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v0.0.2

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Michel committed 2023-06-02 21:01:15 +01:00
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4532-1 - Manual Level Crossing/main_distance_sensor.py
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################################################################################
# #
# pybricks script for 4532-1 - Manual Level Crossing #
# #
# This script enables the LEGO® 4532-1 - Manual Level Crossing to be used with #
# the LEGO Powerd UP system . #
# #
# Configuration of the Technic Hub: #
# Port A: 45303-1 - WeDo 2.0 Medium Motor #
# Port B: 45303-1 - WeDo 2.0 Medium Motor (not yet implemented) #
# Port C: 88007-1 - Color & Distance Sensor #
# Port D: 88007-1 - Color & Distance Sensor (not yet implemented) #
# #
################################################################################
# #
# Changelog #
# #
################################################################################
# v0.0.1 05-02-2023 #
# Add comments and header. #
# v0.0.0 04-02-2023 #
# First version. #
################################################################################
from pybricks.hubs import TechnicHub
from pybricks.pupdevices import Motor, DCMotor, ColorDistanceSensor
from pybricks.parameters import Color, Port
from pybricks.tools import wait
# variables to set
barrier_duty_cycle = 27 # speed of the motor (0-100).
barrier_wait = 575 # Time the barrier needs to go up or down in ms.
barrier_wait_up = 2000 # Time the barries waits to go up after last detection.
# Initialize the hub.
hub = TechnicHub()
# Initialize a the motors
barrier_motor_1 = DCMotor(Port.A)
#barrier_motor_2 = DCMotor(Port.B)
# Initialize the sensors.
distance_sensor_1 = ColorDistanceSensor(Port.C)
#distance_sensor_2 = ColorDistanceSensor(Port.D)
# Make the barrier go down to calibrate the position
barrier_motor_1.dc(barrier_duty_cycle)
# Wait for the amount of time set with "barrier_wait" plus an extra amount for calibration.
wait(barrier_wait+100)
# Stop the motor.
barrier_motor_1.stop()
# Wait a few milliseconds for the next step.
wait(10)
# Variable initialisation for further use.
wait_cycles=0 # number of cycles through the while loop before opening the barrier
barrier_position = 1 # Current barrier position (1=down, 0=up)
# Start program loop
while True:
# Check to see if there is a train.
if distance_sensor_1.distance() <= 40:
# Change light color on hub to reflect the current status.
hub.light.on(Color.RED)
# Only send the barrier down if it's currently up.
if barrier_position == 0:
# Send barrier down.
barrier_motor_1.dc(barrier_duty_cycle)
# wait for the barrier to move to its position.
wait(barrier_wait)
# Stop the barrier from moving after the wait time.
barrier_motor_1.stop()
# Set the variable to the up position
barrier_position = 1
# As long as there is a train detected keep program within this loop.
while distance_sensor_1.distance() <= 40:
wait (10)
# Set the number of while cycles to wait before sending the barrier up after last detection.
wait_cycles = barrier_wait_up
# Check if the barrier needs to stay down
elif wait_cycles > 0:
# Change light color on hub to reflect the current status.
hub.light.on(Color.BLUE)
# Change the number of cycles left before sending the barrier up.
wait_cycles = wait_cycles-1
# If there is no train and there is no need to keep the barrier down send it up.
else:
# Change light color on hub to reflect the current status.
hub.light.on(Color.GREEN)
# Only send the barrier up if it's currently down.
if barrier_position == 1:
# Send barrier down.
barrier_motor_1.dc(-barrier_duty_cycle)
# wait for the barrier to move to its position.
wait(barrier_wait)
# Stop the barrier from moving after the wait time.
barrier_motor_1.stop()
# Set the variable to the up position
barrier_position = 0
# As long as there is no train detected keep program within this loop.
while distance_sensor_1.distance() > 40:
wait (10)
# wait for 1ms before continuing.
################################################################################
# #
# pybricks script for 4532-1 - Manual Level Crossing #
# #
# This script enables the LEGO® 4532-1 - Manual Level Crossing to be used with #
# the LEGO Powerd UP system . #
# #
# Configuration of the Technic Hub: #
# Port A: 45303-1 - WeDo 2.0 Medium Motor #
# Port B: #
# Port C: 88007-1 - Color & Distance Sensor #
# Port D: 88007-1 - Color & Distance Sensor (not yet implemented) #
# #
################################################################################
# #
# Changelog #
# #
################################################################################
# v0.0.2 06-02-2023 #
# changed barrier_wait_up to barrier_wait_after #
# Changed barrier_wait to barrier_wait_up #
# changed barrier_motor_1 to barrier_motor #
# added barrier_wait_down #
# v0.0.1 05-02-2023 #
# Add comments and header. #
# v0.0.0 04-02-2023 #
# First version. #
################################################################################
from pybricks.hubs import TechnicHub
from pybricks.pupdevices import Motor, DCMotor, ColorDistanceSensor
from pybricks.parameters import Color, Port
from pybricks.tools import wait
# variables to set
barrier_duty_cycle = 30 # speed of the motor (0-100).
barrier_wait_up = 1000 # Time the barrier needs to go up in ms.
barrier_wait_down = 600 # Time the barrier needs to go down in ms.
barrier_wait_after = 2000 # Time the barrier waits to go up after last detection.
# Initialize the hub.
hub = TechnicHub()
# Initialize a the motor
barrier_motor = DCMotor(Port.A)
# Initialize the sensors.
distance_sensor_1 = ColorDistanceSensor(Port.C)
#distance_sensor_2 = ColorDistanceSensor(Port.D)
# Make the barrier go down to calibrate the position
barrier_motor.dc(-barrier_duty_cycle)
# Wait for the amount of time set with "barrier_wait_down" plus an extra amount for calibration.
wait(barrier_wait_down+100)
# Stop the motor.
barrier_motor.stop()
# Wait a few milliseconds for the next step.
wait(10)
# Variable initialisation for further use.
wait_cycles=0 # number of cycles through the while loop before opening the barrier
barrier_position = 1 # Current barrier position (1=down, 0=up)
# Start program loop
while True:
# Check to see if there is a train.
if distance_sensor_1.distance() <= 40:
# Change light color on hub to reflect the current status.
hub.light.on(Color.RED)
# Only send the barrier down if it's currently up.
if barrier_position == 0:
# Send barrier down.
barrier_motor.dc(-barrier_duty_cycle)
# wait for the barrier to move to its position.
wait(barrier_wait_down)
# Stop the barrier from moving after the wait time.
barrier_motor.stop()
# Set the variable to the up position
barrier_position = 1
# As long as there is a train detected keep program within this loop.
while distance_sensor_1.distance() <= 40:
wait (10)
# Set the number of while cycles to wait before sending the barrier up after last detection.
wait_cycles = barrier_wait_after
# Check if the barrier needs to stay down
elif wait_cycles > 0:
# Change light color on hub to reflect the current status.
hub.light.on(Color.BLUE)
# Change the number of cycles left before sending the barrier up.
wait_cycles = wait_cycles-1
# If there is no train and there is no need to keep the barrier down send it up.
else:
# Change light color on hub to reflect the current status.
hub.light.on(Color.GREEN)
# Only send the barrier up if it's currently down.
if barrier_position == 1:
# Send barrier down.
barrier_motor.dc(barrier_duty_cycle)
# wait for the barrier to move to its position.
wait(barrier_wait_up)
# Stop the barrier from moving after the wait time.
barrier_motor.stop()
# Set the variable to the up position
barrier_position = 0
# As long as there is no train detected keep program within this loop.
while distance_sensor_1.distance() > 40:
wait (10)
# wait for 1ms before continuing.
wait(1)