class Motors:
def __init__(self, ports):
self.motors = [LargeMotor(address) for address in ports]
self.mm = MediumMotor('outA')
def move(self, s1, s2, t):
self.motors[0].run_timed(speed_sp=s1, time_sp=t)
self.motors[1].run_timed(speed_sp=s2, time_sp=t)
self.mm.run_timed(speed_sp=500, time_sp=1000)
sleep((t - 10) / 1000)
class MindstormsGadget(AlexaGadget):
"""
A Mindstorms gadget that performs movement in sync with music tempo.
"""
def __init__(self):
"""
Performs Alexa Gadget initialization routines and ev3dev resource allocation.
"""
super().__init__()
# Ev3dev initialization
self.leds = Leds()
self.sound = Sound()
self.left_motor = LargeMotor(OUTPUT_B)
self.right_motor = LargeMotor(OUTPUT_C)
self.hand_motor = MediumMotor(OUTPUT_A)
# Gadget states
self.bpm = 0
self.trigger_bpm = "off"
self.drive = MoveTank(OUTPUT_B, OUTPUT_C)
self.weapon = MediumMotor(OUTPUT_A)
def on_connected(self, device_addr):
"""
Gadget connected to the paired Echo device.
:param friendly_name: the friendly name of the gadget that has connected to the echo device
"""
self.leds.set_color("LEFT", "GREEN")
self.leds.set_color("RIGHT", "GREEN")
print("{} connected to Echo device".format(self.friendly_name))
def on_disconnected(self, device_addr):
"""
Gadget disconnected from the paired Echo device.
:param friendly_name: the friendly name of the gadget that has disconnected from the echo device
"""
self.leds.set_color("LEFT", "BLACK")
self.leds.set_color("RIGHT", "BLACK")
print("{} disconnected from Echo device".format(self.friendly_name))
def on_custom_mindstorms_gadget_control(self, directive):
"""
Handles the Custom.Mindstorms.Gadget control directive.
:param directive: the custom directive with the matching namespace and name
"""
try:
payload = json.loads(directive.payload.decode("utf-8"))
print("Control payload: {}".format(payload))
control_type = payload["type"]
if control_type == "spin":
print("Move command found")
self.hand_motor.run_timed(speed_sp=1050, time_sp=2500)
if control_type == "movef":
print("Move Forward command found")
self.right_motor.run_timed(speed_sp=1050, time_sp=1000)
self.left_motor.run_timed(speed_sp=1050, time_sp=1000)
if control_type == "moveb":
print("Move backward command found")
self.right_motor.run_timed(speed_sp=-1050, time_sp=1000)
self.left_motor.run_timed(speed_sp=-1050, time_sp=1000)
if control_type == "mover":
print("Move right command found")
self.right_motor.run_timed(speed_sp=-1050, time_sp=1000)
self.left_motor.run_timed(speed_sp=1050, time_sp=1000)
if control_type == "movel":
print("Move left command found")
self.right_motor.run_timed(speed_sp=1050, time_sp=1000)
self.left_motor.run_timed(speed_sp=-1050, time_sp=1000)
if control_type == "command":
self.hand_motor.run_timed(speed_sp=1050, time_sp=2500)
except KeyError:
print("Missing expected parameters: {}".format(directive))
def on_alexa_gadget_musicdata_tempo(self, directive):
"""
Provides the music tempo of the song currently playing on the Echo device.
:param directive: the music data directive containing the beat per minute value
"""
tempo_data = directive.payload.tempoData
for tempo in tempo_data:
print("tempo value: {}".format(tempo.value))
if tempo.value > 0:
# dance pose
self.right_motor.run_timed(speed_sp=750, time_sp=2500)
self.left_motor.run_timed(speed_sp=-750, time_sp=2500)
self.hand_motor.run_timed(speed_sp=750, time_sp=2500)
self.leds.set_color("LEFT", "GREEN")
self.leds.set_color("RIGHT", "GREEN")
time.sleep(3)
# starts the dance loop
self.trigger_bpm = "on"
threading.Thread(target=self._dance_loop,
args=(tempo.value, )).start()
elif tempo.value == 0:
# stops the dance loop
self.trigger_bpm = "off"
self.leds.set_color("LEFT", "BLACK")
self.leds.set_color("RIGHT", "BLACK")
def on_alexa_gadget_statelistener_stateupdate(self, directive):
"""
Listens for the wakeword state change and react by turning on the LED.
:param directive: contains a payload with the updated state information from Alexa
"""
color_list = ['BLACK', 'AMBER', 'YELLOW', 'GREEN']
for state in directive.payload.states:
if state.name == 'wakeword':
if state.value == 'active':
print("Wake word active - turn on LED")
self.sound.play_song((('A3', 'e'), ('C5', 'e')))
for i in range(0, 4, 1):
self.leds.set_color("LEFT", color_list[i], (i * 0.25))
self.leds.set_color("RIGHT", color_list[i], (i * 0.25))
time.sleep(0.25)
elif state.value == 'cleared':
print("Wake word cleared - turn off LED")
self.sound.play_song((('C5', 'e'), ('A3', 'e')))
for i in range(3, -1, -1):
self.leds.set_color("LEFT", color_list[i], (i * 0.25))
self.leds.set_color("RIGHT", color_list[i], (i * 0.25))
time.sleep(0.25)
def _dance_loop(self, bpm):
"""
Perform motor movement in sync with the beat per minute value from tempo data.
:param bpm: beat per minute from AGT
"""
color_list = ["GREEN", "RED", "AMBER", "YELLOW"]
led_color = random.choice(color_list)
motor_speed = 400
milli_per_beat = min(1000, (round(60000 / bpm)) * 0.65)
print("Adjusted milli_per_beat: {}".format(milli_per_beat))
while self.trigger_bpm == "on":
# Alternate led color and motor direction
led_color = "BLACK" if led_color != "BLACK" else random.choice(
color_list)
motor_speed = -motor_speed
self.leds.set_color("LEFT", led_color)
self.leds.set_color("RIGHT", led_color)
self.right_motor.run_timed(speed_sp=motor_speed, time_sp=150)
self.left_motor.run_timed(speed_sp=-motor_speed, time_sp=150)
time.sleep(milli_per_beat / 1000)
print("Exiting BPM process.")
from ev3dev2.motor import MediumMotor, OUTPUT_A, SpeedPercent, MoveTank, SpeedDPS
from ev3dev2.sensor import INPUT_1, INPUT_3
from ev3dev2.sensor.lego import GyroSensor #TouchSensor,
from ev3dev2.led import Leds
from ev3dev2.sound import Sound
from time import sleep
# Connect gyro and touch sensors to any sensor ports
gy = GyroSensor()
#ts = TouchSensor()
sound = Sound()
m = MediumMotor(OUTPUT_A)
# Put the gyro sensor into ANGLE mode.
gy.mode = 'GYRO-ANG'
#gy.mode = 'GYRO-RATE'
while True:
init_speed_sp = 10
m.run_timed(time_sp=5000, speed_sp=init_speed_sp, stop_action='hold')
sleep(1)
for i in range(10):
init_speed_sp += 100
m.run_timed(time_sp=5000, speed_sp=init_speed_sp)
sleep(1)
for i in range(10):
init_speed_sp -= 100
m.run_timed(time_sp=5000, speed_sp=init_speed_sp)
sleep(1)
