def init_sensor_touch() -> TouchSensor:
"""
Preveri, ali je tipalo za dotik priklopljeno na katerikoli vhod.
Vrne objekt za tipalo.
"""
sensor = TouchSensor()
while not sensor.connected:
print('\nPriklopi tipalo za dotik in pritisni + spusti gumb DOL.')
wait_for_button('down')
sensor = TouchSensor()
return sensor
def __init__(self,
left_motor_port: str = OUTPUT_B,
right_motor_port: str = OUTPUT_C,
medium_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):
super().__init__(left_motor_port=left_motor_port,
right_motor_port=right_motor_port,
ir_sensor_port=ir_sensor_port,
ir_beacon_channel=ir_beacon_channel)
self.medium_motor = MediumMotor(address=medium_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.ir_beacon_channel = ir_beacon_channel
self.beacon = RemoteControl(sensor=self.ir_sensor,
channel=ir_beacon_channel)
self.dis = Screen()
self.noise = Sound()
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__(
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):
super().__init__(
left_motor=left_foot_motor_port, right_motor=right_foot_motor_port,
polarity=Motor.POLARITY_NORMAL)
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.screen = Screen()
self.speaker = Sound()
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_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):
super().__init__(
left_motor_port=left_foot_motor_port, right_motor_port=right_foot_motor_port,
ir_sensor_port=ir_sensor_port, ir_beacon_channel=ir_beacon_channel)
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.leds = Leds()
self.screen = Screen()
self.speaker = Sound()
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,
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_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,
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):
super().__init__(left_motor=left_motor_port,
right_motor=right_motor_port,
polarity=Motor.POLARITY_NORMAL)
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_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,
left_motor_port: str = OUTPUT_B,
right_motor_port: str = OUTPUT_C,
jaw_motor_port: str = OUTPUT_A,
touch_sensor_port: str = INPUT_1,
ir_sensor_port: str = INPUT_4,
ir_beacon_channel: int = 1):
super().__init__(left_motor_port=left_motor_port,
right_motor_port=right_motor_port,
ir_sensor_port=ir_sensor_port,
ir_beacon_channel=ir_beacon_channel)
self.jaw_motor = MediumMotor(address=jaw_motor_port)
self.touch_sensor = TouchSensor(address=touch_sensor_port)
self.ir_sensor = InfraredSensor(address=ir_sensor_port)
self.beacon = RemoteControl(sensor=self.ir_sensor,
channel=ir_beacon_channel)
self.button = Button()
self.speaker = Sound()
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()
from ev3dev.ev3 import InfraredSensor, TouchSensor
import move
from time import time, sleep
import numpy as np
threshold = 10
ir = InfraredSensor('in4')
ts = TouchSensor('in1')
t0 = time()
def main():
# while time()-t0 < 30 and not ts.value():
while 1:
if ir.value() > threshold:
# move.straight(.5, -500, 'brake')
move.turn_by_degree('r', 90, stop_action='brake')
sleep(2)
else:
move.straight(.1, stop_action='coast')
if ts.value() == 1:
break
exit()
main()
#!/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)
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
sleep(run_time)
motor_b.duty_cycle_sp = 0
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
def set_90_sp(sps=295):
global SP_FOR_90_DEG_TURN
import ev3dev.ev3 as ev3
from ev3dev.ev3 import TouchSensor
from ev3dev.ev3 import ColorSensor
COL_VALUE = 50
SPEED = 250
FW = 560
BACK = -140
TURN = 242
map = []
A = ev3.LargeMotor('outA')
B = ev3.LargeMotor('outB')
C = ev3.Motor('outC')
ts = TouchSensor()
#~ us = UltrasonicSensor()
#~ us.mode='US-DIST-CM' # Put the US sensor into distance mode.
cl = ColorSensor()
cl.mode='COL-REFLECT'
bt = Button()
#~ gy = GyroSensor()
#~ gy.mode='GYRO-ANG' # Put the gyro sensor into ANGLE mode.
def led_ready():
Leds.all_off()
def led_start():
Leds.set_color(Leds.LEFT, Leds.GREEN)
Leds.set_color(Leds.RIGHT, Leds.GREEN)
#!/usr/bin/env python3
from ev3dev2.motor import LargeMotor, OUTPUT_A, OUTPUT_B, OUTPUT_D, SpeedPercent, MoveTank
from ev3dev.ev3 import TouchSensor, INPUT_2
from threading import Thread
from ev3dev2.sound import Sound
from time import sleep
wheelsMotors = MoveTank(OUTPUT_A, OUTPUT_B)
mouthMotor = LargeMotor(OUTPUT_D)
touchSensor = TouchSensor(INPUT_2)
speaker = Sound()
finished = False
speaker.speak('initializing mouth motor')
def runTimer():
timer = 8
global finished
while timer > 0:
sleep(1)
timer = timer - 1
finished = True
timerThread = Thread(target=runTimer)
timerThread.start()
def runWheels():
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
sleep(run_time)
motor.run_to_rel_pos(position_sp=degrees,
speed_sp=speed,
stop_action=stopAction)
#motor init
mot1 = LM("outC")
mot2 = LM("outB")
#class init
cache = CacheManager()
robot = Robot(motor1=mot1, motor2=mot2)
#sensor init
cs = CS()
ts = TS()
motorAreRunning = False
#main loop
history = "stop"
def main():
global history
global motorAreRunning
motorAreRunning = True
mot1.run_forever(speed_sp=400)
mot2.run_forever(speed_sp=400)
while getColorFromRaw(cs) == 4:
sleep(0.03)
print("jeste ne" + str(getColorFromRaw(cs)))