v0.0.1
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################################################################################
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# #
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# pybricks script for 4532-1 - Manual Level Crossing #
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# #
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# This script enables the LEGO® 4532-1 - Manual Level Crossing to be used with #
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# the LEGO Powerd UP system . #
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# #
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# Configuration of the Technic Hub: #
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# Port A: 45303-1 - WeDo 2.0 Medium Motor #
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# Port B: 45303-1 - WeDo 2.0 Medium Motor (not yet implemented) #
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# Port C: 88007-1 - Color & Distance Sensor #
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# Port D: 88007-1 - Color & Distance Sensor (not yet implemented) #
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# #
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################################################################################
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# #
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# Changelog #
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# #
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################################################################################
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# v0.0.1 05-02-2023 #
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# Add comments and header. #
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# v0.0.0 04-02-2023 #
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# First version. #
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################################################################################
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from pybricks.hubs import TechnicHub
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from pybricks.pupdevices import Motor, DCMotor, ColorDistanceSensor
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from pybricks.parameters import Button, Color, Direction, Port, Side, Stop
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from pybricks.robotics import DriveBase
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from pybricks.tools import wait, StopWatch
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from pybricks.parameters import Color, Port
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from pybricks.tools import wait
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# variables to set
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barrier_duty_cycle = 27 # speed of the motor (0-100).
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barrier_wait = 575 # Time the barrier needs to go up or down in ms.
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barrier_wait_up = 2000 # Time the barries waits to go up after last detection.
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# Initialize the hub.
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hub = TechnicHub()
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barrier_duty_cycle = 27
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barrier_wait = 575
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barrier_wait_up = 2000
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# Initialize a the motors
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barrier_motor_1 = DCMotor(Port.A)
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#barrier_motor_2 = DCMotor(Port.B)
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# Initialize the sensors.
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distance_sensor_1 = ColorDistanceSensor(Port.C)
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#distance_sensor_2 = ColorDistanceSensor(Port.D)
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# Initialize a motor without rotation sensors on port A.
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example_motor = DCMotor(Port.A)
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# Initialize the sensor.
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sensor = ColorDistanceSensor(Port.C)
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# Make the motor go clockwise (forward) at 70% duty cycle ("70% power").
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example_motor.dc(barrier_duty_cycle)
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# Wait for three seconds.
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# Make the barrier go down to calibrate the position
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barrier_motor_1.dc(barrier_duty_cycle)
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# Wait for the amount of time set with "barrier_wait" plus an extra amount for calibration.
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wait(barrier_wait+100)
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# Stop the motor.
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barrier_motor_1.stop()
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example_motor.stop()
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# Wait a few milliseconds for the next step.
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wait(10)
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wait(1000)
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# Make the motor go counterclockwise (backward) at 70% duty cycle.
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example_motor.dc(-barrier_duty_cycle)
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# Wait for three seconds.
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wait(barrier_wait)
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example_motor.stop()
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wait_cycles=0
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barrier_position = 0
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# Variable initialisation for further use.
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wait_cycles=0 # number of cycles through the while loop before opening the barrier
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barrier_position = 1 # Current barrier position (1=down, 0=up)
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# Start program loop
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while True:
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if sensor.distance() <= 40:
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# Check to see if there is a train.
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if distance_sensor_1.distance() <= 40:
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# Change light color on hub to reflect the current status.
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hub.light.on(Color.RED)
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# Only send the barrier down if it's currently up.
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if barrier_position == 0:
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example_motor.dc(barrier_duty_cycle)
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# Send barrier down.
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barrier_motor_1.dc(barrier_duty_cycle)
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# wait for the barrier to move to its position.
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wait(barrier_wait)
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example_motor.stop()
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# Stop the barrier from moving after the wait time.
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barrier_motor_1.stop()
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# Set the variable to the up position
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barrier_position = 1
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while sensor.distance() <= 40:
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# As long as there is a train detected keep program within this loop.
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while distance_sensor_1.distance() <= 40:
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wait (10)
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wait_cycles = barrier_wait_up/10
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# Set the number of while cycles to wait before sending the barrier up after last detection.
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wait_cycles = barrier_wait_up
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# Check if the barrier needs to stay down
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elif wait_cycles > 0:
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#print((1/(barrier_wait_up/10))*wait_cycles)
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# Change light color on hub to reflect the current status.
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hub.light.on(Color.BLUE)
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# Change the number of cycles left before sending the barrier up.
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wait_cycles = wait_cycles-1
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# If there is no train and there is no need to keep the barrier down send it up.
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else:
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# Change light color on hub to reflect the current status.
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hub.light.on(Color.GREEN)
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# Only send the barrier up if it's currently down.
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if barrier_position == 1:
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example_motor.dc(-barrier_duty_cycle)
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# Send barrier down.
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barrier_motor_1.dc(-barrier_duty_cycle)
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# wait for the barrier to move to its position.
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wait(barrier_wait)
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example_motor.stop()
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# Stop the barrier from moving after the wait time.
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barrier_motor_1.stop()
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# Set the variable to the up position
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barrier_position = 0
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while sensor.distance() > 40:
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# As long as there is no train detected keep program within this loop.
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while distance_sensor_1.distance() > 40:
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wait (10)
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wait(10)
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# wait for 1ms before continuing.
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wait(1)
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