official_models/ev3/home/spik3r: add project

official_models/ev3/home/spik3r/.gitignore

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+__pycache__/
+*.pyc
+venv/

official_models/ev3/home/spik3r/.vscode/extensions.json

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+{
+	// See http://go.microsoft.com/fwlink/?LinkId=827846 to learn about workspace recommendations.
+	// Extension identifier format: ${publisher}.${name}. Example: vscode.csharp
+
+	// List of extensions which should be recommended for users of this workspace.
+	"recommendations": [
+		"lego-education.ev3-micropython"
+	],
+	// List of extensions recommended by VS Code that should not be recommended for users of this workspace.
+	"unwantedRecommendations": [
+		"ms-python.python"
+	]
+}

official_models/ev3/home/spik3r/.vscode/launch.json

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+{
+	// Use IntelliSense to learn about possible attributes.
+	// Hover to view descriptions of existing attributes.
+	// For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
+	"version": "0.2.0",
+	"configurations": [
+		{
+			"name": "Download and Run",
+			"type": "ev3devBrowser",
+			"request": "launch",
+			"program": "/home/robot/${workspaceRootFolderName}/main.py",
+			"interactiveTerminal": false
+		}
+	]
+}

official_models/ev3/home/spik3r/.vscode/settings.json

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+// Place your settings in this file to overwrite default and user settings.
+{
+	"files.eol": "\n",
+	"debug.openDebug": "neverOpen",
+	"python.linting.enabled": false
+}

official_models/ev3/home/spik3r/main.py

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+#!/usr/bin/env pybricks-micropython
+
+"""
+Example LEGO® MINDSTORMS® EV3 Spik3r Program
+--------------------------------------------
+
+This program requires LEGO® EV3 MicroPython v2.0.
+Download: https://education.lego.com/en-us/support/mindstorms-ev3/python-for-ev3
+
+Building instructions can be found at:
+https://www.lego.com/en-us/themes/mindstorms/buildarobot
+"""
+
+
+from pybricks.hubs import EV3Brick
+from pybricks.ev3devices import Motor, TouchSensor, ColorSensor, InfraredSensor
+from pybricks.media.ev3dev import ImageFile, SoundFile
+from pybricks.parameters import Button, Direction, Port, Stop
+from pybricks.tools import wait
+
+
+class Spik3r:
+    def __init__(
+            self,
+            crushing_claw_motor_port: Port = Port.A,
+            moving_motor_port: Port = Port.B,
+            lightning_tail_motor_port: Port = Port.D,
+            touch_sensor_port: Port = Port.S1, color_sensor_port: Port = Port.S3,
+            ir_sensor_port: Port = Port.S4, ir_beacon_channel: int = 1):
+        self.ev3_brick = EV3Brick()
+
+        self.crushing_claw_motor = Motor(port=crushing_claw_motor_port,
+                                         positive_direction=Direction.CLOCKWISE)
+        self.moving_motor = Motor(port=moving_motor_port,
+                                  positive_direction=Direction.CLOCKWISE)
+        self.lightning_tail_motor = Motor(port=lightning_tail_motor_port,
+                                          positive_direction=Direction.CLOCKWISE)
+
+        self.ir_sensor = InfraredSensor(port=ir_sensor_port)
+        self.ir_beacon_channel = ir_beacon_channel
+
+        self.touch_sensor = TouchSensor(port=touch_sensor_port)
+        self.color_sensor = ColorSensor(port=color_sensor_port)
+
+
+    def sting_by_ir_beacon(self):
+        """
+        Spik3r stings with its Lightning Tail when the Beacon button is pressed
+        (inspiration from LEGO Mindstorms EV3 Home Edition: Spik3r: Tutorial #1)
+        """
+        if Button.BEACON in self.ir_sensor.buttons(channel=self.ir_beacon_channel):
+            self.lightning_tail_motor.run_angle(
+                speed=-750,
+                rotation_angle=220,
+                then=Stop.HOLD,
+                wait=False)
+
+            self.ev3_brick.speaker.play_file(file=SoundFile.ERROR_ALARM)
+
+            self.lightning_tail_motor.run_time(
+                speed=-1000,
+                time=1000,
+                then=Stop.HOLD,
+                wait=True)
+
+            self.lightning_tail_motor.run_time(
+                speed=1000,
+                time=1000,
+                then=Stop.HOLD,
+                wait=True)
+
+            while Button.BEACON in self.ir_sensor.buttons(channel=self.ir_beacon_channel):
+                pass
+    
+    
+    def move_by_ir_beacon(self):
+        """
+        Spik3r moves forward when the IR Beacon's two Up buttons are pressed,
+        and turns right when only the Right Up button is pressed
+        (inspiration from LEGO Mindstorms EV3 Home Edition: Spik3r: Tutorial #2)
+        """
+        ir_buttons_pressed = set(self.ir_sensor.buttons(channel=self.ir_beacon_channel))
+
+        if ir_buttons_pressed == {Button.RIGHT_UP, Button.LEFT_UP}:
+            self.moving_motor.run(speed=1000)
+
+        elif ir_buttons_pressed == {Button.RIGHT_UP}:
+            self.moving_motor.run(speed=-1000)
+
+        else:
+            self.moving_motor.stop()
+
+
+    def pinch_if_touched(self):
+        """
+        Spik3r crushes objects with its Claw when the Touch Sensor is pressed
+        (inspiration from LEGO Mindstorms EV3 Home Edition: Spik3r: Tutorial #3)
+        """
+        if self.touch_sensor.pressed():
+            self.crushing_claw_motor.run_time(
+                speed=500,
+                time=1000,
+                then=Stop.HOLD,
+                wait=True)
+
+            self.crushing_claw_motor.run_time(
+                speed=-500,
+                time=0.3 * 1000,
+                then=Stop.HOLD,
+                wait=True)
+
+
+    def main(self):
+        """
+        Spik3r's main program performing various capabilities
+        """
+        self.ev3_brick.screen.load_image(ImageFile.WARNING)
+        
+        while True:
+            self.move_by_ir_beacon()
+            self.sting_by_ir_beacon()
+            self.pinch_if_touched()
+            wait(1)
+
+
+if __name__ == '__main__':
+    SPIK3R = Spik3r()
+    SPIK3R.main()