def __init__(self):
Debug.print("Initialize statemachine")
self.states = {}
self.transitions = {}
self.currentState = None
self.trans = None
def __init__(self):
self.pid = PIDController(kP=1.0, kI=0.0, kD=0.1)
# motors
try:
self.steerPair = MoveSteering(OUTPUT_B, OUTPUT_C)
except ev3dev2.DeviceNotFound as e:
Debug.print("Error:", e)
self.speed = Config.data['pid']['fast']['speed_max']
def main():
nchan = NekoNekoChan() # create object instance of robot
nchan.sound.tone([(1000, 200, 0), (1200, 150, 0)])
while not nchan.btn.any():
sleep(0.1)
nchan.sound.beep()
sleep(1)
Debug.print('no calibration')
while not nchan.btn.any():
Debug.print(nchan.sensColor.rgb)
sleep(1)
sleep(1)
Debug.print('please calibrate')
while not nchan.btn.any():
sleep(0.1)
sleep(1)
nchan.sensColor.calibrate_white()
Debug.print('calibrated')
while not nchan.btn.any():
Debug.print(nchan.sensColor.rgb)
sleep(1)
nchan.sound.tone([(1200, 150, 0), (1000, 200, 0)])
def firstTurn(self, sensorValues):
Debug.print("Robo at Cross first Turn")
if action == "right":
right()
elif action == "left":
left()
elif action == "skip":
self.steerPair.on_for_degrees(
0, -20, 50) # back off until centered on cross
self.steerPair.wait_until_not_moving(2000)
left()
else:
raise AttributeError("no valid action string given for turn()")
def brake(self):
self.steerPair.off()
# module test
if __name__ == "__main__":
Debug.print("Drive Module Test")
Debug.print("=" * 40)
Debug.deltaTime("Modules loaded")
drive = Drive()
Debug.deltaTime("init drive object")
Config.update()
for i in range(-5, 5):
drive.pid.update(i * 10)
sleep(0.03)
Debug.print(drive.pid.output)
#!/usr/bin/env python3
from ev3dev2.sensor.lego import ColorSensor
from ev3dev2.sensor import INPUT_1
from ev3dev2.sound import Sound
from toolbox import Config, Debug
from time import sleep
Debug.print('Hello, i am connected')
Config.update()
sound = Sound()
Debug.print("JSON Version:", Config.data["version"])
color = ColorSensor()
color.calibrate_white()
while True:
Debug.print(color.hls)
hue = color.hls[0]
if hue > 0.4 and hue < 0.68:
sound.speak("dah be dee, dah be dye")
sleep(1)
elif hue > 0.8 or hue < 0.2:
sound.speak("red")
sleep(1)
elif hue > 0.65:
sound.speak("white")
sleep(1)
defaultDistance = sensIR.proximity
while sensIR.proximity > defaultDistance * 0.9:
# follow line
pass
# search ball
while True:
# debug_print('Abstand: {}'.format(sensIR.proximity * 0.7))
#
sleep(0.5)
sleep(1)
while True:
if not myClaw.closed and sensTouch.is_pressed:
myClaw.closeClaw()
Debug.print('{}: Closed'.format(time()))
sound.beep()
elif btn.up:
myClaw.releaseClaw()
Debug.print('{}: Released'.format(time()))
sound.beep()
elif btn.enter:
break
elif btn.down:
Debug.print(myClaw.closed)
sleep(0.02)
def setState(self, stateName):
self.currentState = self.states[stateName]
Debug.print("State changed to: " + stateName)