def run_test_arm():
robot = rb.Snatch3rRobot()
robot.arm.calibrate()
time.sleep(1)
robot.arm.raise_arm_and_close_claw()
time.sleep(1)
robot.arm.move_arm_to_position(300)
def run_test_ir():
robot = rb.Snatch3rRobot()
while True:
# TODO: Print the value of the following, one at a time. For each,
# TODO: do the appropriate user actions (e.g. try pressing a button
# TODO: on the Beacon and see what the beacon_button_sensor produces).
# TODO: Discover what values the sensors produce in which situations.
# touch_sensor
# color_sensor
# camera
# proximity_sensor
# beacon_sensor NOT YET IMPLEMENTED
# beacon_button_sensor NOT YET IMPLEMENTED
print("Beacon sensor:",
robot.beacon_button_sensor.is_bottom_blue_button_pressed(),
robot.beacon_button_sensor.is_bottom_red_button_pressed(),
robot.beacon_button_sensor.is_top_blue_button_pressed(),
robot.beacon_button_sensor.is_top_red_button_pressed(),
robot.beacon_sensor.get_heading_to_beacon(),
robot.beacon_sensor.get_distance_to_beacon())
character = input(
"Press the ENTER (return) key to continue, or q to quit: ")
if character == "q":
break
def main():
robot = rb.Snatch3rRobot()
rc = RemoteControlEtc(robot)
mqtt_client = com.MqttClient(rc)
mqtt_client.connect_to_pc()
# --------------------------------------------------------------------------
# TODO: 5. Add a class for your "delegate" object that will handle messages
# TODO: sent from the laptop. Construct an instance of the class and
# TODO: pass it to the MqttClient constructor above. Augment the class
# TODO: as needed for that, and also to handle the go_forward message.
# TODO: Test by PRINTING, then with robot. When OK, delete this TODO.
# --------------------------------------------------------------------------
# --------------------------------------------------------------------------
# TODO: 6. With your instructor, discuss why the following WHILE loop,
# TODO: that appears to do nothing, is necessary.
# TODO: When you understand this, delete this TODO.
# --------------------------------------------------------------------------
while True:
# ----------------------------------------------------------------------
# TODO: 7. Add code that makes the robot beep if the top-red button
# TODO: on the Beacon is pressed. Add code that makes the robot
# TODO: speak "Hello. How are you?" if the top-blue button on the
# TODO: Beacon is pressed. Test. When done, delete this TODO.
# ----------------------------------------------------------------------
if robot.beacon_button_sensor.is_top_red_button_pressed() is True:
ev3.Sound.beep().wait()
if robot.beacon_button_sensor.is_top_blue_button_pressed() is True:
ev3.Sound.speak('Hello. How are you?').wait()
time.sleep(0.01) # For the delegate to do its work
def main():
""" Runs YOUR specific part of the project """
print('hello')
robot = rb.Snatch3rRobot()
print('goodbye')
#polyogon(robot, 4, 5)
#follow_black_line(robot)
#go_to_color(robot, 5)
beep_when_in_front_of_camera(robot)
def detectItem():
robot = rb.Snatch3rRobot()
sensor = robot.proximity_sensor
while True:
if ((70 *
((sensor.get_distance_to_nearest_object()) / 100)) < 15) and (
(70 * ((sensor.get_distance_to_nearest_object()) / 100)) > 9):
ev3.Sound.beep()
def line_follow():
robot = rb.Snatch3rRobot()
drivesystem = robot.drive_system
colorsensor = robot.color_sensor
drivesystem.start_moving()
while True:
if colorsensor.get_reflected_intensity() > 10:
drivesystem.spin_in_place_degrees(10)
drivesystem.start_moving(50, 50)
def drive_polygon(n, inches):
x = rb.Snatch3rRobot()
drivesystem = x.drive_system
# degrees = ((n - 2) * 180) / n
# degrees = 180 - degrees
degrees = (360 / n)
for k in range(n):
drivesystem.go_straight_inches(inches)
drivesystem.spin_in_place_degrees(-degrees)
def drive_until_color(color):
robot = rb.Snatch3rRobot()
drivesystem = robot.drive_system
colorsensor = robot.color_sensor
drivesystem.start_moving(50, 50)
while True:
colorsensor.wait_until_color_is(color)
drivesystem.stop_moving()
break
def main():
"""
type: rb.Snatch3rRobot
"""
print('running')
speed = 100
robot = rb.Snatch3rRobot()
remote = Remote(robot, speed)
client = com.MqttClient(remote)
client.connect_to_pc()
while True:
pass
def run_test_touch_sensor():
""" Tests the touch_sensor of the Snatch3rRobot. """
robot = rb.Snatch3rRobot()
print()
print("Testing the touch_sensor of the robot.")
print("Repeatedly press and release the touch sensor.")
print("Press Control-C when you are ready to stop testing.")
time.sleep(1)
count = 1
while True:
print("{:4}.".format(count), "Touch sensor value is: ",
robot.touch_sensor.get_value())
time.sleep(0.5)
count = count + 1
def main():
robot = rb.Snatch3rRobot()
rc = RemoteControlEtc(robot)
george = com.MqttClient(rc)
rc.mr = george
george.connect_to_pc()
while True:
if robot.beacon_button_sensor.is_top_red_button_pressed():
ev3.Sound.beep().wait()
time.sleep(0.01) # For the delegate to do its work
if robot.beacon_button_sensor.is_top_blue_button_pressed():
ev3.Sound.speak('You pressed the blue button')
def main():
root = tkinter.Tk()
mqtt_client = com.MqttClient()
mqtt_client.connect_to_ev3()
setup_gui(root, mqtt_client)
root.mainloop()
robot = rb.Snatch3rRobot()
move_robot(robot)
# stop_color = rb.Color.BLUE.value
# move_until_color(stop_color)
moving_arm_and_claw()
def main():
robot = rb.Snatch3rRobot()
rc = RemoteControlEtc(robot)
mqtt_client = com.MqttClient(rc)
mqtt_client.connect_to_pc()
while True:
if robot.beacon_button_sensor.is_top_red_button_pressed() is True:
ev3.Sound.beep().wait()
if robot.beacon_button_sensor.is_top_blue_button_pressed() is True:
ev3.Sound.speak(
'I love you bitch, I aint never gonna stop loving you, bitch'
).wait()
time.sleep(0.01) # For the delegate to do its work
def finding_object():
robot=rb.Snatch3rRobot()
print()
print("Testing")
time.sleep(2)
print("Testing!")
time.sleep(2)
print("Ctrl-C to TERMINATE!! the program!!!!!")
time.sleep(3)
while True:
if robot.camera.get_biggest_blob().get_area() >= 300:
ev3.Sound.beep().wait()
ev3.Sound.speak("It is huge").wait()
break
robot.drive_system.stop_moving()
def ColorSorting(red, white, yellow, black, green):
robot = rb.Snatch3rRobot()
colorsensor = robot.color_sensor
drivesystem = robot.drive_system
ev3.Sound.set_volume(100)
drivesystem.start_moving(20, 20)
while True:
if colorsensor.get_color() == red:
ev3.Sound.speak("Hello")
if colorsensor.get_color() == white:
ev3.Sound.speak("to")
if colorsensor.get_color() == yellow:
ev3.Sound.speak("the")
if colorsensor.get_color() == black:
ev3.Sound.speak("world")
if colorsensor.get_color() == green:
ev3.Sound.speak("Greetings humans")
def main():
""" Runs YOUR specific part of the project """
robot = rb.Snatch3rRobot()
robot.arm.calibrate()
rc = RemoteControlEtc(robot)
mqtt_client = com.MqttClient(rc)
mqtt_client.connect_to_pc()
wait_for_ball(robot)
hike_the_ball(robot)
while True:
if robot.color_sensor.green() > 70:
run_off_blocker(robot)
elif robot.color_sensor.red() > 70:
spin_defender(robot)
elif robot.color_sensor.blue() > 70:
celebrate(robot)
break
time.sleep(10)
robot.drive_system.stop_moving()
def run_test_color_sensor():
""" Tests the color_sensor of the Snatch3rRobot. """
robot = rb.Snatch3rRobot()
print()
print("Testing the color_sensor of the robot.")
print("Repeatedly move the robot to different surfaces.")
print("Press Control-C when you are ready to stop testing.")
time.sleep(1)
count = 1
while True:
print(
"{:4}.".format(count), "Color sensor value/color/intensity is: ",
"{:3} {:3} {:3}".format(robot.color_sensor.get_value()[0],
robot.color_sensor.get_value()[1],
robot.color_sensor.get_value()[2]),
"{:4}".format(robot.color_sensor.get_color()),
"{:4}".format(robot.color_sensor.get_reflected_intensity()))
time.sleep(0.5)
count = count + 1
def main():
# --------------------------------------------------------------------------
# Done: 3. Construct a Snatch3rRobot. Test.
# --------------------------------------------------------------------------
robot = rb.Snatch3rRobot()
# --------------------------------------------------------------------------
# Done: 4. Add code that constructs a com.MqttClient that will
# Done: be used to receive commands sent by the laptop.
# Done: Connect it to this robot. Test.
# --------------------------------------------------------------------------
rc = RemoteControlEtc(robot)
mqtt_client = com.MqttClient(rc)
mqtt_client.connect_to_pc()
mario(robot)
# --------------------------------------------------------------------------
# Done: 5. Add a class for your "delegate" object that will handle messages
# Done: sent from the laptop. Construct an instance of the class and
# Done: pass it to the MqttClient constructor above. Augment the class
# Dome: as needed for that, and also to handle the go_forward message.
# Done: Test by PRINTING, then with robot.
# --------------------------------------------------------------------------
# --------------------------------------------------------------------------
# Done: 6. With your instructor, discuss why the following WHILE loop,
# Done: that appears to do nothing, is necessary.
# --------------------------------------------------------------------------
while True:
# ----------------------------------------------------------------------
# Done: 7. Add code that makes the robot beep if the top-red button
# Done: on the Beacon is pressed. Add code that makes the robot
# Done: speak "Hello. How are you?" if the top-blue button on the
# Done: Beacon is pressed. Test.
# ----------------------------------------------------------------------
if robot.beacon_button_sensor.is_top_red_button_pressed():
ev3.Sound.beep().wait()
if robot.beacon_button_sensor.is_top_blue_button_pressed():
ev3.Sound.speak("Hello")
time.sleep(0.01) # For the delegate to do its work
def run_test_drive_system():
""" Tests the drive_system of the Snatch3rRobot. """
robot = rb.Snatch3rRobot()
print()
print("Testing the drive_system of the robot.")
print("Move at (20, 50) - that is, veer left slowly")
robot.drive_system.start_moving(20, 50)
time.sleep(2)
robot.drive_system.stop_moving()
print("Left/right wheel positions:",
robot.drive_system.left_wheel.get_degrees_spun(),
robot.drive_system.right_wheel.get_degrees_spun())
time.sleep(1)
print()
print("Spin clockwise at half speed for 2.5 seconds")
robot.drive_system.move_for_seconds(2.5, 50, -50)
print("Left/right wheel positions:",
robot.drive_system.left_wheel.get_degrees_spun(),
robot.drive_system.right_wheel.get_degrees_spun())
robot.drive_system.left_wheel.reset_degrees_spun()
robot.drive_system.right_wheel.reset_degrees_spun(2000)
time.sleep(1)
print()
print("Move forward at full speed for 1.5 seconds, coast to stop")
robot.drive_system.start_moving()
time.sleep(1.5)
robot.drive_system.stop_moving(rb.StopAction.COAST.value)
print("Left/right wheel positions:",
robot.drive_system.left_wheel.get_degrees_spun(),
robot.drive_system.right_wheel.get_degrees_spun())
def main():
robot = rb.Snatch3rRobot()
def move_to_pose():
robot = rb.Snatch3rRobot()
robot.arm.move_arm_to_position(3600, 100)
def calibrating():
robot = rb.Snatch3rRobot()
robot.arm.calibrate(100)
def moving_arm_and_claw():
robot = rb.Snatch3rRobot()
robot.arm.raise_arm_and_close_claw(100)
def main():
""" Runs YOUR specific part of the project """
robot = rb.Snatch3rRobot()
robot.arm.calibrate()
def main():
""" Runs YOUR specific part of the project """
robot = rb.Snatch3rRobot()
follow_black_lines(robot)
def main():
""" Runs YOUR specific part of the project """
robot = rb.Snatch3rRobot()
#polyogon(robot, 4, 5)
follow_black_line(robot)
