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