def __init__(self):
self.b = nxt.locator.find_one_brick()
self.motor_c = Motor(self.b, PORT_C)
self.motor_a = Motor(self.b, PORT_A)
self.two_motors = nxt.SynchronizedMotors(self.motor_c, self.motor_a, 0)
self.two_motors_c = nxt.SynchronizedMotors(self.motor_c, self.motor_a,
100)
self.two_motors_a = nxt.SynchronizedMotors(self.motor_a, self.motor_c,
100)
def callback(cmd):
l = nxt.Motor(b, nxt.PORT_A)
r = nxt.Motor(b, nxt.PORT_B)
if cmd.linear.x != 0.0:
m = nxt.SynchronizedMotors(l, r, 0) #the last arg is turn ratio
m.turn(90, (cmd.linear.x * 10)) #forward
m.idle()
elif cmd.angular.z > 0.0:
m = nxt.SynchronizedMotors(r, l, 127)
m.turn(90, (cmd.angular.z * 10))
m.idle()
elif cmd.angular.z < 0.0:
m = nxt.SynchronizedMotors(l, r, 127)
m.turn(90, abs(cmd.angular.z * 10))
m.idle()
def __init__(self,
turn_ratio=0,
power_up=10,
power_down=-10,
power_left=20,
tacho_left=30,
power_right=20,
tacho_right=30,
bluetooth=False):
if bluetooth:
self.sock, self.brick = nxt_bluetooth.connectCar(
) # noqa PKSM '00:16:53:17:B4:04'
else:
self.brick = nxt.locator.find_one_brick()
self.leftMotor = nxt.Motor(self.brick, nxt.PORT_B)
self.rightMotor = nxt.Motor(self.brick, nxt.PORT_A)
self.both = nxt.SynchronizedMotors(self.leftMotor, self.rightMotor,
turn_ratio)
self.power_up = power_up
self.power_down = power_down
self.power_left = power_left
self.tacho_left = tacho_left
self.power_right = power_right
self.tacho_right = tacho_right
self.btCon = bluetooth
def main():
start = timeit.default_timer()
print "Looking for brick"
b = nxt.find_one_brick()
print "found it"
l = nxt.Motor(b, nxt.PORT_B)
r = nxt.Motor(b, nxt.PORT_C)
m = nxt.SynchronizedMotors(l, r, 0)
#move forward
for i in range(3):
print "image:", i
m.turn(100, 14400)
#take_img()
time.sleep(2)
for i in range(3):
print "image:", i
m.turn(-100, 14400)
#take_img()
time.sleep(2)
stop = timeit.default_timer()
print "time taken:", stop - start
def main():
if len(sys.argv) < 2:
print "usage: python rotate2.py foldername"
exit()
foldername = sys.argv[1]
start = timeit.default_timer()
print "Looking for brick"
b = nxt.find_one_brick()
print "found it"
l = nxt.Motor(b, nxt.PORT_B)
r = nxt.Motor(b, nxt.PORT_C)
m = nxt.SynchronizedMotors(l, r, 0)
for i in range(100):
print "image:",i
m.turn(80,75)
time.sleep(2)
take_img()
stop = timeit.default_timer()
print "time taken:", stop - start
execute_command("mkdir " + foldername)
execute_command("mv *.jpg " + foldername)
light_a = 0 light_b = 0 light_c = 0 lab = 0 lbc = 0 lca = 0 stop = 0 cap = cv2.VideoCapture(1) a = nxt.locator.find_one_brick(host='00:16:53:11:5A:F8') left_a = Motor(a, PORT_C) right_a = Motor(a, PORT_A) both_a = nxt.SynchronizedMotors(left_a, right_a, 0) rightboth_a = nxt.SynchronizedMotors(left_a, right_a, 100) leftboth_a = nxt.SynchronizedMotors(right_a, left_a, 100) light_sensor_a = Light(a, PORT_1, False) b = nxt.locator.find_one_brick(host='00:16:53:0F:0F:D8') left_b = Motor(b, PORT_C) right_b = Motor(b, PORT_A) both_b = nxt.SynchronizedMotors(left_b, right_b, 0) rightboth_b = nxt.SynchronizedMotors(left_b, right_b, 100) leftboth_b = nxt.SynchronizedMotors(right_b, left_b, 100) light_sensor_b = Light(b, PORT_1, False) c = nxt.locator.find_one_brick(host='00:16:53:0C:1D:29') left_c = Motor(c, PORT_C) right_c = Motor(c, PORT_A)
LEFT_SLOPE = 0.0093
MIN_DIST_REQUIRED_MOVE = 1 #CM
MAX_CM_MOVMENT = 56
# the system is being dragd up when moving left by this ratio
UP_DRAG_LEFT_SLOPE = 0.0017 # DRAG_UP = cm_left/UP_DRAG_LEFT_SLOPE
# endregion ---CONSTANST---
# region ---INITIALIZE---
"""initialize the program variabels"""
brick = blue.BlueSock(BLUETOOTH_ADDRESS).connect()
print("connected")
m_left = Motor(brick, PORT_A)
m_right = Motor(brick, PORT_C)
both_same = nxt.SynchronizedMotors(m_left, m_right, 0)
both_oposite_A = nxt.SynchronizedMotors(m_right, m_left, MAX_POWER)
both_oposite_B = nxt.SynchronizedMotors(m_left, m_right, MAX_POWER)
# endregion ---INITIALIZE---
def move_XY(y, x):
if x > 0:
left(x)
else:
right(-x)
if y > 0:
up(y)
else:
down(-y)
#!/usr/bin/env python # import nxt import sys import tty, termios import nxt.locator from nxt.sensor import * from nxt.motor import * brick = nxt.locator.find_one_brick() left = nxt.Motor(brick, PORT_B) right = nxt.Motor(brick, PORT_C) both = nxt.SynchronizedMotors(left, right, 0) camera = nxt.Motor(brick, PORT_A) leftboth = nxt.SynchronizedMotors(left, right, 100) rightboth = nxt.SynchronizedMotors(right, left, 100) guideLight = nxt.Color20(brick, PORT_4) backSense = nxt.Ultrasonic(brick, PORT_1) sens = 360 sensTurn = 90 curSens = 5 power = 100 blue = Type.COLORBLUE green = Type.COLORGREEN red = Type.COLORRED off = Type.COLORNONE curCol = off guideLight.set_light_color(curCol) curCol = green camDeg = 0
import os
import time
import nxt
import neuralNetworkPred as nn
from nxt.sensor import *
from nxt.motor import *
print('looking for NXT ... could take 15 seconds')
b = nxt.find_one_brick()
m_left = Motor(b, PORT_B)
m_right = Motor(b, PORT_A)
both = nxt.SynchronizedMotors(m_left, m_right, 0)
rightboth = nxt.SynchronizedMotors(m_left, m_right, 100)
leftboth = nxt.SynchronizedMotors(m_right, m_left, 100)
filecnt = 0
lastAction = ''
while True:
distance = Ultrasonic(b, PORT_4, check_compatible=False).get_sample()
state = [0]
if distance < 50:
state[0] = 1
action = nn.nextChoice(state)
if action == 'forward' and lastAction != 'forward':
both.run(100)
elif action == 'left':
both.brake()
def reverse(b, power, time):
left = Motor(b, lmotport)
right = Motor(b, rmotport)
both = nxt.SynchronizedMotors(left, right, 0)
both.turn(-power, time, brake=False)
def init_drive_motors(brick):
ma = nxt.Motor(brick, nxt.PORT_A)
mb = nxt.Motor(brick, nxt.PORT_B)
bm = nxt.SynchronizedMotors(ma, mb, 0)
return ma, mb, bm
brick = nxtConnect.btConnect(brickName)
from time import sleep
from nxt.motor import SynchronizedMotors
# see files in library ( /usr/local/lib/python2.7/dist-packages/nxt )
# for a more comprehensive list of ports / commands available
from nxt.motor import Motor, PORT_A, PORT_B, PORT_C
from nxt.sensor import Light, Sound, Touch, Ultrasonic
from nxt.sensor import PORT_1, PORT_2, PORT_3, PORT_4
try:
motorLeft = Motor(brick, PORT_A) # plug motor into Port A
motorRight = Motor(brick, PORT_B) # plug motor into Port B
motorBoth = nxt.SynchronizedMotors(motorRight, motorLeft, 0)
ultraSensor = Ultrasonic(brick,
PORT_1) # plug ultrasonic sensor into Port 1
#motorSync = SynchronizedMotors(motorA, motorB, 10000)
#motorSync.idle()
while ultraSensor.get_sample() > 10:
print("Current ultrasonic sensor state: {}".format(
ultraSensor.get_sample()))
motorBoth.run(power=-120)
'''motorA.run(power = -128) #go forward
motorB.run(power = -128) #go forward'''
finally:
Motor(brick, PORT_A).idle() # otherwise motor keeps running
Motor(brick, PORT_B).idle() # otherwise motor keeps running
