_MOTOR_PORTS[port_up]
try:
m = Motor(self._bricks[self.active_nxt], port)
t = m.get_tacho()
previous = self._motor_pos[port_up][self.active_nxt]
return (t.tacho_count - previous)
except:
raise logoerror(ERROR_GENERIC)
else:
raise logoerror(ERROR_PORT_M % port)
else:
raise logoerror(ERROR_BRICK)
def motorreset(self, port):
if self._bricks:
port = str(port)
port_up = port.upper()
if (port_up in NXT_MOTOR_PORTS):
port = NXT_MOTOR_PORTS[port_up]
try:
m = Motor(self._bricks[self.active_nxt], port)
t = m.get_tacho()
self._motor_pos[port_up][self.active_nxt] = t.tacho_count
m.idle()
except:
raise logoerror(ERROR_GENERIC)
else:
raise logoerror(ERROR_PORT_M % port)
else:
raise logoerror(ERROR_BRICK)
def motorposition(self, port):
if self._bricks:
port = str(port)
port_up = port.upper()
if (port_up in NXT_MOTOR_PORTS):
port = NXT_MOTOR_PORTS[port_up]
try:
m = Motor(self._bricks[self.active_nxt], port)
t = m.get_tacho()
previous = self._motor_pos[port_up][self.active_nxt]
return (t.tacho_count - previous)
except:
raise logoerror(ERROR_GENERIC)
else:
raise logoerror(ERROR_PORT_M % port)
else:
raise logoerror(ERROR_BRICK)
def motorreset(self, port):
if self._bricks:
port = str(port)
port_up = port.upper()
if (port_up in NXT_MOTOR_PORTS):
port = NXT_MOTOR_PORTS[port_up]
try:
m = Motor(self._bricks[self.active_nxt], port)
t = m.get_tacho()
self._motor_pos[port_up][self.active_nxt] = t.tacho_count
m.idle()
except:
raise logoerror(ERROR_GENERIC)
else:
raise logoerror(ERROR_PORT_M % port)
else:
raise logoerror(ERROR_BRICK)
useUSB = False
if useUSB:
brick = nxt.find_one_brick(name=brickName,
strict=True,
method=nxt.locator.Method(usb=True,
bluetooth=True))
else:
# the bluetooth function of the nxt library works too, but "wastes"
# time searching for devices.
brick = nxtConnect.btConnect(brickName)
print(brick.get_device_info()) # check what brick you connected to
from time import sleep
from nxt.motor import Motor, PORT_A, PORT_B, PORT_C
from nxt.sensor import Touch, PORT_4, PORT_3, PORT_2, Light, PORT_1, Ultrasonic
#from basicFunctions import step, calibrate
light = Light(brick, PORT_4)
turningMotor = Motor(brick, PORT_B)
walkingMotor = Motor(brick, PORT_C)
armMotor = Motor(brick, PORT_A)
touch = Touch(brick, PORT_1)
#ultrasonic = Ultrasonic(brick, PORT_2)
#compass = Ultrasonic(brick, PORT_3)
while True:
print(armMotor.get_tacho().tacho_count)
# the bluetooth function of the nxt library works too, but "wastes"
# time searching for devices.
brick = nxtConnect.btConnect(brickName)
print(brick.get_device_info()) # check what brick you connected to
from time import sleep
from nxt.sensor import Light
from nxt.sensor.hitechnic import Gyro
from nxt.sensor import PORT_1, PORT_2
from nxt.motor import Motor, PORT_A, PORT_B, PORT_C
motor = Motor(brick, PORT_C)
light = Light(brick, PORT_2)
motor.reset_position(False)
print(motor.get_tacho())
black = light.get_lightness()
print("black = ", black)
motor.turn(30, 50, brake=True, timeout=1.5, emulate=True)
sleep(0.05)
print(motor.get_tacho())
motor.brake()
white = light.get_lightness()
print("white = ", white)
motor.turn(-30, 50, brake=True, timeout=1.5, emulate=True)
threshold = (black + white) / 2
print(motor.get_tacho())
print("Threshold = ", threshold)
while light.get_lightness() < 1020:
light.get_lightness()