import nxt
import nxtConnect # has to be in search path
import time
brickName = "Team60"
useUSB = False
if useUSB:
brick = nxt.find_one_brick(name=brickName,
strict=True,
method=nxt.locator.Method(usb=True,
bluetooth=True))
else:
# the bluetooth function of the nxt library works too, but "wastes"
# time searching for devices.
brick = nxtConnect.btConnect(brickName)
print(brick.get_device_info()) # check what brick you connected to
from time import sleep
from nxt.motor import Motor, PORT_A, PORT_B, PORT_C
from nxt.sensor import Touch, PORT_4, PORT_3, PORT_2, Light, PORT_1, Ultrasonic
turningMotor = Motor(brick, PORT_B)
walkingMotor = Motor(brick, PORT_C)
armMotor = Motor(brick, PORT_A)
legPosition = Touch(brick, PORT_3)
touch = Touch(brick, PORT_1)
while True:
print(touch.get_input_values().calibrated_value)
else:
# the bluetooth function of the nxt library works too, but "wastes"
# time searching for devices.
brick = nxtConnect.btConnect(brickName)
print(brick.get_device_info()) # check what brick you connected to
from time import sleep
from nxt.motor import Motor, PORT_A, PORT_B, PORT_C
from nxt.sensor import Touch, PORT_4, PORT_3, PORT_2, Light, PORT_1, Ultrasonic
light = Light(brick, PORT_4)
turningMotor = Motor(brick, PORT_B)
walkingMotor = Motor(brick, PORT_C)
armMotor = Motor(brick, PORT_A)
touch = Touch(brick, PORT_1)
ultrasonic = Ultrasonic(brick, PORT_2)
compass = Ultrasonic(brick, PORT_3)
# LINE FOLLOW VARIABLES
turningPower = 65 # 70, normalized, motor power used when turning in line follow
negInertiaPower = 70 # 65, normalized, motor power for negative inertia
findLineTimeOut = 0.5 # 0.5, time between switching motor to the opposite direction
negInertiaLengthOnWhite = 0.07 # 0.2, time before braking on negative inertia when originally on white
negInertiaLengthOnBlack = 0.07 # 0.05, time before braking on ngative inertia when originally on black (should be smaller than white to prevent overshooting the line)
# CALIBRATION VARIABLES
calTurningPower = 70 # 70, normalized, motor power used to turn when calibrate
calFirstTurnTime = 0.2 # 0.2, time to turn on first turn
calSecondTurnTme = 0.1 # 0.15, time to turn on second turn
calDelta = 10 # no default since it's new, range of light values for which line follow continues going straight (range is 2 * delta)
def touch(port):
t = Touch(b, SENSORS[port])
return '1' if t.is_pressed() else '0'
#######################################################################
## Then, you can specify what you want the NXT to do
#######################################################################
from time import sleep
# see files in library ( /usr/local/lib/python2.7/dist-packages/nxt )
# for a more comprehensive list of ports / commands available
from nxt.motor import Motor, PORT_A, PORT_B, PORT_C
from nxt.sensor import Light, Sound, Touch, Ultrasonic
from nxt.sensor import PORT_1, PORT_2, PORT_3, PORT_4
# use try with finally to stop motors at end, even if program
# encountered an (programming) error.
try:
touchSensor = Touch(brick, PORT_1) # plug touch sensor into Port 1
motor = Motor(brick, PORT_A) # plug motor into Port A
# Note: |Power| <50 might not be strong enough to turn motor /
# overcome the internal friction
motor.run(power = 70) # go forward
sleep(2.5) # let NXT do its thing for 2.5 seconds
motor.run(power = -70) # go backward
sleep(2)
# will read when this line of code is reached, so KEEP sensor
# pressed till then
print("Current touch sensor state: {}".format(
touchSensor.get_sample()))
finally:
brick = nxtConnect.btConnect(brickName)
print(brick.get_device_info()) # check what brick you connected to
#######################################################################
## Then, you can specify what you want the NXT to do
#######################################################################
from time import sleep
from nxt.motor import Motor, PORT_A, PORT_B, PORT_C
from nxt.sensor import Touch, PORT_4, PORT_3
turningMotor = Motor(brick, PORT_B)
walkingMotor = Motor(brick, PORT_C)
turnerSwitch = Touch(brick, PORT_4)
legPosition = Touch(brick, PORT_3)
while True:
if turnerSwitch.is_pressed() == False:
turningMotor.run(power=0)
a = 0
walkingMotor.run(power=120)
else:
if legPosition.is_pressed() == False:
walkingMotor.run(power=100)
else:
a = 1
if a == 1:
walkingMotor.run(power=0)
