def read_value(self) -> int:
"""
Reads a single value, converts it and returns the binary expression
:return: int
"""
# implementation
ls = ev3.LightSensor('in3')
ls.mode = 'REFLECT'
light_value = ls.value()
if (light_value > 540):
light_value = 0
else:
light_value = 1
return light_value
REVERSE_DIST = 100
#----------------------------------------------------------------------------------------------------------------------
#Attach motors mA is left, mb right
mA = ev3.LargeMotor('outA')
mB = ev3.LargeMotor('outB')
mB.run_direct()
mA.run_direct()
#Set motor direction
mA.polarity = "normal"
mB.polarity = "normal"
#Attach sensors
colorSensorLeft = ev3.ColorSensor('in1')
colorSensorRight = ev3.ColorSensor('in2')
lightSensorFront = ev3.LightSensor('in3')
#Check sensors if they are connected, will throw an error message if not
assert colorSensorLeft.connected, "ColorSensorLeft (CS) is not connected to in1"
assert colorSensorRight.connected, "ColorSensorLeft (CS) is not connected to in2"
assert lightSensorFront.connected, "LightSensoFront (LS) is not connected to in3"
# Put the color sensor into COL-REFLECT mode
# to measure reflected light intensity.
colorSensorLeft.mode = 'COL-REFLECT'
colorSensorRight.mode = 'COL-REFLECT'
#For shutdown, stop motors
def signal_handler(sig, frame):
print('Shutting down gracefully')
# state constants
ON = True
OFF = False
RUNNING = 1
STOP = 0
SPD_LIMIT = 100
lightChecker = None
# hardware setting
_sensor_1 = ev3.UltrasonicSensor('in1')
#_sensor_1 = ev3.UltrasonicSensor('in1')
_sensor_3 = ev3.UltrasonicSensor('in3')
# set-up the light sensor
light_sensor = ev3.LightSensor('in2')
_left_motor = ev3.LargeMotor('outB')
_right_motor = ev3.LargeMotor('outC')
def main():
find_light_target()
'''
def main():
# This is the main method
timer1 = time.time()
bot_state = RUNNING
#!/usr/bin/python3
#https://sites.google.com/site/ev3python/learn_ev3_python/using-sensors/sensor-modes
#http://docs.ev3dev.org/projects/lego-linux-drivers/en/ev3dev-jessie/sensor_data.html
import ev3dev.ev3 as ev3
sensorRight = ev3.ColorSensor('in1')
sensorLeft = ev3.ColorSensor('in4')
sensorGripper = ev3.LightSensor('in3')
assert sensorRight.connected, "sensorRight(ColorSensor) is not connected"
assert sensorLeft.connected, "sensorLeft(ColorSensor) is not conected"
assert sensorGripper.connected, "sensorGripper(LightSensor) is not conected"
AMBIENT = 0
REFLECT = 1
COLOR = 2
arrayofcolors = ('unknown', 'black', 'blue', 'green', 'yellow', 'red', 'white',
'brown')
filterValue = [0, 0, 0, 0]
def setmodeSensorsLR(mode):
if mode == 0:
sensorLeft.mode = 'COL-AMBIENT' # measures lux
sensorRight.mode = 'COL-AMBIENT' # measures lux
sensorGripper.mode = 'AMBIENT'
print("Sensor mode set to ambient")
elif mode == 1:
sensorLeft.mode = 'COL-REFLECT' # measures light intensity
import ev3dev.ev3 as ev3
from time import sleep
import signal
mA = ev3.LargeMotor('outA')
mB = ev3.LargeMotor('outB')
THRESHOLD_LEFT = 30
THRESHOLD_RIGHT = 350
BASE_SPEED = 30
TURN_SPEED = 80
lightSensorLeft = ev3.ColorSensor('in1')
lightSensorRight = ev3.LightSensor('in2')
assert lightSensorLeft.connected, "LightSensorLeft(ColorSensor) is not connected"
assert lightSensorRight.connected, "LightSensorRight(LightSensor) is not conected"
mB.run_direct()
mA.run_direct()
mA.polarity = "inversed"
mB.polarity = "inversed"
def signal_handler(sig, frame):
print('Shutting down gracefully')
mA.duty_cycle_sp = 0
mB.duty_cycle_sp = 0
def main():
# Setup input ports
colorSensorStop = ev3.LightSensor('in1')
colorSensorLeft = ev3.ColorSensor('in2')
colorSensorRight = ev3.ColorSensor('in3')
assert colorSensorStop.connected, "LightSensorStop(ColorSensor) is not connected"
assert colorSensorLeft.connected, "LightSensorLeft(ColorSensor) is not conected"
assert colorSensorRight.connected, "LightSensorRight(ColorSensor) is not conected"
#colorSensorStop.MODE_REFLECT
#colorSensorLeft.raw
#colorSensorRight.raw
# Setup output ports
mDiff = MoveDifferential(OUTPUT_A, OUTPUT_D, EV3Tire, 15 * STUD_MM)
mDiff.left_motor.polarity = "normal"
mDiff.right_motor.polarity = "normal"
# setup gracefully shutdown
def signal_handler(sig, frame):
print('Shutting down gracefully')
mDiff.stop()
exit(0)
signal.signal(signal.SIGINT, signal_handler)
print('Press Ctrl+C to exit')
# setup decoder and define chain of actions
#string_of_actions = "urrruulldddl"
#string_of_actions = "fffblfrffrfrffb" #"ffffrfrfrfblfflffrflfb"
string_of_actions = "llll.uddllu.r.r.r.r.rdr.u.uruulld.r.rlddllu.luulld.rur.d.dull.d.rd.r.r.rdr.u.uruurrd.lul.dulld.rddlllluur.dld.r.r.rdr.u.udlllldllu.r.r.r.r.rdr.u"
#string_of_actions = "lffffrffbtffrffrfrffffffbrflflfffbrflfflfflflfffbtflffrffrflffbrfflfflflffblfrffffbtflfflffblffbrflffffbrflflfffbrflfflfflflffblfrfrffbtfrffrfrffbrflfflfffrffffrffrfrffbrflflffffbrflflfffbtfrfffflfrffrfrffffffbrflflff"
#string_of_actions = "lfffrfflf"
#string_of_actions = "l"
decoder = Decoder(string_of_actions, DEFINED_ACTIONS)
current_action = decoder.get_next_action()
while current_action != NOT_DEFINED: # current action == -1 -> no more actions to execute
if (current_action == FORWARD):
move_forward(mDiff, colorSensorStop, colorSensorLeft,
colorSensorRight)
current_action = decoder.get_next_action()
#if(current_action == FORWARD_GYRO):
# move_forward_gyro(mDiff, colorSensorStop, colorSensorFollow, gyro)
# current_action = decoder.get_next_action()
# if(current_action == FORWARD):
# move_forward_dual(mDiff, colorSensorStop, colorSensorLeft, colorSensorRight)
# current_action = decoder.get_next_action()
elif (current_action == CONTINUE):
cont_forward(mDiff, colorSensorStop, colorSensorLeft,
colorSensorRight)
current_action = decoder.get_next_action()
elif (current_action == BACKWARD):
move_backward(mDiff, colorSensorStop)
current_action = decoder.get_next_action()
elif (current_action == ONE_EIGHTY):
turn_one_eighty(mDiff)
current_action = decoder.get_next_action()
elif (current_action == LEFT):
turn_left(mDiff)
current_action = decoder.get_next_action()
elif (current_action == RIGHT):
turn_right(mDiff)
current_action = decoder.get_next_action()
else:
raise TypeError(
"No switch case implemented for action/behaviour: {}".format(
current_action))