class VRex:
MOTOR_PORT = 7
CONTROLLER_DEADBAND = 3 # seconds
def __init__(self):
self.motor = \
Motor(
self.MOTOR_PORT, # port
False # switch_polarity
)
self.controller = Joystick()
self.controller.set_deadband(self.CONTROLLER_DEADBAND)
def drive_once_by_controller(self):
self.motor.run(
self.controller.axisA(), # power
None, # distance
False # hold
)
def keep_driving_by_controller(self):
while True:
self.drive_once_by_controller()
def __init__(self):
self.drivetrain = \
Drivetrain(
Motor(
self.LEFT_MOTOR_PORT, # port
self.LEFT_MOTOR_REVERSE_POLARITY # switch_polarity
), # left_motor
Motor(
self.RIGHT_MOTOR_PORT, # port
self.RIGHT_MOTOR_REVERSE_POLARITY # switch_polarity
), # right_motor
self.WHEEL_TRAVEL_MM, # wheel_travel_mm
self.TRACK_MM # track_mm
)
self.arm_motor = \
Motor(
self.ARM_MOTOR_PORT, # index
self.ARM_MOTOR_REVERSE_POLARITY # reverse
)
self.claw_motor = \
Motor(
self.CLAW_MOTOR_PORT, # index
self.CLAW_MOTOR_REVERSE_POLARITY # reverse
)
def __init__(self):
self.drivetrain = \
Drivetrain(
Motor(
self.LEFT_MOTOR_PORT, # port
self.LEFT_MOTOR_REVERSE_POLARITY # switch_polarity
), # left_motor
Motor(
self.RIGHT_MOTOR_PORT, # port
self.RIGHT_MOTOR_REVERSE_POLARITY # switch_polarity
), # right_motor
self.WHEEL_TRAVEL_MM, # wheel_travel_mm
self.TRACK_MM # track_mm
)
self.touch_led = TouchLed(self.TOUCH_LED_PORT)
self.color_sensor = \
ColorSensor(
self.COLOR_SENSOR_PORT, # index
False, # is_grayscale
700 # proximity
)
self.gyro_sensor = \
Gyro(
self.GYRO_SENSOR_PORT, # index
True # calibrate
)
self.distance_sensor = \
DistanceSensor(
self.DISTANCE_SENSOR_PORT, # port
self.DISTANCE_SENSOR_UNIT # unit
)
def __init__(self):
self.motor = \
Motor(
self.MOTOR_PORT, # port
False # switch_polarity
)
self.controller = Joystick()
self.controller.set_deadband(self.CONTROLLER_DEADBAND)
class Slick:
# Drive Base configs
LEFT_MOTOR_PORT = 1
LEFT_MOTOR_REVERSE_POLARITY = False
RIGHT_MOTOR_PORT = 6
RIGHT_MOTOR_REVERSE_POLARITY = True
WHEEL_TRAVEL_MM = 200
TRACK_MM = 176
# Controller configs
CONTROLLER_DEADBAND = 3
def __init__(self):
self.left_motor = \
Motor(
self.LEFT_MOTOR_PORT, # port
self.LEFT_MOTOR_REVERSE_POLARITY # switch_polarity
)
self.right_motor = \
Motor(
self.RIGHT_MOTOR_PORT, # port
self.RIGHT_MOTOR_REVERSE_POLARITY # switch_polarity
)
self.drivetrain = \
Drivetrain(
self.left_motor, # left_motor
self.right_motor, # right_motor
self.WHEEL_TRAVEL_MM, # wheel_travel_mm
self.TRACK_MM # track_mm
)
self.controller = Joystick()
self.controller.set_deadband(self.CONTROLLER_DEADBAND)
def drive_by_controller(self):
self.left_motor.run(
self.controller.axisA(), # power
None, # distance
False # hold
)
self.right_motor.run(
self.controller.axisD(), # power
None, # distance
False # hold
)
def keep_driving_by_controller(self):
while True:
self.drive_by_controller()
def main(self):
self.keep_driving_by_controller()
def __init__(self):
self.drivetrain = \
Drivetrain(
Motor(
self.LEFT_MOTOR_PORT, # port
self.LEFT_MOTOR_REVERSE_POLARITY # switch_polarity
), # left_motor
Motor(
self.RIGHT_MOTOR_PORT, # port
self.RIGHT_MOTOR_REVERSE_POLARITY # switch_polarity
), # right_motor
self.WHEEL_TRAVEL_MM, # wheel_travel_mm
self.TRACK_MM # track_mm
)
def __init__(self):
self.arm_motor = \
Motor(
self.ARM_MOTOR_PORT, # index
self.ARM_MOTOR_REVERSE_POLARITY # reverse
)
self.claw_motor = \
Motor(
self.CLAW_MOTOR_PORT, # index
self.CLAW_MOTOR_REVERSE_POLARITY # reverse
)
self.control_arm_or_claw = 0
def __init__(self):
self.left_motor = \
Motor(
self.LEFT_MOTOR_PORT, # port
self.LEFT_MOTOR_REVERSE_POLARITY # switch_polarity
)
self.right_motor = \
Motor(
self.RIGHT_MOTOR_PORT, # port
self.RIGHT_MOTOR_REVERSE_POLARITY # switch_polarity
)
self.drivetrain = \
Drivetrain(
self.left_motor, # left_motor
self.right_motor, # right_motor
self.WHEEL_TRAVEL_MM, # wheel_travel_mm
self.TRACK_MM # track_mm
)
self.arm_motor = \
Motor(
self.ARM_MOTOR_PORT, # index
self.ARM_MOTOR_REVERSE_POLARITY # reverse
)
self.claw_motor = \
Motor(
self.CLAW_MOTOR_PORT, # index
self.CLAW_MOTOR_REVERSE_POLARITY # reverse
)
self.claw_motor.stall_timeout = self.CLAW_MOTOR_TIMEOUT_SECS
self.touch_led = TouchLed(self.TOUCH_LED_PORT)
self.color_sensor = \
ColorSensor(
self.COLOR_SENSOR_PORT, # index
False, # is_grayscale
700 # proximity
)
self.gyro_sensor = \
Gyro(
self.GYRO_SENSOR_PORT, # index
True # calibrate
)
self.distance_sensor = \
DistanceSensor(
self.DISTANCE_SENSOR_PORT, # port
self.DISTANCE_SENSOR_UNIT # unit
)
self.bumper_switch = Bumper(self.BUMPER_SWITCH_PORT)
self.controller = Joystick()
self.controller.set_deadband(self.CONTROLLER_DEADBAND)
def __init__(self):
self.left_motor = \
Motor(
self.LEFT_MOTOR_PORT, # port
self.LEFT_MOTOR_REVERSE_POLARITY # switch_polarity
)
self.right_motor = \
Motor(
self.RIGHT_MOTOR_PORT, # port
self.RIGHT_MOTOR_REVERSE_POLARITY # switch_polarity
)
self.drivetrain = \
Drivetrain(
self.left_motor, # left_motor
self.right_motor, # right_motor
self.WHEEL_TRAVEL_MM, # wheel_travel_mm
self.TRACK_MM # track_mm
)
self.controller = Joystick()
self.controller.set_deadband(self.CONTROLLER_DEADBAND)
def __init__(self):
self.front_left_motor = \
Motor(
self.FRONT_LEFT_MOTOR_PORT, # port
self.FRONT_LEFT_MOTOR_REVERSE_POLARITY # switch_polarity
)
self.front_right_motor = \
Motor(
self.FRONT_RIGHT_MOTOR_PORT, # port
True # switch_polarity
)
self.rear_left_motor = \
Motor(
self.REAR_LEFT_MOTOR_PORT, # port
self.REAR_LEFT_MOTOR_REVERSE_POLARITY # switch_polarity
)
self.rear_right_motor = \
Motor(
self.REAR_RIGHT_MOTOR_PORT, # port
self.REAR_RIGHT_MOTOR_REVERSE_POLARITY # switch_polarity
)
self.controller = Joystick()
self.controller.set_deadband(self.CONTROLLER_DEADBAND)
def __init__(self):
self.claw_motor = \
Motor(
self.CLAW_MOTOR_PORT, # index
self.CLAW_MOTOR_REVERSE_POLARITY # reverse
)
from drivetrain import Drivetrain
from vexiq import (
Bumper,
ColorSensor,
DistanceSensor,
Gyro,
Joystick,
Motor,
TouchLed,
UNIT_CM
)
# Drive Base configs
LEFT_MOTOR = Motor(1, # port
False # switch_polarity
)
RIGHT_MOTOR = Motor(6, # port
True # switch_polarity
)
DRIVETRAIN = Drivetrain(LEFT_MOTOR, # left_motor
RIGHT_MOTOR, # right_motor
200, # wheel_travel_mm
176 # track_mm
)
# Arm motor configs
ARM_MOTOR = Motor(10, # index
False # switch_polarity
)
ARM_MOTOR_VELOCITY_PERCENT = 30
def __init__(self):
self.arm_motor = \
Motor(
self.ARM_MOTOR_PORT, # index
self.ARM_MOTOR_REVERSE_POLARITY # reverse
)
class Allie:
FRONT_LEFT_MOTOR_PORT = 1
FRONT_LEFT_MOTOR_REVERSE_POLARITY = False
FRONT_RIGHT_MOTOR_PORT = 6
FRONT_RIGHT_MOTOR_REVERSE_POLARITY = True
REAR_LEFT_MOTOR_PORT = 7
REAR_LEFT_MOTOR_REVERSE_POLARITY = False
REAR_RIGHT_MOTOR_PORT = 12
REAR_RIGHT_MOTOR_REVERSE_POLARITY = True
MOTOR_ROTATION_RESOLUTION_DEGS = 10
CONTROLLER_DEADBAND = 3 # seconds
def __init__(self):
self.front_left_motor = \
Motor(
self.FRONT_LEFT_MOTOR_PORT, # port
self.FRONT_LEFT_MOTOR_REVERSE_POLARITY # switch_polarity
)
self.front_right_motor = \
Motor(
self.FRONT_RIGHT_MOTOR_PORT, # port
True # switch_polarity
)
self.rear_left_motor = \
Motor(
self.REAR_LEFT_MOTOR_PORT, # port
self.REAR_LEFT_MOTOR_REVERSE_POLARITY # switch_polarity
)
self.rear_right_motor = \
Motor(
self.REAR_RIGHT_MOTOR_PORT, # port
self.REAR_RIGHT_MOTOR_REVERSE_POLARITY # switch_polarity
)
self.controller = Joystick()
self.controller.set_deadband(self.CONTROLLER_DEADBAND)
def reset_motor(self, motor):
# rotate motor up to 270 degrees within 1 second
# using max velocity but very light power/torque
# ...
# set motor encoder to 0
motor.reset_position()
# restore max motor power/torque to 100% again
# ...
def reset_legs(self):
self.reset_motor(self.front_left_motor)
self.reset_motor(self.front_right_motor)
self.reset_motor(self.rear_left_motor)
self.reset_motor(self.rear_right_motor)
def drive_once_by_controller(self):
if self.controller.bLdown():
self.front_left_motor.run_until(
100, # power
self.MOTOR_ROTATION_RESOLUTION_DEGS, # distance
True # hold
)
elif self.controller.bLup():
self.front_left_motor.run_until(
-100, # power
self.MOTOR_ROTATION_RESOLUTION_DEGS, # distance
True # hold
)
elif self.controller.bRdown():
self.front_right_motor.run_until(
100, # power
self.MOTOR_ROTATION_RESOLUTION_DEGS, # distance
True # hold
)
elif self.controller.bRup():
self.front_right_motor.run_until(
-100, # power
self.MOTOR_ROTATION_RESOLUTION_DEGS, # distance
True # hold
)
elif self.controller.bEup():
self.rear_left_motor.run_until(
100, # power
self.MOTOR_ROTATION_RESOLUTION_DEGS, # distance
True # hold
)
elif self.controller.bEdown():
self.rear_left_motor.run_until(
-100, # power
self.MOTOR_ROTATION_RESOLUTION_DEGS, # distance
True # hold
)
elif self.controller.bFup():
self.rear_right_motor.run_until(
100, # power
self.MOTOR_ROTATION_RESOLUTION_DEGS, # distance
True # hold
)
elif self.controller.bFdown():
self.rear_right_motor.run_until(
-100, # power
self.MOTOR_ROTATION_RESOLUTION_DEGS, # distance
True # hold
)
def keep_driving_by_controller(self):
while True:
self.drive_once_by_controller()
class Clawbot:
# Drive Base configs
LEFT_MOTOR_PORT = 1
LEFT_MOTOR_REVERSE_POLARITY = False
RIGHT_MOTOR_PORT = 6
RIGHT_MOTOR_REVERSE_POLARITY = True
WHEEL_TRAVEL_MM = 200
TRACK_MM = 176
# Arm motor configs
ARM_MOTOR_PORT = 10
ARM_MOTOR_REVERSE_POLARITY = False
ARM_MOTOR_VELOCITY_PERCENT = 30
# Claw motor configs
CLAW_MOTOR_PORT = 11
CLAW_MOTOR_REVERSE_POLARITY = False
CLAW_MOTOR_TIMEOUT_SECS = 3
CLAW_MOTOR_VELOCITY_PERCENT = 60
# sensor configs
TOUCH_LED_PORT = 2
COLOR_SENSOR_PORT = 3
GYRO_SENSOR_PORT = 4
DISTANCE_SENSOR_PORT = 7
DISTANCE_SENSOR_UNIT = UNIT_CM
BUMPER_SWITCH_PORT = 8
# Controller configs
CONTROLLER_DEADBAND = 3
def __init__(self):
self.left_motor = \
Motor(
self.LEFT_MOTOR_PORT, # port
self.LEFT_MOTOR_REVERSE_POLARITY # switch_polarity
)
self.right_motor = \
Motor(
self.RIGHT_MOTOR_PORT, # port
self.RIGHT_MOTOR_REVERSE_POLARITY # switch_polarity
)
self.drivetrain = \
Drivetrain(
self.left_motor, # left_motor
self.right_motor, # right_motor
self.WHEEL_TRAVEL_MM, # wheel_travel_mm
self.TRACK_MM # track_mm
)
self.arm_motor = \
Motor(
self.ARM_MOTOR_PORT, # index
self.ARM_MOTOR_REVERSE_POLARITY # reverse
)
self.claw_motor = \
Motor(
self.CLAW_MOTOR_PORT, # index
self.CLAW_MOTOR_REVERSE_POLARITY # reverse
)
self.claw_motor.stall_timeout = self.CLAW_MOTOR_TIMEOUT_SECS
self.touch_led = TouchLed(self.TOUCH_LED_PORT)
self.color_sensor = \
ColorSensor(
self.COLOR_SENSOR_PORT, # index
False, # is_grayscale
700 # proximity
)
self.gyro_sensor = \
Gyro(
self.GYRO_SENSOR_PORT, # index
True # calibrate
)
self.distance_sensor = \
DistanceSensor(
self.DISTANCE_SENSOR_PORT, # port
self.DISTANCE_SENSOR_UNIT # unit
)
self.bumper_switch = Bumper(self.BUMPER_SWITCH_PORT)
self.controller = Joystick()
self.controller.set_deadband(self.CONTROLLER_DEADBAND)
def drive_by_controller(self):
self.left_motor.run(
self.controller.axisA(), # power
None, # distance
False # hold
)
self.right_motor.run(
self.controller.axisD(), # power
None, # distance
False # hold
)
def keep_driving_by_controller(self):
while True:
self.drive_by_controller()
def lower_or_raise_arm_by_controller(self):
if self.controller.bLdown():
self.arm_motor.run(
-self.ARM_MOTOR_VELOCITY_PERCENT, # power
None, # distance
False # hold
)
elif self.controller.bLup():
self.arm_motor.run(
self.ARM_MOTOR_VELOCITY_PERCENT, # power
None, # distance
False # hold
)
else:
self.arm_motor.hold()
def keep_lowering_or_raising_arm_by_controller(self):
while True:
self.lower_or_raise_arm_by_controller()
def grab_or_release_object_by_controller(self):
if self.controller.bRdown():
self.claw_motor.run(
-self.CLAW_MOTOR_VELOCITY_PERCENT, # power
None, # distance
False # hold
)
elif self.controller.bRup():
self.claw_motor.run(
self.CLAW_MOTOR_VELOCITY_PERCENT, # power
None, # distance
False # hold
)
else:
self.claw_motor.hold()
def keep_grabbing_or_releasing_objects_by_controller(self):
while True:
self.grab_or_release_object_by_controller()
def main(self):
while True:
self.drive_by_controller()
self.lower_or_raise_arm_by_controller()
self.grab_or_release_object_by_controller()
class Clawbot:
ARM_MOTOR_PORT = 10
ARM_MOTOR_REVERSE_POLARITY = False
CLAW_MOTOR_PORT = 11
CLAW_MOTOR_REVERSE_POLARITY = False
def __init__(self):
self.arm_motor = \
Motor(
self.ARM_MOTOR_PORT, # index
self.ARM_MOTOR_REVERSE_POLARITY # reverse
)
self.claw_motor = \
Motor(
self.CLAW_MOTOR_PORT, # index
self.CLAW_MOTOR_REVERSE_POLARITY # reverse
)
self.control_arm_or_claw = 0
def switch_between_arm_and_claw(self):
if is_check_button_pressed():
self.control_arm_or_claw = 1 - self.control_arm_or_claw
def control_arm(self):
if not self.control_arm_or_claw:
if is_up_button_pressed():
self.arm_motor.run(
100, # power,
None, # distance
False # hold
)
elif is_down_button_pressed():
self.arm_motor.run(
-100, # power,
None, # distance
False # hold
)
else:
self.arm_motor.hold()
else:
self.arm_motor.hold()
def control_claw(self):
if self.control_arm_or_claw:
if is_down_button_pressed():
self.claw_motor.run(
-100, # power,
None, # distance
False # hold
)
elif is_up_button_pressed():
self.claw_motor.run(
100, # power,
None, # distance
False # hold
)
else:
self.claw_motor.hold()
else:
self.claw_motor.hold()