def test_speed(self):
motordevice.speed(PORTS,20)
test_util.wait(5, print_motor_info )
def ir_control(speed):
remote_control_map = {
0: {'label': 'off', 'motor': both, 'value': 0},
1: {'label': 'left_up', 'motor': D, 'value': speed},
2: {'label': 'left_down', 'motor': D, 'value': MAX_VALUE-speed},
3: {'label': 'right_up', 'motor': A, 'value': speed},
4: {'label': 'right_down', 'motor': A, 'value': MAX_VALUE-speed},
5: {'label': 'both_up', 'motor': both, 'value': speed},
6: {'label': 'left_up_right_down', 'motor': both, 'value': 0},
7: {'label': 'left_down_right_up', 'motor': both, 'value': 0},
8: {'label': 'both_down', 'motor': both, 'value': MAX_VALUE-speed},
9: {'label': 'top', 'motor': both, 'value': 0},
10:{'label': 'both_left', 'motor': both, 'value': 0},
11:{'label': 'both_right', 'motor': both, 'value': 0}
}
print "ir_control mode"
ir_sensor = EV3IRSensor(ev3.SENSOR_2)
print "setting remote control mode"
ir_sensor.set_remote_control_mode()
#motordevice.stop(both,brake=0)
while True:
ir_sensor_command = ir_sensor.get_remote_control_command(channel=1)
ir_sensor_command_dict = remote_control_map.get(ir_sensor_command)
if ir_sensor_command == 6:
motordevice.speed(D, speed)
motordevice.speed(A,MAX_VALUE-speed)
elif ir_sensor_command == 7:
motordevice.speed(D, MAX_VALUE-speed)
motordevice.speed(A,speed)
elif ir_sensor_command != 0:
print "command: {0} - {1}".format(
ir_sensor_command,
ir_sensor_command_dict.get('label')
)
motordevice.speed(
ir_sensor_command_dict.get('motor'),
ir_sensor_command_dict.get('value')
)
else:
motordevice.speed(both,0)
#motordevice.stop(both,brake=1)
time.sleep(.1)
uartdevice.open_device()
A = 0x01
B = 0x02
C = 0x04
D = 0x08
right = A
left = D
both = A + D
touch = lego.EV3TouchSensor(0)
ir = lego.EV3IRSensor(3)
ir.set_prox_mode()
motordevice.speed(both, 20)
distance = 101
while True:
time.sleep(1)
if touch.is_pressed() == 1:
motordevice.stop(both, brake=1)
print "stopping\n"
break
cur_distance = ir.get_distance()
if cur_distance > distance:
print "searching\n"
motordevice.stop(both, brake=1)
motordevice.speed(A, 20)
uartdevice.open_device()
A = 0x01
B = 0x02
C = 0x04
D = 0x08
right = A
left = D
both = A+D
touch = lego.EV3TouchSensor(0)
ir = lego.EV3IRSensor(3)
ir.set_prox_mode()
motordevice.speed(both,20)
distance = 101
while True:
time.sleep(1)
if touch.is_pressed() == 1:
motordevice.stop(both, brake=1)
print "stopping\n"
break
cur_distance = ir.get_distance()
if cur_distance > distance:
print "searching\n"
motordevice.stop(both, brake=1)
motordevice.speed(A, 20)
