def Bench_M04():
# Initialize the motors.
robot = DriveBase(left_motor,
right_motor,
wheel_diameter=95,
axle_track=94)
robot.settings(800, 200, 100, 50)
ev3 = EV3Brick()
# ev3.speaker.say("LICKo is the best and will definitely win!")
# go forward
robot.straight(distance=720)
# robot.turn(angle=-10)
robot.turn(angle=30)
# robot.straight(distance=-100)
medium_motor.run_time(speed=750, time=125, then=Stop.HOLD, wait=True)
medium_motor.run_until_stalled(1000)
robot.straight(distance=-250)
# medium_motor.run_time(speed=2500, time=500, then=Stop.HOLD, wait=True)
# medium_motor.run_time(speed=-100, time=75, then=Stop.HOLD, wait=True)
robot.straight(distance=425)
medium_motor.run_time(speed=-1000, time=925, then=Stop.HOLD, wait=True)
medium_motor.run_until_stalled(1000)
ev3.speaker.say("YAY!")
ev3.speaker.say("Sigh...")
def BlackMission(): # Black Run (Innovatice Architecture, Health Units, Hopscotch, Bringing Slide Figures back HOME)
#!/usr/bin/env pybricks-micropython
from pybricks.hubs import EV3Brick
from pybricks.ev3devices import (Motor, TouchSensor, ColorSensor,
InfraredSensor, UltrasonicSensor, GyroSensor)
from pybricks.parameters import Port, Stop, Direction, Button, Color
from pybricks.tools import wait, StopWatch, DataLog
from pybricks.robotics import DriveBase
from pybricks.media.ev3dev import SoundFile, ImageFile
# This program requires LEGO EV3 MicroPython v2.0 or higher.
# Click "Open user guide" on the EV3 extension tab for more information.
# define your variables
ev3 = EV3Brick()
left_motor = Motor(Port.C)
right_motor = Motor(Port.B)
medium_motor = Motor(Port.A)
large_motor = Motor(Port.D)
wheel_diameter = 56
axle_track = 115
line_sensor = ColorSensor(Port.S2)
line_sensor1 = ColorSensor(Port.S3)
robot = DriveBase(left_motor, right_motor, wheel_diameter, axle_track)
robot.settings(140) # To change the SPEED
# Pushing our innovative architecture and the health units.
robot.straight(350)
robot.straight(-97)
robot.turn(-40)
robot.straight(40)
# Dropping the cube into hopscotch area and returning back to base.
large_motor.run_angle(30,50,then=Stop.HOLD, wait=True)
ev3.speaker.beep(15)
large_motor.run_angle(60,-180,then=Stop.HOLD, wait=False)
robot.turn(30)
robot.straight(-300)
# (In base) Wait block for attachment change.
wait(6000)
# Bringing slide figures to base.
robot.stop(Stop.BRAKE)
robot.settings(240) # Speed change
ev3.speaker.beep(20)
robot.straight(390)
ev3.speaker.beep(300)
large_motor.run_angle(60,130)
robot.straight(-90)
large_motor.run_angle(60,40,then=Stop.HOLD, wait=True)
robot.straight(-500)
large_motor.run_angle(60,-100,then=Stop.HOLD, wait=True)
robot.stop(Stop.BRAKE)
def BlackMission():
#!/usr/bin/env pybricks-micropython
from pybricks.hubs import EV3Brick
from pybricks.ev3devices import (Motor, TouchSensor, ColorSensor,
InfraredSensor, UltrasonicSensor, GyroSensor)
from pybricks.parameters import Port, Stop, Direction, Button, Color
from pybricks.tools import wait, StopWatch, DataLog
from pybricks.robotics import DriveBase
from pybricks.media.ev3dev import SoundFile, ImageFile
# This program requires LEGO EV3 MicroPython v2.0 or higher.
# Click "Open user guide" on the EV3 extension tab for more information.
#define your variables
ev3 = EV3Brick()
left_motor = Motor(Port.C)
right_motor = Motor(Port.B)
medium_motor = Motor(Port.A)
large_motor = Motor(Port.D)
wheel_diameter = 56
axle_track = 115
line_sensor = ColorSensor(Port.S2)
line_sensor1 = ColorSensor(Port.S3)
robot = DriveBase(left_motor, right_motor, wheel_diameter, axle_track)
robot.settings(140)
robot.straight(350)
robot.straight(-97)
robot.turn(-40)
large_motor.run_angle(30,50,then=Stop.HOLD, wait=True)
ev3.speaker.beep(15)
large_motor.run_angle(60,-180,then=Stop.HOLD, wait=False)
robot.straight(-300)
wait(10000)
robot.stop(Stop.BRAKE)
robot.settings(240)
ev3.speaker.beep(20)
robot.straight(390)
ev3.speaker.beep(300)
large_motor.run_angle(60,130)
robot.straight(-90)
large_motor.run_angle(60,40,then=Stop.HOLD, wait=True)
robot.straight(-500)
# test straight after beep and see if it works...
robot.stop(Stop.BRAKE)
def RedMission(): # Red Run (Bench Mission (including backrest removal))
#!/usr/bin/env pybricks-micropython
from pybricks.hubs import EV3Brick
from pybricks.ev3devices import (Motor, TouchSensor, ColorSensor,
InfraredSensor, UltrasonicSensor, GyroSensor)
from pybricks.parameters import Port, Stop, Direction, Button, Color
from pybricks.tools import wait, StopWatch, DataLog
from pybricks.robotics import DriveBase
from pybricks.media.ev3dev import SoundFile, ImageFile
# This program requires LEGO EV3 MicroPython v2.0 or higher.
# Click "Open user guide" on the EV3 extension tab for more information.
# Create your objects here.
ev3 = EV3Brick()
left_motor = Motor(Port.C)
right_motor = Motor(Port.B)
wheel_diameter = 56
axle_track = 115
robot = DriveBase(left_motor, right_motor, wheel_diameter, axle_track)
Medium_Motor = Motor(Port.A)
Large_Motor = Motor(Port.D)
leftcolorsensor = ColorSensor(Port.S3)
rightcolorsensor = ColorSensor(Port.S2)
robot.settings(300) # Speed change
# Starts off from base and approaches the bench model.
robot.straight(200)
robot.turn(-115)
# Removes backrest and flattens the bench.
Medium_Motor.run_angle(300, 135, then=Stop.HOLD, wait=True)
robot.stop(Stop.BRAKE)
robot.settings(500)
robot.turn(-60)
# Returns to base.
robot.straight(400)
Large_Motor.run_angle(80, 95, then=Stop.HOLD, wait=True)
robot.stop(Stop.BRAKE)
def Treadmill(robot):
moveTank(-300, 95, -130)
robot.turn(105)
robot.stop()
motor_b, motor_c = Motor(
Port.B, positive_direction=Direction.COUNTERCLOCKWISE), Motor(
Port.C, positive_direction=Direction.COUNTERCLOCKWISE)
robot = DriveBase(motor_b, motor_c, wheel_diameter=94.2, axle_track=95)
LineFollow(70, 1.05, robot, 200)
robot.turn(28)
robot.straight(180)
robot.turn(-28)
motor_d.run_time(-500, 1000, then=Stop.COAST, wait=False)
robot.straight(70)
wait(1000)
motor_d.run_time(-200, 10000, then=Stop.COAST, wait=True)
robot.stop()
def BlackMission(
): # Black Run (Innovatice Architecture, Health Units, Hopscotch, Bringing Slide Figures back HOME)
#!/usr/bin/env pybricks-micropython
from pybricks.hubs import EV3Brick
from pybricks.ev3devices import (Motor, TouchSensor, ColorSensor,
InfraredSensor, UltrasonicSensor,
GyroSensor)
from pybricks.parameters import Port, Stop, Direction, Button, Color
from pybricks.tools import wait, StopWatch, DataLog
from pybricks.robotics import DriveBase
from pybricks.media.ev3dev import SoundFile, ImageFile
# This program requires LEGO EV3 MicroPython v2.0 or higher.
# Click "Open user guide" on the EV3 extension tab for more information.
# define your variables
ev3 = EV3Brick()
left_motor = Motor(Port.C)
right_motor = Motor(Port.B)
medium_motor = Motor(Port.A)
large_motor = Motor(Port.D)
wheel_diameter = 56
axle_track = 115
line_sensor = ColorSensor(Port.S2)
line_sensor1 = ColorSensor(Port.S3)
robot = DriveBase(left_motor, right_motor, wheel_diameter, axle_track)
robot.settings(500) # To change the SPEED
# Pushing our innovative architecture and the health units.
robot.straight(-350)
robot.straight(50)
robot.turn(-15)
robot.straight(-70)
robot.turn(-206)
robot.straight(15)
large_motor.run_angle(60, 80, then=Stop.HOLD, wait=True)
robot.stop(Stop.BRAKE)
robot.straight(-340)
robot.stop(Stop.BRAKE)
def slide(robot):
robot.stop()
motor_b, motor_c = Motor(Port.B,
positive_direction=Direction.CLOCKWISE), Motor(
Port.C,
positive_direction=Direction.CLOCKWISE)
robot = DriveBase(motor_b, motor_c, wheel_diameter=94.2, axle_track=95)
robot.straight(220)
wait(500)
# robot.stop()
while gyro.angle() < 265:
robot.drive(-100, 80)
dead_stop()
motor_a.run_angle(1500, -1000, then=Stop.HOLD, wait=False)
robot.straight(515)
dead_stop()
robot.turn(125) # 105
robot.stop()
motor_b, motor_c = Motor(
Port.B, positive_direction=Direction.COUNTERCLOCKWISE), Motor(
Port.C, positive_direction=Direction.COUNTERCLOCKWISE)
robot = DriveBase(motor_b, motor_c, wheel_diameter=94.2, axle_track=95)
robot.straight(200)
robot.turn(70)
robot.turn(-60)
LineFollow(100, 1.05, robot, 50)
robot.straight(250)
def erstes():
ev3.speaker.beep()
m_r = Motor(Port.C, Direction.COUNTERCLOCKWISE)
m_l = Motor(Port.B, Direction.COUNTERCLOCKWISE)
db = DriveBase(m_l, m_r, wheel_diameter=30, axle_track=140)
db.straight(distance=50)
db.turn(90)
db.straight(distance=-50)
# play some sound and get angry
#im = Image('./Angry.bmp')
im = ImageFile.ANGRY
ev3.screen.load_image(im)
ev3.speaker.play_file(SoundFile.CAT_PURR)
# drive up to a distance of 100 mm
db.drive(speed=10, turn_rate=0) # start driving
while abs(db.distance()) < 100:
time.sleep(0.1) # wait 100 msec before querying distance again
db.stop()
def BlueMission():
#!/usr/bin/env pybricks-micropython
from pybricks.hubs import EV3Brick
from pybricks.ev3devices import (Motor, TouchSensor, ColorSensor,
InfraredSensor, UltrasonicSensor,
GyroSensor)
from pybricks.parameters import Port, Stop, Direction, Button, Color
from pybricks.tools import wait, StopWatch, DataLog
from pybricks.robotics import DriveBase
from pybricks.media.ev3dev import SoundFile, ImageFile
# This program requires LEGO EV3 MicroPython v2.0 or higher.
# Click "Open user guide" on the EV3 extension tab for more information.
#define your variables
ev3 = EV3Brick()
left_motor = Motor(Port.C)
right_motor = Motor(Port.B)
medium_motor = Motor(Port.A)
large_motor = Motor(Port.D)
wheel_diameter = 56
axle_track = 115
line_sensor = ColorSensor(Port.S2)
line_sensor1 = ColorSensor(Port.S3)
robot = DriveBase(left_motor, right_motor, wheel_diameter, axle_track)
#go front towards the step counter
robot.straight(650)
robot.stop(Stop.BRAKE)
wait(20)
#makes the robot go slower
robot.settings(40)
#slowly pushes the step counter by going back and front 2 times
robot.straight(140)
robot.stop(Stop.BRAKE)
robot.straight(-45)
robot.stop(Stop.BRAKE)
robot.straight(120)
robot.stop(Stop.BRAKE)
robot.settings(100)
robot.straight(-30)
robot.stop(Stop.BRAKE)
#the robot then turns and goes backwards
robot.turn(45)
robot.straight(-100)
# the robot then goes back until the right color sensor detects back
while True:
robot.drive(-30, 0)
if line_sensor.color() == Color.BLACK:
robot.stop(Stop.BRAKE)
break
#the large motor attatchment comes down at the same time the robot takes a turn towards the black line underneath the pull up bar
large_motor.run_angle(50, 170, then=Stop.HOLD, wait=False)
left_motor.run_angle(50, -300, then=Stop.HOLD, wait=True)
#the robot then goes straight towards that line
robot.straight(120)
robot.stop(Stop.BRAKE)
#robot continues to go forwards until the left color sensor detects black
while True:
robot.drive(30, 0)
if line_sensor.color() == Color.BLACK:
robot.stop(Stop.BRAKE)
break
right_motor.run_angle(50, 150, then=Stop.HOLD, wait=True)
#the robot then turns with the right motor until it detects black
while True:
right_motor.run(85)
if line_sensor.color() == Color.BLACK:
robot.stop(Stop.BRAKE)
break
#follows the line underneath the pull up bar until the leftsensor detects black
BLACK = 9
WHITE = 85
threshold = (BLACK + WHITE) / 2
# Set the drive speed at 100 millimeters per second.
DRIVE_SPEED = 100
# Set the gain of the proportional line controller. This means that for every
PROPORTIONAL_GAIN = 1.2
runWhile = True
robot.reset()
while True:
# Calculate the deviation from the threshold.
deviation = line_sensor.reflection() - threshold
# Calculate the turn rate.
turn_rate = PROPORTIONAL_GAIN * deviation
# Set the drive base speed and turn rate.
robot.drive(DRIVE_SPEED, turn_rate)
wait(10)
print(line_sensor.color())
if line_sensor1.color() == Color.BLACK:
robot.stop(Stop.BRAKE)
break
#the robot then turns towards the boccia aim and moves straight to push it towards the target and finishes the misison
robot.straight(100) #after line following, it goes straight for 100 mm
robot.turn(50)
robot.straight(100)
robot.straight(-30)
large_motor.run_angle(100, -65)
robot.straight(-60)
#the robot then takes a turn (at the same time bringing the attatchment down) towards the slide mission and completes the mission
large_motor.run_angle(50, 80, then=Stop.HOLD, wait=False)
robot.turn(-195)
robot.straight(165)
large_motor.run_angle(300, -120, then=Stop.HOLD, wait=True)
robot.straight(-30)
large_motor.run_angle(200, 120, then=Stop.HOLD, wait=True)
## The robot moves straight towards the mission, getting ready to attempt to push the slide figures off once more. (In case it didn't work before.)
robot.straight(30)
large_motor.run_angle(300, -120, then=Stop.HOLD, wait=True)
robot.straight(-50)
'''
DRIVE_SPEED = 100
# Set the gain of the proportional line controller. This means that for every
PROPORTIONAL_GAIN = 1.2
runWhile = True
#goes straight to get ready for line following then resets the distance
robot.straight(250)
robot.reset()
#starts to follow the line towards the replay logo
while True:
# Calculate the deviation from the threshold.
deviation = line_sensor.reflection() - threshold
# Calculate the turn rate.
turn_rate = PROPORTIONAL_GAIN * deviation
# Set the drive base speed and turn rate.
robot.drive(DRIVE_SPEED, turn_rate)
wait(10)
print(robot.distance())
if (robot.distance() >= 450):
robot.stop(Stop.BRAKE)
break
#the robot pushes the phone into the replay logo and moves back to get ready to drop the health units into the replay logo
robot.straight(-75)
robot.stop(Stop.BRAKE)
#the robot then turns so it is going to be perfectly into the replay logo
robot.turn(-35)
#the robot drops the health units
large_motor.run_angle(100, 150)
#then turns to an angle to go back to base
robot.turn(50)
robot.straight(-1000)
Robot Inventor App.
Trigger Tricky to dance by placing something near its Distance Sensor.
"""
from pybricks.pupdevices import Motor, UltrasonicSensor
from pybricks.parameters import Direction, Port
from pybricks.robotics import DriveBase
from pybricks.tools import wait
# Configure the Drive Base and the Distance Sensor.
drive_base = DriveBase(left_motor=Motor(Port.A, Direction.COUNTERCLOCKWISE),
right_motor=Motor(Port.B),
wheel_diameter=44,
axle_track=88)
distance_sensor = UltrasonicSensor(Port.D)
# Turn the Distance Sensor lights off and on.
distance_sensor.lights.off()
wait(1000)
distance_sensor.lights.on(100)
# Tricky begins dancing/turning whenever the Distance Sensor detects
# something closer than 10 cm (100 mm).
while True:
if distance_sensor.distance() < 100:
drive_base.turn(360)
drive_base.turn(-360)
wait(10)
# This drives at 100 mm/sec straight
import random
a = random.randint(-90, 90)
while True:
robot.drive(200, 0)
while irSensor.distance() < 50:
a = random.randint(0, 100)
b = random.randint(45, 180)
c = random.randint(-180, -45)
robot.straight(-50)
if a <= 50:
robot.turn(b)
else:
robot.turn(c)
while touchsensor.pressed():
robot.straight(-50)
a = random.randint(0, 100)
b = random.randint(45, 180)
c = random.randint(-180, -45)
if a <= 50:
robot.turn(b)
sound.beep()
else:
robot.turn(c)
sound.beep
AXLE_TRACK = 102
DRIVE_BASE = DriveBase(left_motor=LEFT_MOTOR,
right_motor=RIGHT_MOTOR,
wheel_diameter=WHEEL_DIAMETER,
axle_track=AXLE_TRACK)
DRIVE_BASE.settings(
straight_speed=300, # milimeters per second
straight_acceleration=300,
turn_rate=90, # degrees per second
turn_acceleration=90)
BRICK.screen.load_image(ImageFile.NEUTRAL)
DRIVE_BASE.straight(distance=300 # milimeters
)
BRICK.screen.load_image(ImageFile.MIDDLE_LEFT)
DRIVE_BASE.turn(angle=90 # degrees
)
BRICK.screen.load_image(ImageFile.NEUTRAL)
DRIVE_BASE.straight(distance=300 # milimeters
)
BRICK.screen.load_image(ImageFile.MIDDLE_RIGHT)
DRIVE_BASE.turn(angle=-90 # degrees
)
Medium_Motor = Motor(Port.A)
Large_Motor = Motor(Port.D)
line_sensor = ColorSensor(Port.S3)
#line_sensor2 = Color Sensor(Port.S2)
#####
BLACK = 9
WHITE = 85
threshold = (BLACK + WHITE) / 2
######
robot.straight(320)
robot.turn(110)
while True:
robot.drive(90, 0)
if line_sensor.reflection() <= 10:
robot.stop(Stop.BRAKE)
break
robot.turn(-100)
robot.straight(200)
# Calculate the light threshold. Choose values based on your measurements.
BLACK = 9
WHITE = 85
threshold = (BLACK + WHITE) / 2
class Ev3rstorm(EV3Brick):
WHEEL_DIAMETER = 26 # milimeters
AXLE_TRACK = 102 # milimeters
def __init__(self,
left_foot_motor_port: Port = Port.B,
right_foot_motor_port: Port = Port.C,
bazooka_blast_motor_port: Port = Port.A,
touch_sensor_port: Port = Port.S1,
color_sensor_port: Port = Port.S3,
ir_sensor_port: Port = Port.S4,
ir_beacon_channel: int = 1):
self.drive_base = DriveBase(
left_motor=Motor(port=left_foot_motor_port,
positive_direction=Direction.CLOCKWISE),
right_motor=Motor(port=right_foot_motor_port,
positive_direction=Direction.CLOCKWISE),
wheel_diameter=self.WHEEL_DIAMETER,
axle_track=self.AXLE_TRACK)
self.bazooka_blast_motor = Motor(
port=bazooka_blast_motor_port,
positive_direction=Direction.CLOCKWISE)
self.touch_sensor = TouchSensor(port=touch_sensor_port)
self.color_sensor = ColorSensor(port=color_sensor_port)
self.ir_sensor = InfraredSensor(port=ir_sensor_port)
self.ir_beacon_channel = ir_beacon_channel
def drive_once_by_ir_beacon(
self,
speed: float = 1000, # mm/s
turn_rate: float = 90 # rotational speed deg/s
):
ir_beacon_button_pressed = set(
self.ir_sensor.buttons(channel=self.ir_beacon_channel))
# forward
if ir_beacon_button_pressed == {Button.LEFT_UP, Button.RIGHT_UP}:
self.drive_base.drive(speed=speed, turn_rate=0)
# backward
elif ir_beacon_button_pressed == {Button.LEFT_DOWN, Button.RIGHT_DOWN}:
self.drive_base.drive(speed=-speed, turn_rate=0)
# turn left on the spot
elif ir_beacon_button_pressed == {Button.LEFT_UP, Button.RIGHT_DOWN}:
self.drive_base.drive(speed=0, turn_rate=-turn_rate)
# turn right on the spot
elif ir_beacon_button_pressed == {Button.RIGHT_UP, Button.LEFT_DOWN}:
self.drive_base.drive(speed=0, turn_rate=turn_rate)
# turn left forward
elif ir_beacon_button_pressed == {Button.LEFT_UP}:
self.drive_base.drive(speed=speed, turn_rate=-turn_rate)
# turn right forward
elif ir_beacon_button_pressed == {Button.RIGHT_UP}:
self.drive_base.drive(speed=speed, turn_rate=turn_rate)
# turn left backward
elif ir_beacon_button_pressed == {Button.LEFT_DOWN}:
self.drive_base.drive(speed=-speed, turn_rate=turn_rate)
# turn right backward
elif ir_beacon_button_pressed == {Button.RIGHT_DOWN}:
self.drive_base.drive(speed=-speed, turn_rate=-turn_rate)
# otherwise stop
else:
self.drive_base.stop()
def keep_driving_by_ir_beacon(
self,
speed: float = 1000, # mm/s
turn_rate: float = 90 # rotational speed deg/s
):
while True:
self.drive_once_by_ir_beacon(speed=speed, turn_rate=turn_rate)
def dance_whenever_ir_beacon_pressed(self):
while True:
while Button.BEACON in self.ir_sensor.buttons(
channel=self.ir_beacon_channel):
self.drive_base.turn(angle=randint(-360, 360))
def keep_detecting_objects_by_ir_sensor(self):
while True:
if self.ir_sensor.distance() < 25:
self.light.on(color=Color.RED)
self.speaker.play_file(file=SoundFile.OBJECT)
self.speaker.play_file(file=SoundFile.DETECTED)
self.speaker.play_file(file=SoundFile.ERROR_ALARM)
else:
self.light.off()
def blast_bazooka_whenever_touched(self):
MEDIUM_MOTOR_N_ROTATIONS_PER_BLAST = 3
MEDIUM_MOTOR_ROTATIONAL_DEGREES_PER_BLAST = MEDIUM_MOTOR_N_ROTATIONS_PER_BLAST * 360
while True:
if self.touch_sensor.pressed():
if self.color_sensor.ambient() < 5: # 15 not dark enough
self.speaker.play_file(file=SoundFile.UP)
self.bazooka_blast_motor.run_angle(
speed=2 *
MEDIUM_MOTOR_ROTATIONAL_DEGREES_PER_BLAST, # shoot quickly in half a second
rotation_angle=
-MEDIUM_MOTOR_ROTATIONAL_DEGREES_PER_BLAST,
then=Stop.HOLD,
wait=True)
self.speaker.play_file(file=SoundFile.LAUGHING_1)
else:
self.speaker.play_file(file=SoundFile.DOWN)
self.bazooka_blast_motor.run_angle(
speed=2 *
MEDIUM_MOTOR_ROTATIONAL_DEGREES_PER_BLAST, # shoot quickly in half a second
rotation_angle=
MEDIUM_MOTOR_ROTATIONAL_DEGREES_PER_BLAST,
then=Stop.HOLD,
wait=True)
self.speaker.play_file(file=SoundFile.LAUGHING_2)
def main(
self,
driving_speed: float = 1000 # mm/s
):
self.screen.load_image(ImageFile.TARGET)
# FIXME: following thread seems to fail to run
Thread(target=self.dance_whenever_ir_beacon_pressed).start()
# DON'T use IR Sensor in 2 different modes in the same program / loop
# - https://github.com/pybricks/support/issues/62
# - https://github.com/ev3dev/ev3dev/issues/1401
# Thread(target=self.keep_detecting_objects_by_ir_sensor).start()
Thread(target=self.blast_bazooka_whenever_touched).start()
self.keep_driving_by_ir_beacon(speed=driving_speed)
robot.drive(100, 0)
robot.stop()
robot.settings(500, 600, 100, 600)
#Small Tire Flip
robot.straight(1000)
robot.stop()
robot.settings(250, 300, 100, 600)
StopAtWhiteLine()
robot.straight(175)
#robot turns toward the wall and reveres:
robot.turn(-120)
robot.straight(-180)
#goes off the wall and turns to the wheel
robot.straight(200)
robot.turn(-65)
robot.stop()
#Goes foreward to flip the wheel
medium_left.run_time(-200, 5000)
robot.straight(80)
medium_left.run_time(150, 5000)
medium_left.stop()
#Large Tire Flip
#StopAtWhiteLineRightMotorBackwards()
robot.turn(30)
robot.straight(-50)
medium_left.run_time(-200, 4000)
left_motor = Motor(Port.B)
right_motor = Motor(Port.C)
# The DriveBase is composed of two motors, with a wheel on each motor.
# The wheel_diameter and axle_track values are used to make the motors
# move at the correct speed when you give a motor command.
# The axle track is the distance between the centers of each of the wheels.
robot = DriveBase(left_motor, right_motor, wheel_diameter=56, axle_track=114)
# Play a sound to tell us when we are ready to start moving
ev3.speaker.beep()
# The following loop makes the robot drive forward until it detects an
# obstacle. Then it backs up and turns around. It keeps on doing this
# until you stop the program.
while True:
# Begin driving forward at 200 millimeters per second.
robot.drive(200, 0)
# Wait until an obstacle is detected. This is done by repeatedly
# doing nothing (waiting for 10 milliseconds) while the measured
# distance is still greater than 300 mm.
while obstacle_sensor.distance() > 300:
wait(10)
# Drive backward for 300 millimeters.
robot.straight(-300)
# Turn around by 120 degrees
robot.turn(120)
def RedMission1():
#!/usr/bin/env pybricks-micropython
from pybricks.hubs import EV3Brick
from pybricks.ev3devices import (Motor, TouchSensor, ColorSensor,
InfraredSensor, UltrasonicSensor,
GyroSensor)
from pybricks.parameters import Port, Stop, Direction, Button, Color
from pybricks.tools import wait, StopWatch, DataLog
from pybricks.robotics import DriveBase
from pybricks.media.ev3dev import SoundFile, ImageFile
# This program requires LEGO EV3 MicroPython v2.0 or higher.
# Click "Open user guide" on the EV3 extension tab for more information.
# Create your objects here.
ev3 = EV3Brick()
left_motor = Motor(Port.C)
right_motor = Motor(Port.B)
wheel_diameter = 56
axle_track = 115
robot = DriveBase(left_motor, right_motor, wheel_diameter, axle_track)
Medium_Motor = Motor(Port.A)
Large_Motor = Motor(Port.D)
leftcolorsensor = ColorSensor(Port.S3)
rightcolorsensor = ColorSensor(Port.S2)
#####
BLACK = 9
WHITE = 85
threshold = (BLACK + WHITE) / 2
######
robot.straight(320)
robot.turn(110)
while True:
robot.drive(90, 0)
if leftcolorsensor.reflection() <= 9:
robot.stop(Stop.BRAKE)
break
robot.turn(-110)
robot.straight(200)
# Calculate the light threshold. Choose values based on your measurements.
BLACK = 6
WHITE = 85
threshold = (BLACK + WHITE) / 2
# Set the drive speed at 100 millimeters per second.
DRIVE_SPEED = 110
# Set the gain of the proportional line controller. This means that for every
# percentage point of light deviating from the threshold, we set the turn
# rate of the drivebase to 1.2 degrees per second.
# For example, if the light value deviates from the threshold by 10, the robot
# steers at 10*1.2 = 12 degrees per second.
PROPORTIONAL_GAIN = 1.2
runWhile = True
# Start following the line endlessly.
while runWhile:
# Calculate the deviation from the threshold.
deviation = rightcolorsensor.reflection() - threshold
# Calculate the turn rate.
turn_rate = PROPORTIONAL_GAIN * deviation
# Set the drive base speed and turn rate.
robot.drive(DRIVE_SPEED, turn_rate)
if robot.distance() == 1000:
runWhile = False
# robot stops after finishing up line following code
robot.stop(Stop.BRAKE)
robot.straight(-40)
robot.turn(-50)
robot.straight(145)
Large_Motor.run_angle(50, 90, then=Stop.HOLD, wait=True)
#robot continues run, to do Boccia mission
while True:
robot.drive(-80, 0)
if leftcolorsensor.reflection() <= 10:
robot.stop(Stop.BRAKE)
break
robot.straight(80)
robot.turn(60)
robot.straight(100)
Large_Motor.run_angle(-50, 150, then=Stop.HOLD, wait=True)
robot.straight(-40)
Large_Motor.run_angle(50, 150, then=Stop.HOLD, wait=True)
robot.straight(-40)
while True:
robot.drive(-80, 0)
if leftcolorsensor.reflection() <= 9:
robot.stop(Stop.BRAKE)
break
robot.straight(40)
robot.turn(-85)
robot.straight(340)
robot.turn(165)
robot.straight(55)
Large_Motor.run_angle(-50, 150, then=Stop.HOLD, wait=True)
robot.straight(20)
Medium_Motor.run_angle(150, 250, then=Stop.HOLD, wait=True)
robot.turn(70)
Medium_Motor.run_angle(-150, 250, then=Stop.HOLD, wait=True)
robot.turn(-20)
robot.straight(-35)
Medium_Motor.run_angle(150, 250, then=Stop.HOLD, wait=True)
robot.turn(30)
robot.straight(-130)
def BlueMission(): # Blue Run (Step Counter, Pull-Up Bar, Boccia Aim, Slide, Health Unit - 1)
# DOWN BUTTON
#!/usr/bin/env pybricks-micropython
from pybricks.hubs import EV3Brick
from pybricks.ev3devices import (Motor, TouchSensor, ColorSensor,
InfraredSensor, UltrasonicSensor, GyroSensor)
from pybricks.parameters import Port, Stop, Direction, Button, Color
from pybricks.tools import wait, StopWatch, DataLog
from pybricks.robotics import DriveBase
from pybricks.media.ev3dev import SoundFile, ImageFile
# This program requires LEGO EV3 MicroPython v2.0 or higher.
# Click "Open user guide" on the EV3 extension tab for more information.
#define your variables
ev3 = EV3Brick()
left_motor = Motor(Port.C)
right_motor = Motor(Port.B)
medium_motor = Motor(Port.A)
large_motor = Motor(Port.D)
wheel_diameter = 56
axle_track = 115
line_sensor = ColorSensor(Port.S2)
line_sensor1 = ColorSensor(Port.S3)
robot = DriveBase(left_motor, right_motor, wheel_diameter, axle_track)
# Go towards the step counter mission from base
robot.settings(800) # Speed Change
robot.straight(650)
robot.stop(Stop.BRAKE)
wait(20)
# Slow the robot down to succesfully push the step counter.
robot.settings(200)
# Slowly pushes the step counter by going backward and forward a couple times to increase reliability.
robot.straight(230)
robot.straight(-20)
robot.straight(50)
robot.stop(Stop.BRAKE)
#robot.straight(-45)
#robot.stop(Stop.BRAKE)
#robot.straight(120)
#robot.stop(Stop.BRAKE)
robot.straight(-60)
robot.stop(Stop.BRAKE)
# The robot then turns and goes backwards until the right color sensor detects black.
#robot.settings(250,300,250,300)
robot.turn(45)
robot.straight(-100)
while True:
robot.drive(-100,0)
if line_sensor.color() == Color.BLACK:
robot.stop(Stop.BRAKE)
break
#The large motor attatchment comes down at the same time the robot takes a turn towards
#the black line underneath the pull up bar
left_motor.run_angle(50,-300,then=Stop.HOLD, wait=True)
# The robot then goes straight towards the line under the pull-up bar.
robot.straight(120)
robot.stop(Stop.BRAKE)
# Robot continues to go forwards until the left color sensor detects black.
while True:
robot.drive(115,0)
if line_sensor.color() == Color.BLACK:
robot.stop(Stop.BRAKE)
break
right_motor.run_angle(100,150,then=Stop.HOLD, wait=True)
# The robot turns using the right motor until it detects black.
while True:
right_motor.run(100)
if line_sensor.color() == Color.BLACK:
robot.stop(Stop.BRAKE)
break
robot.straight(-90)
large_motor.run_angle(100,150,then=Stop.HOLD, wait=True)
robot.stop(Stop.BRAKE)
robot.stop(Stop.BRAKE)
while True:
right_motor.run(40)
if line_sensor.color() == Color.BLACK:
robot.stop(Stop.BRAKE)
break
robot.stop(Stop.BRAKE)
ev3.speaker.beep()
BLACK = 9
WHITE = 85
threshold = (BLACK + WHITE) / 2
# Set the drive speed at 100 millimeters per second.
DRIVE_SPEED = 100
# Set the gain of the proportional line controller. This means that for every
PROPORTIONAL_GAIN = 1.2
runWhile = True
robot.reset()
ev3.speaker.beep()
while True:
# Calculate the deviation from the threshold.
deviation = line_sensor.reflection() - threshold
# Calculate the turn rate.
turn_rate = PROPORTIONAL_GAIN * deviation
# Set the drive base speed and turn rate.
robot.drive(DRIVE_SPEED, turn_rate)
wait(10)
print(line_sensor1.color())
if line_sensor1.color() == Color.BLACK:
robot.stop(Stop.BRAKE)
break
robot.stop(Stop.BRAKE)
robot.stop(Stop.BRAKE)
large_motor.run_angle(-150, 150, then=Stop.HOLD, wait=False)
robot.turn(20)
robot.stop(Stop.BRAKE)
robot.settings(800)
robot.straight(280)
ev3.speaker.beep(3)
while True:
robot.drive(-115,0)
if line_sensor.color() == Color.BLACK:
ev3.speaker.beep(10)
robot.stop(Stop.BRAKE)
break
robot.stop(Stop.BRAKE)
# robot.straight(-10)
robot.stop(Stop.BRAKE)
robot.turn(50)
# left_motor.run_angle(100, 150)
'''
large_motor.run_angle(30,-20,then=Stop.HOLD, wait=False)
robot.turn(10)
robot.stop(Stop.BRAKE)
large_motor.run_angle(100, -50, then=Stop.HOLD, wait=False)
robot.turn(90)
robot.stop(Stop.BRAKE)
'''
BLACK = 9
WHITE = 85
threshold = (BLACK + WHITE) / 2
# Set the drive speed at 100 millimeters per second.
DRIVE_SPEED = 100
# Set the gain of the proportional line controller. This means that for every
PROPORTIONAL_GAIN = 1.2
runWhile = True
robot.reset()
ev3.speaker.beep()
while True:
# Calculate the deviation from the threshold.
deviation = line_sensor.reflection() - threshold
# Calculate the turn rate.
turn_rate = PROPORTIONAL_GAIN * deviation
# Set the drive base speed and turn rate.
robot.drive(DRIVE_SPEED, turn_rate)
wait(10)
print(line_sensor.color())
if robot.distance() >= 500:
robot.stop(Stop.BRAKE)
break
ev3.speaker.beep(3)
while True:
robot.drive(40,0)
if line_sensor1.color() == Color.BLACK:
robot.stop(Stop.BRAKE)
break
robot.stop(Stop.BRAKE)
ev3.speaker.beep()
robot.straight(30)
robot.turn(-100)
robot.straight(70)
large_motor.run_angle(600,150,then=Stop.HOLD, wait=True)
while True:
robot.drive(-50, 0)
if line_sensor1.color() == Color.BLACK:
robot.stop(Stop.BRAKE)
break
robot.stop(Stop.BRAKE)
right_motor.run_angle(600,500,then=Stop.HOLD,wait=True)
robot.straight(20)
BLACK = 9
WHITE = 85
threshold = (BLACK + WHITE) / 2
# Set the drive speed at 100 millimeters per second.
DRIVE_SPEED = 100
# Set the gain of the proportional line controller. This means that for every
PROPORTIONAL_GAIN = 1.2
runWhile = True
robot.reset()
ev3.speaker.beep()
while True:
# Calculate the deviation from the threshold.
deviation = line_sensor1.reflection() - threshold
# Calculate the turn rate.
turn_rate = PROPORTIONAL_GAIN * deviation
# Set the drive base speed and turn rate.
robot.drive(DRIVE_SPEED, turn_rate)
wait(10)
print(line_sensor1.color())
if robot.distance() >= 580:
robot.stop(Stop.BRAKE)
break
robot.stop(Stop.BRAKE)
while True:
robot.drive(50, 0)
if line_sensor.color() == Color.BLACK:
robot.stop(Stop.BRAKE)
break
robot.stop(Stop.BRAKE)
ev3.speaker.beep(3)
robot.turn(-45)
robot.stop(Stop.BRAKE)
robot.straight(30)
large_motor.run_angle(1000,-150,then=Stop.HOLD, wait=True)
robot.straight(-40)
large_motor.run_angle(1000,150,then=Stop.HOLD, wait=True)
robot.straight(40)
large_motor.run_angle(1000,-150,then=Stop.HOLD, wait=True)
robot.straight(-115)
robot.turn(95)
robot.straight(420)
robot.turn(-100)
robot.turn(100)
robot.turn(-100)
robot.turn(100)
robot.turn(-100)
robot.turn(100)
robot.turn(-100)
robot.turn(100)
robot.turn(-100)
robot.turn(100)
robot.turn(-100)
robot.turn(100)
robot.turn(-100)
robot.turn(100)
robot.turn(-100)
robot.turn(100)
robot.turn(-100)
robot.turn(100)
robot.turn(-100)
robot.turn(100)
robot.turn(-100)
robot.turn(100)
robot.turn(-100)
robot.turn(100)
robot.turn(-100)
robot.turn(100)
robot.turn(-100)
robot.turn(100)
robot.turn(-100)
robot.turn(100)
robot.turn(-100)
robot.turn(100)
def GreenMission():
#!/usr/bin/env pybricks-micropython
from pybricks.hubs import EV3Brick
from pybricks.ev3devices import (Motor, TouchSensor, ColorSensor,
InfraredSensor, UltrasonicSensor, GyroSensor)
from pybricks.parameters import Port, Stop, Direction, Button, Color
from pybricks.tools import wait, StopWatch, DataLog
from pybricks.robotics import DriveBase
from pybricks.media.ev3dev import SoundFile, ImageFile
# This program requires LEGO EV3 MicroPython v2.0 or higher.
# Click "Open user guide" on the EV3 extension tab for more information.
# Create your objects here.
ev3 = EV3Brick()
left_motor = Motor(Port.C)
right_motor = Motor(Port.B)
medium_motor = Motor(Port.A)
front_largeMotor = Motor(Port.D)
wheel_diameter = 56
axle_track = 114.3
robot = DriveBase(left_motor, right_motor, wheel_diameter, axle_track)
## Write your code here:
robot.settings(300)
## The robot goes straight until the Boccia Mission's target.
robot.straight(1050)
## The robot moves the large motor down to drop the cubes in the target.
front_largeMotor.run_angle(80, 110, then=Stop.HOLD, wait=True)
## BOCCIA SHARE !!!
robot.straight(-200)
robot.turn(-100)
robot.straight(130)
front_largeMotor.run_angle(-80, 105, then=Stop.HOLD, wait=True)
robot.straight(-30)
robot.turn(-100)
robot.straight(-80)
robot.turn(-100)
robot.turn(100)
robot.turn(-100)
robot.turn(100)
robot.turn(-100)
robot.turn(100)
robot.turn(-100)
robot.turn(100)
## Dance Mission
'''
#The robot moves backwards to reach the Dance Floor so it can Dance as the last mission.
robot.straight(-185)
robot.turn(-80)
robot.straight(110)
## The following code is all the dance moves we do for the Dance Mission.
robot.turn(-75)
robot.straight(50)
front_largeMotor.run_angle(60, 50)
robot.straight(40)
front_largeMotor.run_angle(60, -50)
robot.straight(-40)
front_largeMotor.run_angle(60, 50)
robot.straight(+30)
front_largeMotor.run_angle(60, -50)
robot.straight(-45)
robot.turn(-500)
robot.turn(500)
front_largeMotor.run_angle(60, 50)
robot.straight(92)
front_largeMotor.run_angle(60, -50)
robot.straight(-20)
robot.straight(35)
front_largeMotor.run_angle(60, -50)
robot.straight(-60)
robot.turn(100)
robot.turn(-80)
robot.turn(120)
robot.turn(-400)
large_motor.run_angle(20, -10)
robot.straight(-30)
robot.turn(-160)
robot.straight(60)
robot.straight(-60)
robot.turn(260)
robot.turn(-260)
robot.turn(100)
robot.straight(40)
robot.turn(100)
robot.straight(-25)
'''
robot.stop(Stop.BRAKE)
ev3.light.on(Color.YELLOW)
flag = 0
while True:
robot.drive(500, 0)
if (touch_sensor.pressed()):
robot.stop()
flag = 1
ev3.light.on(Color.RED)
break
if (color_sensor_front.color() == Color.BLACK
and color_sensor_back.color() != Color.BLACK):
robot.stop()
ev3.speaker.beep(1)
robot.turn(180)
elif (color_sensor_back.color() == Color.BLACK
and color_sensor_front.color() == Color.BLACK):
robot.stop()
ev3.screen.load_image(ImageFile.KNOCKED_OUT)
ev3.light.on(Color.RED)
ev3.speaker.say('Ono lost')
break
if (flag == 1):
robot.straight(1000)
robot.drive(2000, 0)
robot.stop()
right_motor = Motor(Port.C) lift_motor = Motor(Port.A) # Initialize the drive base. robot = DriveBase(left_motor, right_motor, wheel_diameter=55.5, axle_track=104) ev3.screen.draw_text(50, 60, "Pigeons!") ev3.speaker.beep() robot.straight(1200) robot.turn(90) robot.straight(480) robot.turn(80) robot.straight(900) ev3.speaker.beep() robot.turn(-90) robot.straight(500) robot.turn(-90) robot.straight(1800) ev3.scren.draw_text(50, 60, "Pigeons!")
def BlackandGreen():
#!/usr/bin/env pybricks-micropython
from pybricks.hubs import EV3Brick
from pybricks.ev3devices import (Motor, TouchSensor, ColorSensor,
InfraredSensor, UltrasonicSensor,
GyroSensor)
from pybricks.parameters import Port, Stop, Direction, Button, Color
from pybricks.tools import wait, StopWatch, DataLog
from pybricks.robotics import DriveBase
from pybricks.media.ev3dev import SoundFile, ImageFile
# This program requires LEGO EV3 MicroPython v2.0 or higher.
# Click "Open user guide" on the EV3 extension tab for more information.
#define your variables
ev3 = EV3Brick()
left_motor = Motor(Port.C)
right_motor = Motor(Port.B)
medium_motor = Motor(Port.A)
large_motor = Motor(Port.D)
wheel_diameter = 56
axle_track = 115
line_sensor = ColorSensor(Port.S2)
line_sensor1 = ColorSensor(Port.S3)
robot = DriveBase(left_motor, right_motor, wheel_diameter, axle_track)
#follows the line underneath the pull up bar until the leftsensor detects black
BLACK = 9
WHITE = 85
threshold = (BLACK + WHITE) / 2
# Set the drive speed at 100 millimeters per second.
DRIVE_SPEED = 100
# Set the gain of the proportional line controller. This means that for every
PROPORTIONAL_GAIN = 1.2
runWhile = True
#goes straight to get ready for line following then resets the distance
robot.straight(250)
robot.reset()
#starts to follow the line towards the replay logo
while True:
# Calculate the deviation from the threshold.
deviation = line_sensor.reflection() - threshold
# Calculate the turn rate.
turn_rate = PROPORTIONAL_GAIN * deviation
# Set the drive base speed and turn rate.
robot.drive(DRIVE_SPEED, turn_rate)
wait(10)
print(robot.distance())
if (robot.distance() >= 450):
robot.stop(Stop.BRAKE)
break
#the robot pushes the phone into the replay logo and moves back to get ready to drop the health units into the replay logo
robot.straight(-75)
robot.stop(Stop.BRAKE)
#the robot then turns so it is going to be perfectly into the replay logo
robot.turn(-35)
#the robot drops the health units
large_motor.run_angle(100, 150)
#then turns to an angle to go back to base
robot.turn(50)
robot.straight(-1000)
wait(50)
#!/usr/bin/env pybricks-micropython
from pybricks.hubs import EV3Brick
from pybricks.ev3devices import (Motor, TouchSensor, ColorSensor,
InfraredSensor, UltrasonicSensor,
GyroSensor)
from pybricks.parameters import Port, Stop, Direction, Button, Color
from pybricks.tools import wait, StopWatch, DataLog
from pybricks.robotics import DriveBase
from pybricks.media.ev3dev import SoundFile, ImageFile
# This program requires LEGO EV3 MicroPython v2.0 or higher.
# Click "Open user guide" on the EV3 extension tab for more information.
# Create your objects here.
ev3 = EV3Brick()
left_motor = Motor(Port.C)
right_motor = Motor(Port.B)
medium_motor = Motor(Port.A)
front_largeMotor = Motor(Port.D)
wheel_diameter = 56
axle_track = 114.3
robot = DriveBase(left_motor, right_motor, wheel_diameter, axle_track)
## Write your code here:
## The robot goes straight until the Boccia Mission's target.
robot.straight(1060)
## The robot moves the large motor down to drop the cubes in the target.
front_largeMotor.run_angle(80, 70, then=Stop.HOLD, wait=True)
front_largeMotor.run_angle(-80, 70, then=Stop.HOLD, wait=True)
## Dance Mission
## The robot moves backwards to reach the Dance Floor so it can Dance as the last mission.
robot.straight(-185)
robot.turn(-70)
robot.straight(138)
## The following code is all the dance moves we do for the Dance Mission.
robot.turn(160)
robot.turn(-160)
robot.straight(60)
front_largeMotor.run_target(500, 60)
front_largeMotor.run_target(500, -40)
robot.straight(-60)
robot.turn(260)
robot.turn(-260)
robot.turn(100)
robot.straight(40)
robot.turn(100)
front_largeMotor.run_angle(500, 30)
#weight machine
mediummotor.run_angle(500, -10 * 90,
wait=False) #preparing for weight machine
turntoangle(90, sped=100) #turns to linesquare
turntoangle(90, sped=100) #again, just to make sure
wait(700)
straight(120, 200) #moving close to line
linesquare() #linesquaring
linesquare() #again, just to make sure
wait(500)
turntoangle(78) # turns from linesquare to line up with weight machine
wait(500)
oldstraight(140, 150) #move to weight machine
while Button.CENTER not in ev3.buttons.pressed():
pass
robot.turn(5) # turning so arm touches weight machine
while Button.CENTER not in ev3.buttons.pressed():
pass
mediummotor.run_angle(500, 17 * 90) #weight machine push down
mediummotor.run_angle(-500, 15 * 90,
wait=False) # weight machine release
#drop boccia bricks
turntoangle(180, sped=100) # turn to follow line beside weight machine
log = True
#line_follow(leftcolor, 200, 1.3, 0.03, 1, 0.01, 100)
line_follow(leftcolor, 200, 1.3, 0.03, 1, 0.01,
320) #follow line beside weight machine
log = False
straight(580, 200, 3) # go a bit further, the line squigles
turntoangle(225) #turn so back is facing target
def YellowMission():
#!/usr/bin/env pybricks-micropython
from pybricks.hubs import EV3Brick
from pybricks.ev3devices import (Motor, TouchSensor, ColorSensor,
InfraredSensor, UltrasonicSensor,
GyroSensor)
from pybricks.parameters import Port, Stop, Direction, Button, Color
from pybricks.tools import wait, StopWatch, DataLog
from pybricks.robotics import DriveBase
from pybricks.media.ev3dev import SoundFile, ImageFile
# This program requires LEGO EV3 MicroPython v2.0 or higher.
# Click "Open user guide" on the EV3 extension tab for more information.
# Create your objects here.
ev3 = EV3Brick()
left_motor = Motor(Port.C)
right_motor = Motor(Port.B)
medium_motor = Motor(Port.A)
front_largeMotor = Motor(Port.D)
wheel_diameter = 56
axle_track = 115
robot = DriveBase(left_motor, right_motor, wheel_diameter, axle_track)
# Initialize the color sensor.
line_sensor = ColorSensor(Port.S2)
line_sensor2 = ColorSensor(Port.S3)
robot.straight(110)
# Calculate the light threshold. Choose values based on your measurements.
BLACK = 9
WHITE = 85
threshold = (BLACK + WHITE) / 2
# Set the drive speed at 100 millimeters per second.
DRIVE_SPEED = 100
# Set the gain of the proportional line controller. This means that for every
# percentage point of light deviating from the threshold, we set the turn
# rate of the drivebase to 1.2 degrees per second.
# For example, if the light value deviates from the threshold by 10, the robot
# steers at 10*1.2 = 12 degrees per second.
PROPORTIONAL_GAIN = 1.2
runWhile = True
# Start following the line endlessly.
while runWhile:
# Calculate the deviation from the threshold.
deviation = line_sensor.reflection() - threshold
# Calculate the turn rate.
turn_rate = PROPORTIONAL_GAIN * deviation
# Set the drive base speed and turn rate.
robot.drive(DRIVE_SPEED, turn_rate)
if robot.distance() == 800:
runWhile = False
robot.stop(Stop.BRAKE)
robot.drive(100, 0)
if line_sensor2 and cl.Color() == Color.BLACK:
robot.stop(Stop.BRAKE)
# robot stops after finishing up line following code
robot.stop(Stop.BRAKE)
# robot turns after finishing up line following code
robot.turn(-103.5)
# robot goes straight as it heads towards the mission
robot.straight(138)
# robot turns right for 90 degrees
robot.turn(80)
# robot goes straight towards the mission to line the attachment to the wheel
robot.straight(97)
# large motor attachment goes down to trap the wheel in
front_largeMotor.run_angle(60, 162)
# robot moves backwards to bring wheel outside of the large circle
robot.straight(-115)
# large motor releases the trapped tire
front_largeMotor.run_angle(60, -148)
# robot moves straight to get closer the wheel
robot.straight(38)
# robot turns so the wheel can get into the smaller target
robot.turn(-40)
robot.stop(Stop.BRAKE)
# robot goes backwards to leave the target and the wheel inside of it
robot.straight(-110)
# robot turns towards the weight machine
robot.turn(-30)
# going straight from row machine to weight machine
robot.straight(505)
# stopping for accuracy.
robot.stop(Stop.BRAKE)
# turning towards the weight machine.
robot.turn(30)
# robot goes straight to get closer to the weight machine
robot.straight(145)
# large motor going down to complete mission (weight machine).
front_largeMotor.run_angle(120, 130)
# going backwards away from the weight machine
robot.straight(-120)
# large motor goes back up
# front_largeMotor.run_angle(50, -100)
## The robot is turning away from the Weight Machine and towards the Boccia.
robot.turn(-127)
## The robot is moving straight towards the Boccia Mission.
robot.straight(290)
# the robot turns right to turn the aim boccia with the yellow axle on the bottom of the bot.
robot.turn(60)
# robot.straight(-10)
# robot.turn(15)
# front_largeMotor.run_angle(50, 60)
# robot.straight(55)
# the large motor goes up to push the yellow cube down into the target area.
front_largeMotor.run_angle(50, -50)
robot.straight(-100)
robot.turn(-45)
robot.straight(900)
robot.turn(25)
robot.straight(700)
deviation = line_sensor.reflection() - threshold
# Calculate the turn rate.
turn_rate = PROPORTIONAL_GAIN * deviation
# Set the drive base speed and turn rate.
robot.drive(DRIVE_SPEED, turn_rate)
if robot.distance() == 1400:
runWhile = False
# robot stops after finishing up line following code
robot.stop(Stop.BRAKE)
# robot turns after finishing up line following code
robot.turn(-103.5)
# robot goes straight as it heads towards the mission
robot.straight(138)
# robot turns right for 80 degrees
robot.turn(90)
# robot goes straight towards the mission to line the attachment to the wheel
robot.straight(97)
# large motor attachment goes down to trap the wheel in
front_largeMotor.run_angle(60, 171)
# robot moves backwards to bring wheel outside of the large circle
robot.straight (-115)
def RedMission(): # Red Run (Bench Mission (including backrest removal))
# UP BUTTON
#!/usr/bin/env pybricks-micropython
from pybricks.hubs import EV3Brick
from pybricks.ev3devices import (Motor, TouchSensor, ColorSensor,
InfraredSensor, UltrasonicSensor, GyroSensor)
from pybricks.parameters import Port, Stop, Direction, Button, Color
from pybricks.tools import wait, StopWatch, DataLog
from pybricks.robotics import DriveBase
from pybricks.media.ev3dev import SoundFile, ImageFile
# This program requires LEGO EV3 MicroPython v2.0 or higher.
# Click "Open user guide" on the EV3 extension tab for more information.
# Create your objects here.
ev3 = EV3Brick()
left_motor = Motor(Port.C)
right_motor = Motor(Port.B)
wheel_diameter = 56
axle_track = 115
robot = DriveBase(left_motor, right_motor, wheel_diameter, axle_track)
Medium_Motor = Motor(Port.A)
Large_Motor = Motor(Port.D)
leftcolorsensor = ColorSensor(Port.S3)
rightcolorsensor = ColorSensor(Port.S2)
robot.settings(500)
robot.straight(290)
robot.stop(Stop.BRAKE)
robot.settings(700,400,700,400)
robot.turn(110)
robot.stop(Stop.BRAKE)
while True:
robot.drive(200,0)
if leftcolorsensor.color() == Color.BLACK:
robot.stop(Stop.BRAKE)
break
robot.stop(Stop.BRAKE)
ev3.speaker.beep(3)
robot.turn(-110)
robot.straight(80)
BLACK = 9
WHITE = 85
threshold = (BLACK + WHITE) / 2
# Set the drive speed at 100 millimeters per second.
DRIVE_SPEED = 100
# Set the gain of the proportional line controller. This means that for every
PROPORTIONAL_GAIN = 1.2
runWhile = True
robot.reset()
ev3.speaker.beep()
while True:
# Calculate the deviation from the threshold.
deviation = rightcolorsensor.reflection() - threshold
# Calculate the turn rate.
turn_rate = PROPORTIONAL_GAIN * deviation
# Set the drive base speed and turn rate.
robot.drive(DRIVE_SPEED, turn_rate)
wait(10)
print(rightcolorsensor.color())
if robot.distance() >= 100:
robot.stop(Stop.BRAKE)
break
robot.stop(Stop.BRAKE)
BLACK = 9
WHITE = 85
threshold = (BLACK + WHITE) / 2
# Set the drive speed at 100 millimeters per second.
DRIVE_SPEED = 100
# Set the gain of the proportional line controller. This means that for every
PROPORTIONAL_GAIN = 1.2
runWhile = True
robot.reset()
while True:
# Calculate the deviation from the threshold.
deviation = rightcolorsensor.reflection() - threshold
# Calculate the turn rate.
turn_rate = PROPORTIONAL_GAIN * deviation
# Set the drive base speed and turn rate.
robot.drive(DRIVE_SPEED, turn_rate)
wait(10)
print(rightcolorsensor.color())
if leftcolorsensor.color() == Color.BLACK:
robot.stop(Stop.BRAKE)
break
robot.turn(-25)
robot.straight(230)
Large_Motor.run_angle(50,100,then = Stop.HOLD, wait = True)
robot.straight(-60)
robot.turn(35)
robot.straight(-10)
Large_Motor.run_angle(50,-50,then = Stop.HOLD, wait = True)
robot.straight(-85)
robot.turn(-85)
robot.straight(500)
robot.turn(-20)
robot.straight(250)
Large_Motor.run_angle(50,-70,then = Stop.HOLD, wait = False)
robot.turn(110)
robot.stop(Stop.BRAKE)
def BlueMission():
#!/usr/bin/env pybricks-micropython
from pybricks.hubs import EV3Brick
from pybricks.ev3devices import (Motor, TouchSensor, ColorSensor,
InfraredSensor, UltrasonicSensor, GyroSensor)
from pybricks.parameters import Port, Stop, Direction, Button, Color
from pybricks.tools import wait, StopWatch, DataLog
from pybricks.robotics import DriveBase
from pybricks.media.ev3dev import SoundFile, ImageFile
# This program requires LEGO EV3 MicroPython v2.0 or higher.
# Click "Open user guide" on the EV3 extension tab for more information.
#define your variables
ev3 = EV3Brick()
left_motor = Motor(Port.C)
right_motor = Motor(Port.B)
medium_motor = Motor(Port.A)
large_motor = Motor(Port.D)
wheel_diameter = 56
axle_track = 115
line_sensor = ColorSensor(Port.S2)
line_sensor1 = ColorSensor(Port.S3)
robot = DriveBase(left_motor, right_motor, wheel_diameter, axle_track)
#go front towards the step counter
robot.settings(250)
robot.straight(650)
robot.stop(Stop.BRAKE)
wait(20)
#makes the robot go slower
robot.settings(40)
#slowly pushes the step counter by going back and front 2 times
robot.straight(140)
robot.stop(Stop.BRAKE)
robot.straight(-45)
robot.stop(Stop.BRAKE)
robot.straight(120)
robot.stop(Stop.BRAKE)
robot.straight(-30)
robot.stop(Stop.BRAKE)
#the robot then turns and goes backwards
robot.settings(250,500,250,500)
robot.turn(45)
robot.straight(-100)
# the robot then goes back until the right color sensor detects back
while True:
robot.drive(-115,0)
if line_sensor.color() == Color.BLACK:
robot.stop(Stop.BRAKE)
break
#the large motor attatchment comes down at the same time the robot takes a turn towards the black line underneath the pull up bar
large_motor.run_angle(50,200,then=Stop.HOLD, wait=False)
left_motor.run_angle(50,-300,then=Stop.HOLD, wait=True)
#the robot then goes straight towards that line
robot.straight(120)
robot.stop(Stop.BRAKE)
#robot continues to go forwards until the left color sensor detects black
while True:
robot.drive(115,0)
if line_sensor.color() == Color.BLACK:
robot.stop(Stop.BRAKE)
break
right_motor.run_angle(50,150,then=Stop.HOLD, wait=True)
#the robot then turns with the right motor until it detects black
while True:
right_motor.run(85)
if line_sensor.color() == Color.BLACK:
robot.stop(Stop.BRAKE)
break
#follows the line underneath the pull up bar until the leftsensor detects black
#follows the line underneath the pull up bar until the leftsensor detects black
BLACK = 9
WHITE = 85
threshold = (BLACK + WHITE) / 2
# Set the drive speed at 100 millimeters per second.
DRIVE_SPEED = 100
# Set the gain of the proportional line controller. This means that for every
PROPORTIONAL_GAIN = 1.2
runWhile = True
robot.reset()
while True:
# Calculate the deviation from the threshold.
deviation = line_sensor.reflection() - threshold
# Calculate the turn rate.
turn_rate = PROPORTIONAL_GAIN * deviation
# Set the drive base speed and turn rate.
robot.drive(DRIVE_SPEED, turn_rate)
wait(10)
print(line_sensor1.color())
if line_sensor1.color() == Color.BLACK:
robot.stop(Stop.BRAKE)
break
#the robot then turns towards the boccia aim and moves straight to push it towards the target and finishes the misison
robot.turn(25)
robot.straight(250)
robot.straight(-50)
# this is importate kekekekee
large_motor.run_angle(75,-65)
robot.straight(-60)
while True:
robot.drive(-70,0)
if line_sensor.color() == Color.BLACK:
robot.stop(Stop.BRAKE)
ev3.speaker.beep()
break
while True:
left_motor.run(-50)
if line_sensor1.color() == Color.BLACK:
robot.stop(Stop.BRAKE)
ev3.speaker.beep()
break
left_motor.run_angle(50, -20)
right_motor.run_angle(50, 20)
robot.settings(200)
robot.straight(60)
robot.turn(-137)
#this is also importante jekeke
large_motor.run_angle(50,80)
robot.straight(143)
large_motor.run_angle(550, -120)
robot.straight(-40)
large_motor.run_angle(550, 120)
robot.straight(40)
large_motor.run_angle(550, -120)
large_motor.run_angle(300, 30, then=Stop.HOLD, wait=True)
#robot.straight(40)
large_motor.run_angle(300, -100, then=Stop.HOLD, wait=True)
#goes to collect the health unit near the basketball (goes back to base)
robot.straight(-200)
robot.turn(40)
robot.straight(556)
robot.straight(50)
robot.stop(Stop.BRAKE)
while True:
left_motor.run(50)
if line_sensor1.color() == Color.BLACK:
robot.stop(Stop.BRAKE)
ev3.speaker.beep()
break
robot.stop(Stop.BRAKE)
robot.reset()
# Calculate the light threshold. Choose values based on your measurements.
BLACK = 9
WHITE = 85
threshold = (BLACK + WHITE) / 2
# Set the drive speed at 100 millimeters per second.
DRIVE_SPEED = 100
# Set the gain of the proportional line controller. This means that for every
# percentage point of light deviating from the threshold, we set the turn
# rate of the drivebase to 1.2 degrees per second.
# For example, if the light value deviates from the threshold by 10, the robot
# steers at 10*1.2 = 12 degrees per second.
PROPORTIONAL_GAIN = 1.2
runWhile = True
# Start following the line endlessly.
while runWhile:
# Calculate the deviation from the threshold.
deviation = line_sensor1.reflection() - threshold
# Calculate the turn rate.
turn_rate = PROPORTIONAL_GAIN * deviation
# Set the drive base speed and turn rate.
robot.drive(DRIVE_SPEED, turn_rate)
if robot.distance() >= 210:
runWhile = False
break
robot.stop(Stop.BRAKE)
robot.turn(5.244312)
robot.straight(700)
#the robot then goes back until the right color sensor detects back
'''
while True:
if line_sensor1.color() == Color.BLACK:
robot.stop(Stop.BRAKE)
break
#robot.straight(980)
'''
robot.stop(Stop.BRAKE)
# Initialize the drive base. robot = DriveBase(left_motor, right_motor, wheel_diameter=55.5, axle_track=104) ev3.screen.draw_text(50, 60, "Pigeons!") ev3.speaker.beep() robot.settings(1000 ,250 ,150 ,100) robot.straight(950) robot.turn(87) robot.straight(400) robot.turn(90) robot.straight(780) ev3.speaker.beep() robot.turn(-93) robot.straight(350) robot.turn(-90) robot.straight(1500) robot.stop() robot.settings(1000 ,1000 ,1000000 ,100000) ev3.scren.draw_text(50, 60, "Pigeons!")
from pybricks.hubs import EV3Brick
from pybricks.ev3devices import Motor
from pybricks.parameters import Port
from pybricks.robotics import DriveBase
from pybricks.tools import wait
# Initialize the EV3 Brick.
ev3 = EV3Brick()
# Initialize the motors.
left_motor = Motor(Port.B)
right_motor = Motor(Port.C)
# Initialize the drive base.
robot = DriveBase(left_motor,
right_motor,
wheel_diameter=54.6,
axle_track=104.1)
#################################################################################
ev3.screen.draw_text(50, 60, "Pigeons!")
robot.settings(300, 250, 150, 100)
x = 0
while x < 4:
robot.straight(340)
robot.turn(88)
x = x + 1
