def __init__(self, leftmotorport, rightmotorport, headmotorport=None):
"""Assumes a three motor puppy configuration
with two legs and one head motor"""
self.prime_hub = PrimeHub()
self.prime_hub.light_matrix.show_image('HAPPY')
self.legR = Motor(rightmotorport) # right leg
self.legL = Motor(leftmotorport) # left leg
#self.legs = DriveBase(self.legL, self.legR, 30, 80)
if headmotorport is not None:
# If no headmotorport is given, it is not assigned.
self.head = Motor(headmotorport) # head motor
else:
self.head = None
from spike import PrimeHub, LightMatrix, Button, StatusLight, ForceSensor, MotionSensor, Speaker, ColorSensor, App, \
DistanceSensor, Motor, MotorPair
from spike.control import wait_for_seconds, wait_until, Timer
import math
g_hub = PrimeHub()
g_front_motor = Motor('F')
g_front_motor.set_default_speed(30)
g_back_motor = Motor('C')
g_back_motor.set_default_speed(30)
g_motor_pair = MotorPair('A', 'E')
g_wheel_distance_apart = 14.5
g_wheel_radius = 4.25
g_wheel_circumference = 2 * math.pi * g_wheel_radius
g_motor_pair.set_motor_rotation(g_wheel_circumference, 'cm')
def to_mission(hub, motor_pair, front_motor, back_motor):
motor_pair.move(83, 'cm', steering=0, speed=25)
def do_mission(hub, motor_pair, front_motor, back_motor):
i = 0
while i < 41:
motor_pair.move(0.5, 'cm', steering=0, speed=35)
print(i)
i += 1
def go_home(hub, motor_pair, front_motor, back_motor):
motor_pair.move_tank(100, 'cm', -65, -65)
# This example finds and connects to a peripheral running the
# UART service (e.g. ble_simple_peripheral.py).
from spike import PrimeHub
from spike import Motor
# Do something
hubprime = PrimeHub()
import hub
motor_drive = Motor("B")
motor_steer = Motor("A")
motor_steer.run_to_position(17)
import bluetooth
import random
import struct
import time
import micropython
import ubinascii
def light(n):
x = n % 5
y = n // 5
hubprime.light_matrix.set_pixel(x, y)
from micropython import const
_IRQ_CENTRAL_CONNECT = const(1 << 0)
def printbuf():
global buf
print(buf)
buf = ""
# define motors and use brake mode
def waitformotor(motor):
xxx = 0
paper = Motor("E")
pen1 = Motor("B")
#pen2 = ev3.MediumMotor('outD')
head = Motor("D")
pen1.set_stop_action("brake")
#pen2.stop_action = "brake"
head.set_stop_action("brake")
paper.set_stop_action("brake")
head.set_degrees_counted(0)
pen1.set_degrees_counted(0)
#pen2.reset()
paper.set_degrees_counted(0)
#move paper until color sensor recieves >50 reading
from spike import PrimeHub, LightMatrix, Button, StatusLight, ForceSensor, MotionSensor, Speaker, ColorSensor, App, DistanceSensor, Motor, MotorPair
from spike.control import wait_for_seconds, wait_until, Timer
from math import *
hub = PrimeHub()
color_sensor_E = ColorSensor('E')
color_sensor_F = ColorSensor('F')
motor_A = Motor('A') # Set the motor port to the motor.
motor_B = Motor('B') # Set the motor port to the motor.
motor_A.set_default_speed(-30) # Set the default speed of the motor.
motor_B.set_default_speed(30) # Set the default speed of the motor.
motor_A.set_stop_action('brake') # Activate the brakes when the motor stops. The other conditions are 'hold' and 'coast'.
motor_B.set_stop_action('brake') # Activate the brakes when the motor stops.
motor_A_flag = 0 # Create a flag for motor A and set it to OFF.
motor_B_flag = 0 # Create a flag for motor B and set it to OFF.
def stop_at(color):
motor_A_flag = 0 # Reset the flag for motor A to OFF.
motor_B_flag = 0 # Reset the flag for motor B to OFF.
# Move forward.
motor_A.start()
motor_B.start()
while (motor_A_flag == 0) or (motor_B_flag == 0): # Repeat while both sensors ever detect black color.
if color_sensor_E.get_color() == color: # If the color sensor on port E detect the desired color
motor_A.stop() # stop the motor an port A and
from spike import Motor
from spike import PrimeHub
hub = PrimeHub()
motor = Motor('A')
# Start the motor
motor.start()
# Wait until left button is pressed
hub.left_button.wait_until_pressed()
print("Left button pressed")
# Stop the motor
motor.stop()
class PuppyBasic:
"PuppyBasic class with basic Puppy actions"
def __init__(self, leftmotorport, rightmotorport, headmotorport=None):
"""Assumes a three motor puppy configuration
with two legs and one head motor"""
self.prime_hub = PrimeHub()
self.prime_hub.light_matrix.show_image('HAPPY')
self.legR = Motor(rightmotorport) # right leg
self.legL = Motor(leftmotorport) # left leg
#self.legs = DriveBase(self.legL, self.legR, 30, 80)
if headmotorport is not None:
# If no headmotorport is given, it is not assigned.
self.head = Motor(headmotorport) # head motor
else:
self.head = None
def sit(self):
""" Puppy sit with leg motors"""
# TODO: modify to use paired motors
self.legR.start_at_power(75)
self.legL.start_at_power(75)
wait_for_seconds(.4)
self.legR.start_at_power(0)
self.legL.start_at_power(0)
print("Sitting Down")
def stand(self):
""" Puppy stand with leg motors"""
# TODO: modify to use paired motors
self.legR.start_at_power(-75)
self.legL.start_at_power(-75)
wait_for_seconds(.4)
self.legR.start_at_power(0)
self.legL.start_at_power(0)
print("Standing Up")
def bark(self):
"""Play bark sound"""
self.prime_hub.speaker.beep(69, 0.5)
def snore(self):
"""Play snore sound"""
self.prime_hub.speaker.beep(60, 0.5)
def happy(self):
"""Happy behavior
Assumes puppy is seated"""
self.self.prime_hub.light_matrix.show_image('MEH')
for value in range(1, 4):
#self.legs.drive(-100, 0)
self.bark()
wait_for_seconds(.2)
self.legs.stop()
wait_for_seconds(.3)
#self.legs.drive(10, 0)
wait_for_seconds(.3)
self.legs.stop()
self.self.prime_hub.light_matrix.show_image('HAPPY')
def sleepy(self):
"""Sleepy behavior
Assumes puppy is seated"""
self.prime_hub.light_matrix.show_image('ASLEEP')
self.head.run_time(900, 3000)
for value in range(1, 3):
self.snore()
self.head.run_time(-900, 3000)
self.prime_hub.light_matrix.show_image('HAPPY')
from spike import Motor
motor = Motor('A')
# Run clockwise for half a second at 75% speed
motor.run_for_seconds(0.5, 75)
# Run counterclockwise for 6 seconds at 30% speed
motor.run_for_seconds(6, -30)
# Run the motor 90 degrees clockwise:
#motor.run_for_rotations(0.25)
# Run the motor 90 degrees counterclockwise:
#motor.run_for_rotations(-0.25)
# Set the motor to position 0, aligning the markers
#motor.run_to_position(0)
# Run the motor 90 degrees clockwise
#motor.run_for_degrees(90)
# Run the motor 90 degrees counterclockwise
#motor.run_for_degrees(-90)
# Run the motor 360 degrees clockwise, at maximum speed (100%)
#motor.run_for_degrees(360, 100)
# from pybricks.parameters import (Port, Stop, Direction, Button, Color, SoundFile, ImageFile, Align)
# from hub import (port, stop, direction, button, color, SoundFile, ImageFile, Align)
# from pybricks.tools import print, wait, StopWatch
# from hub import print, wait_for_seconds, StopWatch
# from pybricks.robotics import DriveBase
# import urequests
# ev3 = EV3Brick()
hub = PrimeHub()
# Connect motor to port A and touch sensor to port S1
# pointer=Motor(Port.A)
pointer = Motor('A')
# touch=TouchSensor(Port.S1)
touch = ForceSensor('E')
#set the arrow to blue bar (minimum) to begin with
# pointer.reset_angle(0)
pointer.run_to_position(0)
# defining the maximum and minimum temperatures shown by the dashboard
# You can change the minimum and maximum temperatures based on your location.
# Calculate where you should place the green (comfortable temperature)
# and yellow (slightly uncomfortable temperature) bars on your design?
blue_temp = 0 # minimum temperature in celsius
from spike import PrimeHub, Motor, ForceSensor
import utime
hub = PrimeHub()
pointer = Motor('A')
touch = ForceSensor('E')
pointer.run_to_position(0) #Note: not tested yet
blue_temp = 0
red_temp = 40
angle_bw_blueandred = 180
def turn_pointer():
temp_in_kelvin = 300
city_name = "tester"
temp_in_celsius = round(temp_in_kelvin - 273.15)
print(temp_in_celsius)
unit_degree = angle_bw_blueandred / (red_temp - blue_temp)
turn_angle = unit_degree * temp_in_celsius
pointer.run_for_degrees(20, turn_angle)
return temp_in_celsius, city_name
while True:
temp_in_celsius, city_name = turn_pointer()
if touch.is_pressed():
hub._light_matrix.write("It's " + str(temp_in_celsius) +
"degree celsius in" + city_name)
utime.sleep(1)
from spike import Motor
from spike import PrimeHub
hub = PrimeHub()
motor = Motor('A')
# Start the motor at 30% power
motor.start_at_power(30)
# Wait until left button is pressed
hub.left_button.wait_until_pressed()
print("Left button pressed")
# Stop the motor
motor.stop()
from spike import PrimeHub, LightMatrix, Button, StatusLight, ForceSensor, MotionSensor, Speaker, ColorSensor, App, \
DistanceSensor, Motor, MotorPair
from spike.control import wait_for_seconds, wait_until, Timer
import math
hub = PrimeHub()
motor_pair = MotorPair('A', 'E')
right_motor = Motor('E')
left_color = ColorSensor('B')
right_color = ColorSensor('D')
wheel_distance_apart = 14.5
wheel_radius = 4.25
wheel_circumference = 2 * math.pi * wheel_radius
motor_pair.set_motor_rotation(wheel_circumference, 'cm')
right_motor.set_default_speed(15)
i = 0
motor_pair.start_tank(25, 25)
while i < 200:
if left_color.get_color() == 'black':
print('l')
motor_pair.start_tank(5, 25)
elif right_color.get_color() == 'black':
print('r')
motor_pair.start_tank(25, 5)
i += 1
motor_pair.stop()
motor_pair.move_tank(165, 'cm', left_speed=15, right_speed=15)
right_motor.run_for_rotations(20)
motor_pair.start_tank(-25, -25)
from spike import PrimeHub, LightMatrix, Button, StatusLight, ForceSensor, MotionSensor, Speaker, ColorSensor, App, \
DistanceSensor, Motor, MotorPair
from spike.control import wait_for_seconds, wait_until, Timer
import math
g_hub = PrimeHub()
g_front_motor = Motor('F')
g_front_motor.set_default_speed(30)
g_back_motor = Motor('C')
g_back_motor.set_default_speed(15)
g_motor_pair = MotorPair('A', 'E')
g_wheel_distance_apart = 14.5
g_wheel_radius = 4.25
g_wheel_circumference = 2 * math.pi * g_wheel_radius
g_motor_pair.set_motor_rotation(g_wheel_circumference, 'cm')
def turn(hub, motor_pair, angle_to_turn):
if angle_to_turn != 0:
print('AngleToTurn', angle_to_turn)
fudge = 0.7
rotate_const = 586.0 / 360.0
hub.motion_sensor.reset_yaw_angle()
turn_angle = rotate_const * angle_to_turn
motor_pair.move(turn_angle, 'degrees', steering=100, speed=10)
while True:
yaw_angle = hub.motion_sensor.get_yaw_angle()
if yaw_angle < 0 and angle_to_turn > 0:
motor_e.run_for_rotations(+1.50)
def openGrip():
motor_e.set_default_speed(50)
motor_e.run_for_rotations(-1.50)
# set up hub, motors and sensors
hub = PrimeHub()
motor_pair = MotorPair('A', 'B')
motor_pair.set_motor_rotation(17.5, 'cm')
motor_pair.set_default_speed(20)
colour_c = ColorSensor('C')
distance = DistanceSensor('D')
motor_e = Motor('E')
# create a peripheral object
remote = BLEPeripheral()
# scan for the target device and connect if found
utime.sleep(1)
remote.on_connect(callback=on_connect)
remote.on_disconnect(callback=on_disconnect)
remote.connect()
grabberOpen = True
while remote.is_connected() is not None:
# when an object detection notification is received, go and pickup the object
if grabberOpen == True and remote.getMoveData() is not None:
