def __init__(self,
init_pose,
soc=None,
port_motor_rear=OUTPUT_A,
port_motor_steer=OUTPUT_B,
port_sensor_gyro='in1'):
# initialization of devices
self.__button_halt = Button()
self.__motor_rear = LargeMotor(port_motor_rear)
self.__motor_steer = LargeMotor(port_motor_steer)
self.__sensor_gyro = GyroSensor(port_sensor_gyro)
self.__velocity_controller = VelocityController(self,
0,
0,
adaptation=False)
self.s = soc
# NOTE: possible using other controllers. Change only here!
self.__trajectory_controller = ControllerWithLinearization()
self.__path_controller = PathController()
self.__localization = Localization(self, init_pose)
self.__robot_state = [0, 0, 0, 0, 0, 0] # x,y, dx,dy, theta,omega
self.reset()
Sound.speak('Ready').wait()
def __init__(self,
port_motor_rear=OUTPUT_A,
port_motor_steer=OUTPUT_B,
port_sensor_gyro='in1',
port_sensor_us_front='in2',
port_sensor_us_rear='in3'):
# initialization of devices
self.__button_halt = Button()
self.__motor_rear = LargeMotor(port_motor_rear)
self.__motor_steer = LargeMotor(port_motor_steer)
self.__sensor_gyro = GyroSensor(port_sensor_gyro)
self.__sensor_us_rear = UltrasonicSensor(port_sensor_us_rear)
self.__sensor_us_front = UltrasonicSensor(port_sensor_us_front)
self.__velocity_controller = VelocityController(self, 0, 0)
# NOTE: possible using other controllers. Change only here!
self.__trajectory_controller = ControllerWithLinearization()
self.__localization = Localization(self)
self.__robot_state = [0, 0, 0, 0, 0, 0] # x,y, dx,dy, theta,omega
self.reset()
Sound.speak('Initialization complete!').wait()
def __init__(self):
self.left_color_sensor = ColorSensor('in4')
self.right_color_sensor = ColorSensor('in1')
self.left_large_motor = LargeMotor('outD')
self.right_large_motor = LargeMotor('outA')
self.touch_sensor = TouchSensor('in3')
self.listeners = []
self.prev_is_pressed = False
def init_large_motor(port: str) -> LargeMotor:
"""
Preveri, ali je motor priklopljen na izhod `port`.
Vrne objekt za motor (LargeMotor).
"""
motor = LargeMotor(port)
while not motor.connected:
print('\nPriklopi motor na izhod ' + port +
' in pritisni + spusti gumb DOL.')
wait_for_button('down')
motor = LargeMotor(port)
return motor
def __init__(self,
left_motor_port: str = OUTPUT_B,
right_motor_port: str = OUTPUT_C,
polarity: str = Motor.POLARITY_NORMAL,
ir_sensor_port: str = INPUT_4,
ir_beacon_channel: int = 1):
self.left_motor = LargeMotor(address=left_motor_port)
self.right_motor = LargeMotor(address=right_motor_port)
self.left_motor.polarity = self.right_motor.polarity = polarity
self.ir_sensor = InfraredSensor(address=ir_sensor_port)
self.tank_drive_remote_control = \
RemoteControl(
sensor=self.ir_sensor,
channel=ir_beacon_channel)
def __init__(self,
motor1Port,
motor2Port,
gyroPort=None,
wheelDiameter=None): #init
if GyroSensor != None:
self.GS = GyroSensor(gyroPort)
else:
self.GS = GyroSensor()
self.M1 = LargeMotor(motor1Port)
self.M2 = LargeMotor(motor2Port)
self.motor_stop = True
self.wheelDiameter = wheelDiameter
self.time = 0
self.MDistanceRunning = True
self.distance = 0
self.pauseDistance = []
def __init__(
self,
back_foot_motor_port: str = OUTPUT_C, front_foot_motor_port: str = OUTPUT_B,
gear_motor_port: str = OUTPUT_A,
touch_sensor_port: str = INPUT_1, color_sensor_port: str = INPUT_3,
ir_sensor_port: str = INPUT_4, ir_beacon_channel: int = 1):
self.front_foot_motor = LargeMotor(address=front_foot_motor_port)
self.back_foot_motor = LargeMotor(address=back_foot_motor_port)
self.gear_motor = MediumMotor(address=gear_motor_port)
self.touch_sensor = TouchSensor(address=touch_sensor_port)
self.color_sensor = ColorSensor(address=color_sensor_port)
self.ir_sensor = InfraredSensor(address=ir_sensor_port)
self.remote_control = RemoteControl(sensor=self.ir_sensor,
channel=ir_beacon_channel)
def __init__(self,
left_foot_track_motor_port: str = OUTPUT_B,
right_foot_track_motor_port: str = OUTPUT_C,
bazooka_blast_motor_port: str = OUTPUT_A,
touch_sensor_port: str = INPUT_1,
color_sensor_port: str = INPUT_3,
ir_sensor_port: str = INPUT_4,
driving_ir_beacon_channel: int = 1,
shooting_ir_beacon_channel: int = 2):
self.left_foot_track_motor = LargeMotor(
address=left_foot_track_motor_port)
self.right_foot_track_motor = LargeMotor(
address=right_foot_track_motor_port)
self.bazooka_blast_motor = MediumMotor(
address=bazooka_blast_motor_port)
self.ir_sensor = InfraredSensor(address=ir_sensor_port)
self.driving_remote_control = RemoteControl(
sensor=self.ir_sensor, channel=driving_ir_beacon_channel)
self.shooting_remote_control = RemoteControl(
sensor=self.ir_sensor, channel=shooting_ir_beacon_channel)
self.touch_sensor = TouchSensor(address=INPUT_1)
self.color_sensor = ColorSensor(address=INPUT_3)
self.leds = Leds()
self.screen = Screen()
assert self.left_foot_track_motor.connected
assert self.right_foot_track_motor.connected
assert self.bazooka_blast_motor.connected
assert self.ir_sensor.connected
assert self.touch_sensor.connected
assert self.color_sensor.connected
# reset the motors
for motor in (self.left_foot_track_motor, self.right_foot_track_motor,
self.bazooka_blast_motor):
motor.reset()
motor.position = 0
motor.stop_action = Motor.STOP_ACTION_BRAKE
self.draw_face()
def __init__(self,
left_motor_port: str = OUTPUT_B,
right_motor_port: str = OUTPUT_C,
grip_motor_port: str = OUTPUT_A,
touch_sensor_port: str = INPUT_1,
ir_sensor_port: str = INPUT_4,
ir_beacon_channel: int = 1):
self.left_motor = LargeMotor(address=left_motor_port)
self.right_motor = LargeMotor(address=right_motor_port)
self.grip_motor = MediumMotor(address=grip_motor_port)
self.touch_sensor = TouchSensor(address=touch_sensor_port)
self.ir_sensor = InfraredSensor(address=ir_sensor_port)
self.ir_beacon_channel = ir_beacon_channel
self.beacon = RemoteControl(sensor=self.ir_sensor,
channel=ir_beacon_channel)
self.speaker = Sound()
def __init__(
self,
left_foot_motor_port: str = OUTPUT_B, right_foot_motor_port: str = OUTPUT_C,
bazooka_blast_motor_port: str = OUTPUT_A,
touch_sensor_port: str = INPUT_1, color_sensor_port: str = INPUT_3,
ir_sensor_port: str = INPUT_4, ir_beacon_channel: int = 1):
self.left_foot_motor = LargeMotor(address=left_foot_motor_port)
self.right_foot_motor = LargeMotor(address=right_foot_motor_port)
self.bazooka_blast_motor = MediumMotor(address=bazooka_blast_motor_port)
self.touch_sensor = TouchSensor(address=touch_sensor_port)
self.color_sensor = ColorSensor(address=color_sensor_port)
self.ir_sensor = InfraredSensor(address=ir_sensor_port)
self.remote_control = RemoteControl(sensor=self.ir_sensor,
channel=ir_beacon_channel)
self.screen = Screen()
self.speaker = Sound()
def __init__(self,
turn_motor_port: str = OUTPUT_A,
move_motor_port: str = OUTPUT_B,
scare_motor_port: str = OUTPUT_D,
touch_sensor_port: str = INPUT_1,
color_sensor_port: str = INPUT_3,
ir_sensor_port: str = INPUT_4,
ir_beacon_channel: int = 1):
self.turn_motor = MediumMotor(address=turn_motor_port)
self.move_motor = LargeMotor(address=move_motor_port)
self.scare_motor = LargeMotor(address=scare_motor_port)
self.touch_sensor = TouchSensor(address=touch_sensor_port)
self.color_sensor = ColorSensor(address=color_sensor_port)
self.ir_sensor = InfraredSensor(address=ir_sensor_port)
self.beacon = RemoteControl(sensor=self.ir_sensor,
channel=ir_beacon_channel)
self.noise = Sound()
def __init__(self, left_motor_port, right_motor_port, front_us_port,
right_us_port, left_us_port):
self.leftMotor = LargeMotor('out' + left_motor_port)
self.rightMotor = LargeMotor('out' + right_motor_port)
self.FRONT_US_SENSOR = UltrasonicSensor('in' + front_us_port)
self.RIGHT_US_SENSOR = UltrasonicSensor('in' + right_us_port)
self.LEFT_US_SENSOR = UltrasonicSensor('in' + left_us_port)
self.TOUCH_SENSOR = TouchSensor()
assert self.leftMotor.connected, "Connect left Motor to port" + \
str(left_motor_port)
assert self.rightMotor.connected, "Connect right Motor to port" + \
str(right_motor_port)
assert self.TOUCH_SENSOR.connected, "Connect a touch sensor"
assert self.FRONT_US_SENSOR.connected, "Connect the ultrasound sensor in the front"
assert self.RIGHT_US_SENSOR.connected, "Connect the ultrasound sensor on the right"
assert self.LEFT_US_SENSOR.connected, "Connect the ultrasound sensor on the left"
#set sensor mode to cm
self.FRONT_US_SENSOR.mode = 'US-DIST-CM'
self.RIGHT_US_SENSOR.mode = 'US-DIST-CM'
self.LEFT_US_SENSOR.mode = 'US-DIST-CM'
def __init__(self,
sting_motor_port: str = OUTPUT_D,
go_motor_port: str = OUTPUT_B,
claw_motor_port: str = OUTPUT_A,
touch_sensor_port: str = INPUT_1,
color_sensor_port: str = INPUT_3,
ir_sensor_port: str = INPUT_4,
ir_beacon_channel: int = 1):
self.sting_motor = LargeMotor(address=sting_motor_port)
self.go_motor = LargeMotor(address=go_motor_port)
self.claw_motor = MediumMotor(address=claw_motor_port)
self.ir_sensor = InfraredSensor(address=ir_sensor_port)
self.ir_beacon_channel = ir_beacon_channel
self.beacon = RemoteControl(sensor=self.ir_sensor,
channel=self.ir_beacon_channel)
self.touch_sensor = TouchSensor(address=touch_sensor_port)
self.color_sensor = ColorSensor(address=color_sensor_port)
self.dis = Screen()
self.speaker = Sound()
#!/usr/bin/env python3
from ev3dev.ev3 import (Motor, LargeMotor, MediumMotor, OUTPUT_A, OUTPUT_B,
OUTPUT_D, InfraredSensor, INPUT_4, Leds, Sound)
from random import randint
from time import sleep
MEDIUM_MOTOR = MediumMotor(address=OUTPUT_A)
TAIL_MOTOR = LargeMotor(address=OUTPUT_B)
CHEST_MOTOR = LargeMotor(address=OUTPUT_D)
IR_SENSOR = InfraredSensor(address=INPUT_4)
LIGHTS = Leds()
SPEAKER = Sound()
CHEST_MOTOR.run_timed(speed_sp=-300,
time_sp=1000,
stop_action=Motor.STOP_ACTION_BRAKE)
CHEST_MOTOR.wait_while(Motor.STATE_RUNNING)
while True:
if IR_SENSOR.proximity < 30:
LIGHTS.set_color(group=Leds.LEFT, color=Leds.RED, pct=1)
LIGHTS.set_color(group=Leds.RIGHT, color=Leds.RED, pct=1)
MEDIUM_MOTOR.stop(stop_action=Motor.STOP_ACTION_HOLD)
TAIL_MOTOR.stop(stop_action=Motor.STOP_ACTION_BRAKE)
from ev3dev.ev3 import LargeMotor
m1 = LargeMotor('outC')
m2 = LargeMotor('outD')
m1.stop()
m2.stop()
def run(fun):
# Connect two motors and two (different) light sensors
mL = LargeMotor('outC')
mR = LargeMotor('outB')
sL = ColorSensor('in1')
sR = ColorSensor('in4')
gy = GyroSensor('in3')
# Check if the sensors are connected
assert sL.connected, "Left ColorSensor is not connected"
assert sR.connected, "Right ColorSensor is not conected"
assert gy.connected, "Gyro is not connected"
gyro = Gyro()
light_sensors = LightSensors()
encoder = Encoder()
# Set the motor mode
mL.polarity = "normal" # "inversed"
mR.polarity = "normal" # "inversed"
mL.position = 0
mR.position = 0
def stop_motors():
mL.run_direct()
mR.run_direct()
mL.duty_cycle_sp = 0
mR.duty_cycle_sp = 0
stop_motors()
# The example doesn't end on its own.
# Use CTRL-C to exit it (needs command line).
# This is a generic way to be informed
# of this event and then take action.
def signal_handler(sig, frame):
stop_motors()
print('Shut down gracefully')
exit(0)
# Install the signal handler for CTRL+C
signal(SIGINT, signal_handler)
print('Press Ctrl+C to exit')
per = {
'mL': mL,
'mR': mR,
'sL': sL,
'sR': sR,
'gy': gy
}
light_sensors.init(per)
gyro.init(gy)
# Endless loop reading sensors and controlling motors.
last_log = time()
last_now = time()
max_dt = 0
dts = 0
speed_mL = None
speed_mR = None
while True:
state = {}
state = light_sensors(per, state)
state = encoder(per, state)
state = gyro(per, state)
state = fun(per, state)
max_speed = 40 * TICKS_PER_CM
_speed_mL = state.get('mL', 0)
if _speed_mL != speed_mL:
speed_mL = _speed_mL
mL.run_forever(speed_sp=speed_mL/100 * max_speed)
_speed_mR = state.get('mR', 0)
if _speed_mR != speed_mR:
speed_mR = _speed_mR
mR.run_forever(speed_sp=speed_mR/100 * max_speed)
dts += 1
now = time()
dt = now - last_now
last_now = now
if dt > max_dt: max_dt = dt
if now - last_log > 5.0:
last_log = now
print("avg fps: ", dts / 5.0)
print('min fps: ', 1 / max_dt)
max_dt = 0
dts = 0
def main():
data = None
if True:
with open('zemljevid.json') as f:
data = json.load(f)
else:
resource = urllib.request.urlopen(
'http://192.168.0.200:8080/zemljevid.json')
content = resource.read()
content = content.decode("utf-8")
data = json.loads(content)
os.system('setfont Lat15-TerminusBold14')
if os.path.exists("logs"):
import shutil
shutil.rmtree("logs")
os.mkdir("logs")
mL = LargeMotor('outB')
mL.stop_action = 'hold'
mR = LargeMotor('outC')
mR.stop_action = 'hold'
global cl
cl = ColorSensor()
cl.mode = 'COL-COLOR'
gy = GyroSensor()
gy.mode = 'GYRO-RATE'
gy.mode = 'GYRO-ANG'
# Give gyro a bit of time to start
time.sleep(3)
global start_time
start_time = time.time()
debug_print("Start time: ", start_time)
start = [0, 0]
locations = []
for key, item in data.items():
if key == "start":
start = item
else:
locations.append(item)
# Sort by distance, TODO might be better to minimize turns by prioritizing victims that are in the same line
locations = sorted(
locations,
key=lambda x: abs(start[0] - x[0]) + abs(start[1] - x[1]),
reverse=False)
current_location = start
def reset_neighbourhood_search():
global searching_neighbourhood
nonlocal neighbourhood_locations
searching_neighbourhood = False
neighbourhood_locations = []
global searching_neighbourhood
searching_neighbourhood = False
neighbourhood_locations = []
while locations:
next_location = locations.pop(0)
go_to_location(x=next_location[0],
y=next_location[1],
current_x=current_location[0],
current_y=current_location[1],
mL=mL,
mR=mR,
gyro=gy)
current_location = next_location
color = cl.value()
if color == 1: # BLACK: START, 2 second beep
debug_print("Color sensor: START")
beep(1, 2000)
reset_neighbourhood_search()
locations = sorted(
locations,
key=lambda x: abs(start[0] - x[0]) + abs(start[1] - x[1]),
reverse=False)
elif color == 2: # BLUE: good condition, 1 beep
debug_print("Color sensor: BLUE")
beep(1)
reset_neighbourhood_search()
locations.insert(0, start)
elif color == 4: # YELLOW: critical condition, 2 beeps
debug_print("Color sensor: YELLOW")
beep(2)
reset_neighbourhood_search()
locations.insert(0, start)
elif color == 5: # RED: passed away, 3 beeps
debug_print("Color sensor: RED")
beep(3)
reset_neighbourhood_search()
#locations.insert(0, start)
locations = sorted(locations,
key=lambda x: abs(current_location[0] - x[0]) +
abs(current_location[1] - x[1]),
reverse=False)
else:
debug_print("Color sensor: UNKNOWN (" + str(color) + ")")
#locations.insert(0, start)
if not searching_neighbourhood:
searching_neighbourhood = True
radius = 5
for area in range(1, 20):
neighbourhood_locations.append([
next_location[0] + radius * area,
next_location[1] - radius * area
])
neighbourhood_locations.append([
next_location[0] + radius * area,
next_location[1] + radius * area
])
neighbourhood_locations.append([
next_location[0] - radius * area,
next_location[1] + radius * area
])
neighbourhood_locations.append([
next_location[0] - radius * area,
next_location[1] - radius * area
])
locations.insert(0, neighbourhood_locations[0])
neighbourhood_locations = neighbourhood_locations[1:]
# # Rotate back to original orientation
# angle = calculate_angle(0, gy.value())
# rotate_to_angle(angle, mL, mR, gy)
# for i in range (16):
# rotate_to_angle(90, mL, mR, gy)
# rotate_to_angle(0, mL, mR, gy)
#for _ in range (5):
#rotate_to_angle(89, mL, mR, gy)
#rotate_to_angle(178, mL, mR, gy)
#rotate_to_angle(270, mL, mR, gy)
#rotate_to_angle(180, mL, mR, gy)
#rotate_to_angle(90, mL, mR, gy)
#rotate_to_angle(0, mL, mR, gy)
#rotate_to_angle(-91, mL, mR, gy)
#rotate_to_angle(-182, mL, mR, gy)
#rotate_to_angle(-2, mL, mR, gy)
#rotate_to_angle(89, mL, mR, gy)
#rotate_to_angle(178, mL, mR, gy)
#rotate_to_angle(-2, mL, mR, gy)
#rotate_to_angle(87, mL, mR, gy)
#rotate_to_angle(176, mL, mR, gy)
# for i in range (5):
# drive_for_centimeters(50, mL, mR, gy, 0)
# rotate_to_angle(0, mL, mR, gy)
# drive_for_centimeters(-50, mL, mR, gy, 0)
# rotate_to_angle(0, mL, mR, gy)
debug_print("End time: ", time.time())
#!/usr/bin/env python3
from ev3dev.ev3 import LargeMotor, ColorSensor, UltrasonicSensor, InfraredSensor, MediumMotor, INPUT_1, INPUT_2, INPUT_3, INPUT_4
# MOTORES
esq = LargeMotor('outA')
dir = LargeMotor('outB')
motor_garra = LargeMotor('outC')
#motor_sensor = MediumMotor('outD')
# SENSORES
sensor_esq = ColorSensor(address=INPUT_1)
sensor_dir = ColorSensor(address=INPUT_2)
sensor_frente = UltrasonicSensor(address=INPUT_3)
sensor_lado = UltrasonicSensor(address=INPUT_4)
sensor_esq.mode = 'COL-REFLECT'
sensor_dir.mode = 'COL-REFLECT'
#!/usr/bin/env python3
from ev3dev.ev3 import LargeMotor, ColorSensor, GyroSensor, InfraredSensor, Button
from Classes.Motores import *
from Classes.PID import *
from time import time, sleep
from os import system
import paho.mqtt.client as mqtt
# Motores
M_PORTA = LargeMotor("outC")
M_ESQUERDO = LargeMotor("outA")
M_DIREITO = LargeMotor("outB")
# Sensores infravermelhos
PROX1 = InfraredSensor("in4")
PROX2 = InfraredSensor("in3")
PROX1.mode = "IR-PROX"
PROX2.mode = "IR-PROX"
# Giroscopio
GYRO = GyroSensor("in1")
GYRO.mode = "GYRO-ANG"
# Sensor de cor
COLOR = ColorSensor("in2")
COLOR.mode = "COL-COLOR"
# Variaveis usadas durante o programa
# Constantes
TEMPO_CURVA_90 = 1700
#!/usr/bin/env python3
from time import sleep
from ev3dev.ev3 import LargeMotor, GyroSensor, UltrasonicSensor, ColorSensor
from os import system
system('setfont Lat15-TerminusBold14')
cl_left = ColorSensor('in1')
cl_right = ColorSensor('in2')
l = LargeMotor('outB')
r = LargeMotor('outA')
gyro = GyroSensor('in3')
sonic = UltrasonicSensor('in4')
def girar(graus):
pos0 = gyro.value()
if (graus > 0):
while gyro.value() < pos0 + graus:
l.run_forever(speed_sp=-500)
r.run_forever(speed_sp=250)
else:
while gyro.value() > pos0 + graus:
l.run_forever(speed_sp=250)
r.run_forever(speed_sp=-500)
l.stop()
r.stop()
#!/usr/bin/env python3
from ev3dev.ev3 import (
Motor, MediumMotor, LargeMotor, OUTPUT_A, OUTPUT_B, OUTPUT_D,
InfraredSensor, INPUT_4,
Sound
)
MEDIUM_MOTOR = MediumMotor(address=OUTPUT_A)
GO_MOTOR = LargeMotor(address=OUTPUT_B)
STING_MOTOR = LargeMotor(address=OUTPUT_D)
INFRARED_SENSOR = InfraredSensor(address=INPUT_4)
SPEAKER = Sound()
MEDIUM_MOTOR.run_timed(
speed_sp=500,
time_sp=1000,
stop_action=Motor.STOP_ACTION_HOLD)
MEDIUM_MOTOR.wait_while(Motor.STATE_RUNNING)
MEDIUM_MOTOR.run_timed(
speed_sp=-500,
time_sp=0.3 * 1000,
stop_action=Motor.STOP_ACTION_HOLD)
MEDIUM_MOTOR.wait_while(Motor.STATE_RUNNING)
#!/usr/bin/python
from ev3dev.ev3 import LargeMotor as LargeMotor
from ev3dev.ev3 import TouchSensor as TouchSensor
from time import sleep
power = -100
run_time = 3
motor_b = LargeMotor(address='outB')
motor_c = LargeMotor(address='outC')
motor_b.reset()
motor_c.reset()
motor_b.command = 'run-direct'
motor_c.command = 'run-direct'
trigger = TouchSensor()
print("Fire when ready!")
while True:
if trigger.value() == True:
break
else:
sleep(.01)
motor_b.duty_cycle_sp = power
motor_c.duty_cycle_sp = power
import time
from ev3dev.ev3 import LargeMotor, ColorSensor, UltrasonicSensor, Sound, GyroSensor
from enum import Enum, IntEnum
from pickled import pickled
from ring import RingBuf
from util import SubinstructionError
# -- MOTORS --
mLeft = LargeMotor('outD')
mRight = LargeMotor('outC')
mRight.polarity = 'inversed'
mLeft.polarity = 'inversed'
# -- SENSORS --
sSonic = UltrasonicSensor('in1')
sSonic.mode = UltrasonicSensor.MODE_US_DIST_CM
sGyro = GyroSensor('in2')
sGyro.mode = GyroSensor.MODE_GYRO_ANG
cLeft = ColorSensor('in3')
cRight = ColorSensor('in4')
""" Marks which side of the robot the line is on. """
class MoveDir(IntEnum):
LINE_LEFT = -1
LINE_RIGHT = 1
#!/usr/bin/env python3
from time import sleep
from ev3dev.ev3 import LargeMotor, GyroSensor, UltrasonicSensor, ColorSensor, Sound
from os import system
system('setfont Lat15-TerminusBold14')
cl_left = ColorSensor('in1')
cl_right = ColorSensor('in4')
l = LargeMotor('outA')
r = LargeMotor('outC')
gyro = GyroSensor('in2')
sonic = UltrasonicSensor('in3')
gradient = []
count = 0
while 1:
l.run_forever(speed_sp=-300)
r.run_forever(speed_sp=-300)
count += 1
if(count % 25 == 0):
count = 1
gradient.append((cl_left.value(), cl_right.value()))
if(len(gradient) > 10):
#!/usr/bin/env python3
from ev3dev.ev3 import (
Motor, LargeMotor, MediumMotor, OUTPUT_A, OUTPUT_B, OUTPUT_C,
TouchSensor, InfraredSensor, RemoteControl, INPUT_1, INPUT_4,
Sound
)
MEDIUM_MOTOR = MediumMotor(address=OUTPUT_A)
LEFT_MOTOR = LargeMotor(address=OUTPUT_B)
RIGHT_MOTOR = LargeMotor(address=OUTPUT_C)
TOUCH_SENSOR = TouchSensor(address=INPUT_1)
IR_SENSOR = InfraredSensor(address=INPUT_4)
BEACON_CONTROL = RemoteControl(sensor=IR_SENSOR,
channel=1)
SPEAKER = Sound()
def drive_once_by_ir_beacon(speed: float = 1000):
if BEACON_CONTROL.red_up and BEACON_CONTROL.blue_up:
# go forward
LEFT_MOTOR.run_forever(speed_sp=speed)
RIGHT_MOTOR.run_forever(speed_sp=speed)
elif BEACON_CONTROL.red_down and BEACON_CONTROL.blue_down:
# go backward
LEFT_MOTOR.run_forever(speed_sp=-speed)
#!/usr/bin/env python
from ev3dev.ev3 import LargeMotor, \
OUTPUT_A, Sound, PowerSupply
from time import time, sleep
from math import pi, copysign
N = 1000
file_name = "data_pc.txt"
Kp = 20
pwr = 0
motor = LargeMotor(OUTPUT_A)
battary = PowerSupply()
Sound().beep()
fout = open(file_name, "w")
sleep(0.05)
motor.reset()
print(motor.position)
start_time = time()
for i in range(0, N):
t = time() - start_time
rotation = motor.position
e = (360 - rotation) * pi / 180
pwr = Kp * e
pwr = pwr / battary.measured_volts * 100
if abs(pwr) > 100:
pwr = copysign(1, pwr) * 100
motor.run_direct(duty_cycle_sp=pwr)
line = "%f\t%d\n" % (t, rotation)
fout.write(line)
#!/usr/bin/env python3
from ev3dev.ev3 import ColorSensor, INPUT_1, INPUT_2, OUTPUT_A, OUTPUT_B, LargeMotor, Button, GyroSensor, Sound, UltrasonicSensor
from PID import PID
from os import system
from time import sleep
from json import dump, load
# Instanciando sensores
cl_left = ColorSensor(address=INPUT_1)
cl_right = ColorSensor(address=INPUT_2)
gyro = GyroSensor('in3')
sonic = UltrasonicSensor('in4')
# Instanciando motores
m_left = LargeMotor(address=OUTPUT_A)
m_right = LargeMotor(address=OUTPUT_B)
# Verificando se os sensores/motores estão conectados
assert cl_left.connected
assert cl_right.connected
assert gyro.connected
assert sonic.connected
assert m_left.connected
assert m_right.connected
# Definindo modo reflectância
cl_left.mode = 'COL-REFLECT'
cl_right.mode = 'COL-REFLECT'
gyro.mode = 'GYRO-ANG'
WHEEL_DIAMETER = 4.3 # centimeters
WHEEL_CIRCUMFERENCE = pi * WHEEL_DIAMETER
ROTATIONS_PER_CM = 360 * WHEEL_CIRCUMFERENCE
# TODO ROTATIONS_PER_DEGREE needs a real number, .5 is just a wild guess
ROTATIONS_PER_DEGREE = .5 # how many rotations to turn specified degrees
"""
0
|
-90/270 ---|--- 90/-270
|
180/-180
"""
DIRECTION = 0
LEFT_MOTOR = LargeMotor(OUTPUT_B)
RIGHT_MOTOR = LargeMotor(OUTPUT_C)
MEDIUM_MOTOR = MediumMotor(OUTPUT_A)
TOUCH_SENSOR = TouchSensor()
IR_SENSOR = InfraredSensor()
SCREEN = Screen()
LEDS = Leds
SILENT = False
SP_FOR_90_DEG_TURN = 295
def set_silent(silent=False):
global SILENT
SILENT = silent
#!/usr/bin/env python3
from ev3dev.ev3 import (Motor, LargeMotor, MediumMotor, OUTPUT_A, OUTPUT_B,
Sound)
MEDIUM_MOTOR = MediumMotor(address=OUTPUT_A)
GO_MOTOR = LargeMotor(address=OUTPUT_B)
SPEAKER = Sound()
MEDIUM_MOTOR.run_timed(speed_sp=500,
time_sp=1000,
stop_action=Motor.STOP_ACTION_HOLD)
MEDIUM_MOTOR.wait_while(Motor.STATE_RUNNING)
MEDIUM_MOTOR.run_timed(speed_sp=-500,
time_sp=0.3 * 1000,
stop_action=Motor.STOP_ACTION_HOLD)
MEDIUM_MOTOR.wait_while(Motor.STATE_RUNNING)
for i in range(2):
for p in range(3):
MEDIUM_MOTOR.run_timed(speed_sp=750,
time_sp=0.2 * 1000,
stop_action=Motor.STOP_ACTION_HOLD)
MEDIUM_MOTOR.wait_while(Motor.STATE_RUNNING)
MEDIUM_MOTOR.run_timed(speed_sp=-750,
time_sp=0.2 * 1000,
stop_action=Motor.STOP_ACTION_HOLD)
#!/usr/bin/env python3
from ev3dev.ev3 import (Motor, LargeMotor, MediumMotor, OUTPUT_A, OUTPUT_D,
INPUT_4, InfraredSensor, Sound)
from threading import Thread
from time import sleep
LARGE_MOTOR = LargeMotor(address=OUTPUT_D)
MEDIUM_MOTOR = MediumMotor(address=OUTPUT_A)
IR_SENSOR = InfraredSensor(address=INPUT_4)
SPEAKER = Sound()
def rattle():
while True:
MEDIUM_MOTOR.run_timed(speed_sp=100,
time_sp=1000,
stop_action=Motor.STOP_ACTION_COAST)
MEDIUM_MOTOR.wait_while(Motor.STATE_RUNNING)
SPEAKER.play(wav_file='/home/robot/sound/Snake rattle.wav').wait()
MEDIUM_MOTOR.run_timed(speed_sp=-100,
time_sp=1000,
stop_action=Motor.STOP_ACTION_COAST)
MEDIUM_MOTOR.wait_while(Motor.STATE_RUNNING)
sleep(1)