def run():
conn = Connection(3)
msg = messages.GetBatteryLevel()
conn.send(msg)
resp = conn.receive()
print('received response: %s' % type(resp))
print('battery voltage is %d mV.' % resp.millivolts)
def run():
conn = Connection(3)
msg = messages.GetBatteryLevel()
conn.send(msg)
resp = conn.receive()
print('received response: %s' % type(resp))
print('battery voltage is %d mV.' % resp.millivolts)
def runSorter():
conn = Connection('/dev/rfcomm0')
port = enum.InputPort(1)
print(conn)
conn.send(messages.SetInputMode(
port,
messages.SensorType.switch,
messages.SensorMode.boolean,
))
#print(', '.join(field[:4] for field in messages.InputValues.fields))
#querySorter(conn,port)
#cycle_motor_a(conn)
conn.close()
def __init__(self, options):
self.conn = Connection(options.port)
if options.scale_a:
self.scale_a = options.scale_a
if options.scale_b:
self.scale_b = options.scale_b
if options.scale_c:
self.scale_c = options.scale_c
try:
self.input = Joystick.enumerate_devices()[0]
except IndexError:
raise RuntimeError("Could not find any joystick controllers.")
# keep track of the state of the controller (initial state
# assumes all values are zero).
self.controller_state = defaultdict(lambda: 0)
# register the joystick on_axis event
self.input.event(self.on_axis)
def runSorter():
conn = Connection('/dev/rfcomm0')
port = enum.InputPort(1)
print(conn)
conn.send(
messages.SetInputMode(
port,
messages.SensorType.switch,
messages.SensorMode.boolean,
))
#print(', '.join(field[:4] for field in messages.InputValues.fields))
#querySorter(conn,port)
#cycle_motor_a(conn)
conn.close()
def log():
with open('bluetooth.log', 'w') as log_file:
print("Establishing connection...")
conn = Connection(PORT, timeout=5)
print('Logging output...')
while True:
print('Listening for output...')
try:
resp = conn.receive()
except struct.error:
print("Timed out")
conn.close()
time.sleep(1)
conn.open()
else:
msg = parse_message(resp)
print msg
if msg.startswith('DISTANCE'):
log_file.write('%s %s\n' % (datetime.now().time(), msg))
import time
import sys
from jaraco.nxt import Connection, messages
from jaraco.nxt.routine import get_port
from jaraco.nxt.messages import RegulationMode, RunState
from jaraco.nxt import _enum as enum
conn = Connection("/dev/tty.NXT-DevB")
right_port = enum.InputPort(1)
left_port = enum.InputPort(2)
light_port = left_port
motor_port_a = get_port('a', messages.OutputPort)
motor_port_b = get_port('b', messages.OutputPort)
conn.send(
messages.SetInputMode(light_port, messages.SensorType.light_active,
messages.SensorMode.raw))
Blue_Reading = 540
Gray_Reading = 580
def moveMotor(conn, port, power, time):
cmd = messages.SetOutputState(port,
motor_on=True,
set_power=power,
run_state=messages.RunState.running)
conn.send(cmd)
time.sleep(time)
cmd = messages.SetOutputState(port, motor_on=False)
conn.send(cmd)
def run():
conn = Connection(5)
conn.send(SetOutputState(OutputPort.b))
conn.send(SetOutputState(OutputPort.c))
regulation_params = dict(
use_regulation=True,
regulation_mode=RegulationMode.motor_sync,
turn_ratio=100,
)
run_params = dict(
run_state=RunState.running,
set_power=75,
motor_on=True,
)
all_params = dict(regulation_params)
all_params.update(run_params)
reg_cmd = SetOutputState(OutputPort.b, **all_params)
conn.send(reg_cmd)
time.sleep(2)
run_cmd = SetOutputState(OutputPort.c, **all_params)
run_cmd.turn_ratio = 5
conn.send(run_cmd)
time.sleep(5)
stop_cmd = SetOutputState(OutputPort.b)
conn.send(stop_cmd)
stop_cmd = SetOutputState(OutputPort.c)
conn.send(stop_cmd)
class MotorController(object):
"""
Interfaces a jaraco.input Joystick with the NXT motors
Maps the left thumb y axis to output port B
Maps the right thumb y axis to output port C
Maps the left and right triggers to output port A
"""
motor_map = dict(
l_thumb_y = OutputPort.b,
r_thumb_y = OutputPort.c,
)
scale_exponent = .3
scale_a = 1
scale_b = 1
scale_c = 1
def __init__(self, options):
self.conn = Connection(options.port)
if options.scale_a:
self.scale_a = options.scale_a
if options.scale_b:
self.scale_b = options.scale_b
if options.scale_c:
self.scale_c = options.scale_c
try:
self.input = Joystick.enumerate_devices()[0]
except IndexError:
raise RuntimeError("Could not find any joystick controllers.")
# keep track of the state of the controller (initial state
# assumes all values are zero).
self.controller_state = defaultdict(lambda: 0)
# register the joystick on_axis event
self.input.event(self.on_axis)
def on_axis(self, axis, value):
self.controller_state[axis] = value
self.on_state_changed()
def on_state_changed(self):
st = self.controller_state
# let the left trigger be reverse and the right trigger be forward,
# use the difference to determine the motor power.
a_reverse = st['left_trigger']
a_forward = st['right_trigger']
a_power = a_forward - a_reverse
a_power *= self.scale_a
# note a_power in [-1, 1]
self.set_port(OutputPort.a, a_power)
# multiply by 2 because it's a signed value [-0.5,0.5]
b_power = st['l_thumb_y']*2
b_power *= self.scale_b
self.set_port(OutputPort.b, b_power)
c_power = st['r_thumb_y']*2
c_power *= self.scale_c
self.set_port(OutputPort.c, c_power)
def set_port(self, port, power):
"Set the output port to the specified power"
# first, scale the power using the provided exponent
# A scale_exponent < 1 makes the sensor less sensitive near
# the origin (0) and thus more sensitive toward the extremes
scaled_power = abs(power) ** self.scale_exponent
if power < 0:
power = -scaled_power
else:
power = scaled_power
# NXT expects a power between -100 and 100.
power *= 100
# with rounding errors, sometimes the power is greater than 100
# or less than -100.
# TODO: should I just round here?
# i.e. power = int(round(power))
power = max(min(power, 100), -100)
# here, I'm disabling the motor if the output is less than 50, because
# those levels of power don't seem to be able to do much to actuate
# movement.
# I note now that the regulation mode may be useful to actuate movement when
# the load is preventing movement at that power level.
if abs(power) > 50:
cmd = SetOutputState(port, motor_on=True, set_power=power, run_state=RunState.running)
else:
cmd = SetOutputState(port)
self.conn.send(cmd)
@staticmethod
def add_options(parser):
parser.add_option('--scale_a', type="float")
parser.add_option('--scale_b', type="float")
parser.add_option('--scale_c', type="float")
def run():
conn = Connection('COM4')
cycle_motor_a(conn)
conn.close()
motor_on=True,
regulation_mode=RegulationMode.motor_sync,
run_state=RunState.running,
set_power=power_mul * 75, # slower is more accurate
tacho_limit=quarter_turn_ticks,
turn_ratio=100, # turn right
),
]
list(map(connection.send, cmds))
# leave the bot time to start turning
time.sleep(1)
# Check for the end of rotation
wait_for_motor(connection, OutputPort.b)
# give it a little time to correct its mistakes (hey synchronisation
# mode :-)
time.sleep(2)
# apparently we've stopped!
# then release the motors
initialize()
if __name__ == '__main__':
connection = Connection(port)
initialize()
run()
import time
import sys
from jaraco.nxt import Connection, messages
from jaraco.nxt.routine import get_port
from jaraco.nxt.messages import RegulationMode, RunState
from jaraco.nxt import _enum as enum
conn = Connection("/dev/tty.NXT-DevB")
right_port = enum.InputPort(1)
left_port = enum.InputPort(2)
light_port = left_port
motor_port_a = get_port('a', messages.OutputPort)
motor_port_b = get_port('b', messages.OutputPort)
conn.send(messages.SetInputMode(light_port, messages.SensorType.light_active, messages.SensorMode.raw))
Blue_Reading = 540
Gray_Reading = 580
def moveMotor(conn,port,power,time):
cmd = messages.SetOutputState(port, motor_on = True, set_power = power, run_state = messages.RunState.running)
conn.send(cmd)
time.sleep(time)
cmd = messages.SetOutputState(port, motor_on = False)
conn.send(cmd)
def calibrateMAX(conn,port,n):
for i in xrange(n):
conn.send(messages.GetInputValues(port))
def run():
"""runs the bot"""
dev = Connection("COM4") # whichever connection the bot is on, can change
# read the values from this port
port1 = enum.InputPort(1)
port3 = enum.InputPort(3)
#port = get_port(3)
# configure the input mode
dev.send(messages.SetInputMode(
port1,
messages.SensorType.light_active,
messages.SensorMode.boolean))
dev.send(messages.SetInputMode(
port3,
messages.SensorType.light_active,
messages.SensorMode.boolean))
# print out the field names once
#print(', '.join(field[:4] for field in messages.InputValues.fields))
#print(messages.InputValues.fields[9])
green_1 = calibrate(dev, "green", port1)
green_3 = calibrate(dev, "green", port3)
gray_1 = calibrate(dev, "gray", port1)
gray_3 = calibrate(dev, "gray", port3)
blue_1 = calibrate(dev, "blue", port1)
blue_3 = calibrate(dev, "blue", port3)
print "green_1 = " + str(green_1)
print "green_3 = " + str(green_3)
print "gray_1 = " + str(gray_1)
print "gray_3 = " + str(gray_3)
print "blue_1 = " + str(blue_1)
print "blue_3 = " + str(blue_3)
forward(dev)
try:
while True: # continuously query port status, output values
sys.stdout.write('\r')
port1_status = query_status(dev, port1) - 35
port3_status = query_status(dev, port3) - 35
if port3_status <= blue_3 and port1_status <= blue_1: # if both sensors read blue, brake.
sys.stdout.write('port 3: '+str(port3_status))
sys.stdout.write(' brake ')
sys.stdout.write('port 1: '+str(port1_status))
brake(dev)
# else:
# pass
elif port1_status < gray_1: # if righthand port reads "green":
if port3_status < gray_3: # if lefthand reads "green" too, forward
sys.stdout.write('port 3: '+str(port3_status))
sys.stdout.write(' forward ')
sys.stdout.write('port 1: '+str(port1_status))
forward(dev)
else: # otherwise, turn right
sys.stdout.write('port 3: '+str(port3_status))
sys.stdout.write(' right ')
sys.stdout.write('port 1: '+str(port1_status))
turn_right(dev)
elif port1_status > green_1: # if righthand port reads "gray":
if (port3_status < gray_3): # if lefthand port is "green," turn left
sys.stdout.write('port 3: '+str(port3_status))
sys.stdout.write(' left ')
sys.stdout.write('port 1: '+str(port1_status))
turn_left(dev)
else: # if both are gray, reverse?
sys.stdout.write('port 3: '+str(port3_status))
sys.stdout.write(' reverse ')
sys.stdout.write('port 1: '+str(port1_status))
back_it_up(dev)
# if (port1_status > 500 & port3_status < 500):
# if righthand sensor reads lower, turn left
# sys.stdout.write('3'+str(port3_status))
# sys.stdout.write(' left ')
# sys.stdout.write('1'+str(port1_status))
# turn_left(dev)
# elif (port1_status < 500 & port3_status > 500):
# if lefthand sensor reads lower, turn right
# sys.stdout.write(str(port3_status))
# sys.stdout.write(' right ')
# sys.stdout.write(str(port1_status))
# turn_right(dev)
# elif (port1_status < 500) & (port3_status < 500):
# sys.stdout.write(str(port3_status))
# sys.stdout.write(' forward ')
# sys.stdout.write(str(port1_status))
# forward(dev)
except KeyboardInterrupt:
sys.stdout.write('\n')
def run():
conn = Connection('COM4')
cycle_motor(conn, 'b')
conn.close()
def run():
conn = Connection('COM4')
cycle_motor(conn, 'b')
conn.close()
def run():
conn = Connection('COM4')
cycle_motor_a(conn)
conn.close()
def run(): conn = Connection(5) conn.send(SetOutputState(OutputPort.b)) conn.send(SetOutputState(OutputPort.c)) regulation_params = dict( use_regulation=True, regulation_mode=RegulationMode.motor_sync, turn_ratio=100, ) run_params = dict( run_state = RunState.running, set_power = 75, motor_on=True, ) all_params = dict(regulation_params) all_params.update(run_params) reg_cmd = SetOutputState(OutputPort.b, **all_params) conn.send(reg_cmd) time.sleep(2) run_cmd = SetOutputState(OutputPort.c, **all_params) run_cmd.turn_ratio=5 conn.send(run_cmd) time.sleep(5) stop_cmd = SetOutputState(OutputPort.b) conn.send(stop_cmd) stop_cmd = SetOutputState(OutputPort.c) conn.send(stop_cmd)
