if __name__ == "__main__":
myThread = threading.Thread(target=keyboardInput, args=(1, ), daemon=True)
myThread.start()
print("Ready for keyboard commands...")
### Main Loop
while (True):
usDistCmVal = us.distance_centimeters
if usDistCmVal != prev_usDistCmVal:
print("usDistCmVal = ", usDistCmVal, " irDistVal = ", irDistVal,
" irHeadVal = ", irHeadVal, " compassVal = ", compassVal
) # print all sensor vals, regardless of which changed
prev_usDistCmVal = usDistCmVal
irDistVal = ir.distance()
irHeadVal = ir.heading()
if (irDistVal != prev_irDistVal) or (irHeadVal != prev_irHeadVal):
print("usDistCmVal = ", usDistCmVal, " irDistVal = ", irDistVal,
" irHeadVal = ", irHeadVal, " compassVal = ", compassVal
) # print all sensor vals, regardless of which changed
prev_irDistVal = irDistVal
prev_irHeadVal = irHeadVal
# if beacon has been found, set beaconLock True
if irDistVal is not None:
if irDistVal < 100:
beaconLock = True
if irDistVal == 100:
beaconLock = False
else:
beaconLock = False
### Main Loop
while (True):
usDistCmVal = us.distance_centimeters
if usDistCmVal != prev_usDistCmVal:
if printVerbose > 0:
print("usDistCmVal = ", int(usDistCmVal), " irDistVal = ", irDistVal, " compassVal = ", compassVal) # print all sensor vals, regardless of which changed
prev_usDistCmVal = usDistCmVal
irDistVal = ir.distance(channel=1)
if irDistVal == None:
irDistVal = -1 ### set to -1 instead of None or numpy.savetxt and other Ops will complain
else:
irDistVal = int(3.19 * irDistVal)
irHeadVal = ir.heading(channel=1)
if (irDistVal != prev_irDistVal):
if printVerbose > 0:
#print("usDistCmVal = ", int(usDistCmVal), " irDistVal = ", irDistVal, " irHeadVal = ", irHeadVal, " compassVal = ", compassVal, " mR.position = ", mR.position) # print all sensor vals, regardless of which changed
print("usDistCmVal = ", int(usDistCmVal), " irDistVal = ", irDistVal, " irHeadVal = ", irHeadVal, " compassVal = ", compassVal) # print all sensor vals, regardless of which changed
prev_irDistVal = irDistVal
prev_irHeadVal = irHeadVal
compassVal = cmp.value(0)
if compassVal != prev_compassVal:
if printVerbose > 0:
#print("usDistCmVal = ", int(usDistCmVal), " irDistVal = ", irDistVal, " compassVal = ", compassVal) # print all sensor vals, regardless of which changed
print("usDistCmVal = ", int(usDistCmVal), " irDistVal = ", irDistVal, " irHeadVal = ", irHeadVal, " compassVal = ", compassVal) # print all sensor vals, regardless of which changed
prev_compassVal = compassVal
### halt if usDistCmVal < 5
# Start program
reset()
starting = True
while starting or infrared_sensor.distance(
) == None or infrared_sensor.distance() >= 50:
starting = False
search()
steering_drive.on_for_rotations(steering=0,
speed=SpeedPercent(75),
rotations=4)
while infrared_sensor.distance() > 2:
steering_drive.on(steering=(safe_steering(infrared_sensor.heading() * 5)),
speed=SpeedPercent(50))
steering_drive.off()
sound.play_file("/home/robot/sounds/Detected.wav",
play_type=sound.PLAY_WAIT_FOR_COMPLETE)
steering_drive.on_for_rotations(steering=0,
speed=SpeedPercent(50),
rotations=0.7)
grab()
sleep(2)
steering_drive.on_for_rotations(steering=100,
speed=SpeedPercent(50),
### Main Loop
while (True):
usDistCmVal = us.distance_centimeters
if usDistCmVal != prev_usDistCmVal:
if printVerbose > 0:
print("usDistCmVal = ", int(usDistCmVal), " ir1DistVal = ",
ir1DistVal, " compassVal = ", compassVal
) # print all sensor vals, regardless of which changed
prev_usDistCmVal = usDistCmVal
ir1DistVal = ir.distance(channel=1)
if ir1DistVal == None:
ir1DistVal = -1 ### set to -1 instead of None or numpy.savetxt and other Ops will complain
else:
ir1DistVal = int(3.19 * ir1DistVal)
ir1HeadVal = ir.heading(channel=1)
if (ir1DistVal != prev_ir1DistVal):
if printVerbose > 0:
#print("usDistCmVal = ", int(usDistCmVal), " ir1DistVal = ", ir1DistVal, " ir1HeadVal = ", ir1HeadVal, " compassVal = ", compassVal, " mR.position = ", mR.position) # print all sensor vals, regardless of which changed
print("usDistCmVal = ", int(usDistCmVal), " ir1DistVal = ",
ir1DistVal, " ir1HeadVal = ", ir1HeadVal,
" compassVal = ", compassVal
) # print all sensor vals, regardless of which changed
prev_ir1DistVal = ir1DistVal
prev_ir1HeadVal = ir1HeadVal
ir2DistVal = ir.distance(channel=2)
if ir2DistVal == None:
ir2DistVal = -1 ### set to -1 instead of None or numpy.savetxt and other Ops will complain
else:
ir2DistVal = int(3.19 * ir2DistVal)
#!/usr/bin/env python3
from ev3dev2.motor import MoveSteering, OUTPUT_B, OUTPUT_C
from ev3dev2.sensor.lego import InfraredSensor
from time import sleep
steer_pair = MoveSteering(OUTPUT_B, OUTPUT_C)
ir = InfraredSensor()
while True: # forever
distance = ir.distance()
if distance: # If distance is not None
error = distance - 10
steer_pair.on(steering=2 * ir.heading(), speed=min(90, 3 * error))
else:
steer_pair.off()
sleep(0.1)
sleep(2)
us = UltrasonicSensor('ev3-ports:in2:i2c80:mux1')
ir = InfraredSensor('ev3-ports:in2:i2c81:mux2')
gyro = GyroSensor('ev3-ports:in2:i2c82:mux3')
us_value = us.value(0)
us_dist = us.distance_centimeters # takes multiple measurements
us_numvalues = us.num_values
us_address = us.address
us_units = us.units
ir_value = ir.value(0)
ir_proximity = ir.proximity # an estimate of the distance between the sensor and the objects in front of it
ir_beacon= ir.distance(channel=1) # returns distance (0,100) to the beacon on the given channel
ir_heading = ir.heading(channel=1) # returns heading (-25,25) to the beacon on the given channel
ir_address = ir.address
gyro_value = gyro.value(0)
gyro_angle = gyro.angle
gyro_address = gyro.address
gyro_units = gyro.units
# Sensors connected to NXT-Sensor-Split MUX - Barometer---------------------------------------------------------
temp1 = Sensor(INPUT_1)
temp1.mode = 'TEMP'
Temp_NXT = (temp1.value(0)/1000)
pressure = Sensor(INPUT_1)
pressure.mode = 'PRESS'