Gelo: Add initial program

* update Robodoz3r README Update * add index.md for gelo * add Gelo basic program * update Gelo basic program * refactor gelo-basic program
2026-07-28 04:06:07 +00:00 · 2021-07-23 16:10:04 +02:00
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+from pybricks.hubs import InventorHub
+from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor
+from pybricks.geometry import Axis
+from pybricks.parameters import Direction, Port, Side
+from pybricks.tools import wait
+
+
+class Gelo:
+    def __init__(self):
+        self.hub = InventorHub(top_side=Axis.Z, front_side=-Axis.X)
+
+        # Configure the leg motors
+        self.front_left_leg_motor = Motor(Port.D)
+        self.front_right_leg_motor = \
+            Motor(Port.C, Direction.COUNTERCLOCKWISE)
+        self.rear_left_leg_motor = Motor(Port.B)
+        self.rear_right_leg_motor = \
+            Motor(Port.A, Direction.COUNTERCLOCKWISE)
+        self.leg_motors = [
+            self.front_left_leg_motor, self.front_right_leg_motor,
+            self.rear_left_leg_motor, self.rear_right_leg_motor
+        ]
+
+        # Configure the sensors
+        self.color_sensor = ColorSensor(Port.F)
+        self.distance_sensor = UltrasonicSensor(Port.E)
+
+    def activate_display(self):
+        self.hub.display.orientation(up=Side.TOP)
+
+        for _ in range(10):
+            self.hub.display.image([[00, 11, 33, 11, 00],
+                                    [11, 33, 33, 33, 11],
+                                    [33, 66, 99, 66, 33],
+                                    [11, 33, 66, 33, 11],
+                                    [00, 11, 33, 11, 00]])
+            wait(50)
+            self.hub.display.off()
+            wait(50)
+
+    def straighten_legs(self):
+        for leg_motor in self.leg_motors:
+            leg_motor.run_target(speed=1000,
+                                 target_angle=0,
+                                 wait=False)
+
+    def walk(self, speed: int, seconds: int):
+        for _ in range(seconds):
+            self.front_left_leg_motor.run_time(speed=speed,
+                                               time=500,
+                                               wait=False)
+            self.rear_right_leg_motor.run_time(speed=speed,
+                                               time=500)
+
+            self.front_right_leg_motor.run_time(speed=speed,
+                                                time=500,
+                                                wait=False)
+            self.rear_left_leg_motor.run_time(speed=speed,
+                                              time=500)
+
+
+# Initialize Gelo
+gelo = Gelo()
+
+# Straighten his legs
+gelo.straighten_legs()
+
+# Turn on his Distance Sensor
+gelo.distance_sensor.lights.on(100)
+
+# Activate his display
+gelo.activate_display()
+
+# Gelo takes his first walk
+gelo.walk(speed=800, seconds=10)
+
+# Turn off his Distance Sensor
+gelo.distance_sensor.lights.off()
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+---
+title: "Gelo"
+maintainer:
+    user: "TheVinhLuong102"
+    name: "The Lương-Phạm Family"
+image:
+    local: "gelo.jpg"
+    credit: "LEGO"
+video:
+    youtube: "5Fa4m1XzlCA"
+description:
+    "A real life four-legged robot. Its unique mechanism means it can walk, avoid obstacles, and even perform tricks."
+building_instructions:
+    external: https://www.lego.com/cdn/product-assets/product.bi.additional.main.pdf/51515_Gelo.pdf
+code: "#program"
+---
+
+
+## Program
+
+The playing instructions for each robot variant are in the docstrings of the corresponding file.
+
+The code for Gelo's basic walk is in `gelo-basic.py` as follows:
+
+{% include copy-code.html %}
+```python
+{% include_relative gelo-basic.py %}
+```