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Code Issues Releases Activity

official_models/ev3: refactoring

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This commit is contained in:
Vinh Luong
2020-10-07 10:50:13 +02:00
committed by laurensvalk
parent fc39ab9468
commit 51aa74f0c7
25 changed files with 835 additions and 710 deletions
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official_models/ev3/home/ev3rstorm/.vscode/launch.json
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"name": "Download and Run",
"type": "ev3devBrowser",
"request": "launch",
"program": "/home/robot/${workspaceRootFolderName}/main.py",
"program": "/home/robot/${workspaceRootFolderName}/ev3rstorm.py",
"interactiveTerminal": false
}
]
official_models/ev3/home/ev3rstorm/.vscode/settings.json
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{
"files.eol": "\n",
"debug.openDebug": "neverOpen",
"python.linting.enabled": false
"editor.rulers": [79],
"python.linting.enabled": true
}
official_models/ev3/home/ev3rstorm/ev3rstorm.py
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#!/usr/bin/env pybricks-micropython
"""
Example LEGO® MINDSTORMS® EV3 Ev3rstorm Program
-----------------------------------------------
This program requires LEGO® EV3 MicroPython v2.0 downloadable at:
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
from pybricks.media.ev3dev import ImageFile, SoundFile
from pybricks.parameters import Button, Direction, Port, Stop
from pybricks.tools import wait
from random import randint
from rc_tank_util import RemoteControlledTank
class Ev3rstorm(RemoteControlledTank):
WHEEL_DIAMETER = 26 # milimeters
AXLE_TRACK = 102 # milimeters
def __init__(
self,
left_track_motor_port: Port = Port.B,
right_track_motor_port: Port = Port.C,
bazooka_blast_motor_port: Port = Port.A,
touch_sensor_port: Port = Port.S1,
color_sensor_port: Port = Port.S3,
ir_sensor_port: Port = Port.S4,
ir_beacon_channel: int = 1):
super().__init__(
wheel_diameter=self.WHEEL_DIAMETER,
axle_track=self.AXLE_TRACK,
left_motor_port=left_track_motor_port,
right_motor_port=right_track_motor_port,
ir_sensor_port=ir_sensor_port,
ir_beacon_channel=ir_beacon_channel)
self.ev3_brick = EV3Brick()
self.bazooka_blast_motor = \
Motor(port=bazooka_blast_motor_port,
positive_direction=Direction.CLOCKWISE)
self.touch_sensor = TouchSensor(port=touch_sensor_port)
self.color_sensor = ColorSensor(port=color_sensor_port)
def dance_randomly_if_ir_beacon_button_pressed(self):
"""
Ev3rstorm dances by turning by random angles on the spot
when the Beacon button is pressed
"""
while Button.BEACON in \
self.ir_sensor.buttons(channel=self.ir_beacon_channel):
self.drive_base.turn(angle=randint(-360, 360))
def blast_bazooka_if_touched(self):
"""
Ev3rstorm blasts his bazooka when his Touch Sensor is pressed
(inspiration from LEGO Mindstorms EV3 Home Ed.: Ev3rstorm: Tutorial #5)
"""
MEDIUM_MOTOR_ROTATIONAL_DEGREES_PER_BLAST = 3 * 360
if self.touch_sensor.pressed():
if self.color_sensor.ambient() < 15:
self.ev3_brick.speaker.play_file(file=SoundFile.UP)
self.bazooka_blast_motor.run_angle(
speed=2 * MEDIUM_MOTOR_ROTATIONAL_DEGREES_PER_BLAST,
rotation_angle=-MEDIUM_MOTOR_ROTATIONAL_DEGREES_PER_BLAST,
then=Stop.HOLD,
wait=True)
self.ev3_brick.speaker.play_file(file=SoundFile.LAUGHING_1)
else:
self.ev3_brick.speaker.play_file(file=SoundFile.DOWN)
self.bazooka_blast_motor.run_angle(
speed=2 * MEDIUM_MOTOR_ROTATIONAL_DEGREES_PER_BLAST,
rotation_angle=MEDIUM_MOTOR_ROTATIONAL_DEGREES_PER_BLAST,
then=Stop.HOLD,
wait=True)
self.ev3_brick.speaker.play_file(file=SoundFile.LAUGHING_2)
def main(
self,
driving_speed: float = 1000 # mm/s
):
"""
Ev3rstorm's main program performing various capabilities
"""
self.ev3_brick.screen.load_image(ImageFile.TARGET)
while True:
self.drive_by_ir_beacon(speed=driving_speed)
self.dance_randomly_if_ir_beacon_button_pressed()
self.blast_bazooka_if_touched()
wait(1)
if __name__ == '__main__':
EV3RSTORM = Ev3rstorm()
EV3RSTORM.main(driving_speed=1000)
official_models/ev3/home/ev3rstorm/main.py
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#!/usr/bin/env pybricks-micropython
"""
Example LEGO® MINDSTORMS® EV3 Ev3rstorm 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.robotics import DriveBase
from pybricks.parameters import Button, Direction, Port, Stop
from pybricks.tools import wait
from random import randint
class RemoteControlledTank:
"""
This reusable mixin provides the capability of driving a robot with a Driving Base by the IR beacon
"""
def __init__(
self,
wheel_diameter: float, axle_track: float, # both in milimeters
left_motor_port: Port = Port.B, right_motor_port: Port = Port.C,
ir_sensor_port: Port = Port.S4, ir_beacon_channel: int = 1):
self.drive_base = DriveBase(left_motor=Motor(port=left_motor_port,
positive_direction=Direction.CLOCKWISE),
right_motor=Motor(port=right_motor_port,
positive_direction=Direction.CLOCKWISE),
wheel_diameter=wheel_diameter,
axle_track=axle_track)
self.ir_sensor = InfraredSensor(port=ir_sensor_port)
self.ir_beacon_channel = ir_beacon_channel
def drive_by_ir_beacon(
self,
speed: float = 1000, # mm/s
turn_rate: float = 90 # rotational speed deg/s
):
ir_beacon_button_pressed = set(self.ir_sensor.buttons(channel=self.ir_beacon_channel))
# forward
if ir_beacon_button_pressed == {Button.LEFT_UP, Button.RIGHT_UP}:
self.drive_base.drive(
speed=speed,
turn_rate=0)
# backward
elif ir_beacon_button_pressed == {Button.LEFT_DOWN, Button.RIGHT_DOWN}:
self.drive_base.drive(
speed=-speed,
turn_rate=0)
# turn left on the spot
elif ir_beacon_button_pressed == {Button.LEFT_UP, Button.RIGHT_DOWN}:
self.drive_base.drive(
speed=0,
turn_rate=-turn_rate)
# turn right on the spot
elif ir_beacon_button_pressed == {Button.RIGHT_UP, Button.LEFT_DOWN}:
self.drive_base.drive(
speed=0,
turn_rate=turn_rate)
# turn left forward
elif ir_beacon_button_pressed == {Button.LEFT_UP}:
self.drive_base.drive(
speed=speed,
turn_rate=-turn_rate)
# turn right forward
elif ir_beacon_button_pressed == {Button.RIGHT_UP}:
self.drive_base.drive(
speed=speed,
turn_rate=turn_rate)
# turn left backward
elif ir_beacon_button_pressed == {Button.LEFT_DOWN}:
self.drive_base.drive(
speed=-speed,
turn_rate=turn_rate)
# turn right backward
elif ir_beacon_button_pressed == {Button.RIGHT_DOWN}:
self.drive_base.drive(
speed=-speed,
turn_rate=-turn_rate)
# otherwise stop
else:
self.drive_base.stop()
class Ev3rstorm(RemoteControlledTank):
WHEEL_DIAMETER = 26 # milimeters
AXLE_TRACK = 102 # milimeters
def __init__(
self,
left_track_motor_port: Port = Port.B, right_track_motor_port: Port = Port.C,
bazooka_blast_motor_port: Port = Port.A,
touch_sensor_port: Port = Port.S1, color_sensor_port: Port = Port.S3,
ir_sensor_port: Port = Port.S4, ir_beacon_channel: int = 1):
super().__init__(
wheel_diameter=self.WHEEL_DIAMETER, axle_track=self.AXLE_TRACK,
left_motor_port=left_track_motor_port, right_motor_port=right_track_motor_port,
ir_sensor_port=ir_sensor_port, ir_beacon_channel=ir_beacon_channel)
self.ev3_brick = EV3Brick()
self.bazooka_blast_motor = Motor(port=bazooka_blast_motor_port,
positive_direction=Direction.CLOCKWISE)
self.touch_sensor = TouchSensor(port=touch_sensor_port)
self.color_sensor = ColorSensor(port=color_sensor_port)
def dance_randomly_if_ir_beacon_button_pressed(self):
"""
Ev3rstorm dances by turning by random angles on the spot when the Beacon button is pressed
"""
while Button.BEACON in self.ir_sensor.buttons(channel=self.ir_beacon_channel):
self.drive_base.turn(angle=randint(-360, 360))
def blast_bazooka_if_touched(self):
"""
Ev3rstorm blasts his bazooka when his Touch Sensor is pressed
(inspiration from LEGO Mindstorms EV3 Home Edition: Ev3rstorm: Tutorial #5)
"""
MEDIUM_MOTOR_N_ROTATIONS_PER_BLAST = 3
MEDIUM_MOTOR_ROTATIONAL_DEGREES_PER_BLAST = MEDIUM_MOTOR_N_ROTATIONS_PER_BLAST * 360
if self.touch_sensor.pressed():
if self.color_sensor.ambient() < 15:
self.ev3_brick.speaker.play_file(file=SoundFile.UP)
self.bazooka_blast_motor.run_angle(
speed=2 * MEDIUM_MOTOR_ROTATIONAL_DEGREES_PER_BLAST, # shoot quickly in half a second
rotation_angle=-MEDIUM_MOTOR_ROTATIONAL_DEGREES_PER_BLAST,
then=Stop.HOLD,
wait=True)
self.ev3_brick.speaker.play_file(file=SoundFile.LAUGHING_1)
else:
self.ev3_brick.speaker.play_file(file=SoundFile.DOWN)
self.bazooka_blast_motor.run_angle(
speed=2 * MEDIUM_MOTOR_ROTATIONAL_DEGREES_PER_BLAST, # shoot quickly in half a second
rotation_angle=MEDIUM_MOTOR_ROTATIONAL_DEGREES_PER_BLAST,
then=Stop.HOLD,
wait=True)
self.ev3_brick.speaker.play_file(file=SoundFile.LAUGHING_2)
def main(self,
driving_speed: float = 1000 # mm/s
):
"""
Ev3rstorm's main program performing various capabilities
"""
self.ev3_brick.screen.load_image(ImageFile.TARGET)
while True:
self.drive_by_ir_beacon(speed=driving_speed)
self.dance_randomly_if_ir_beacon_button_pressed()
self.blast_bazooka_if_touched()
wait(1)
if __name__ == '__main__':
EV3RSTORM = Ev3rstorm()
EV3RSTORM.main(driving_speed=1000)
official_models/ev3/home/ev3rstorm/rc_tank_util.py
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from pybricks.ev3devices import Motor, InfraredSensor
from pybricks.robotics import DriveBase
from pybricks.parameters import Button, Direction, Port
class RemoteControlledTank:
"""
This reusable mixin provides the capability of driving a robot
with a Driving Base by the IR beacon
"""
def __init__(
self,
wheel_diameter: float, axle_track: float, # both in milimeters
left_motor_port: Port = Port.B, right_motor_port: Port = Port.C,
ir_sensor_port: Port = Port.S4, ir_beacon_channel: int = 1):
self.drive_base = \
DriveBase(
left_motor=Motor(port=left_motor_port,
positive_direction=Direction.CLOCKWISE),
right_motor=Motor(port=right_motor_port,
positive_direction=Direction.CLOCKWISE),
wheel_diameter=wheel_diameter,
axle_track=axle_track)
self.ir_sensor = InfraredSensor(port=ir_sensor_port)
self.ir_beacon_channel = ir_beacon_channel
def drive_by_ir_beacon(
self,
speed: float = 1000, # mm/s
turn_rate: float = 90 # rotational speed deg/s
):
ir_beacon_button_pressed = \
set(self.ir_sensor.buttons(channel=self.ir_beacon_channel))
# forward
if ir_beacon_button_pressed == {Button.LEFT_UP, Button.RIGHT_UP}:
self.drive_base.drive(
speed=speed,
turn_rate=0)
# backward
elif ir_beacon_button_pressed == {Button.LEFT_DOWN, Button.RIGHT_DOWN}:
self.drive_base.drive(
speed=-speed,
turn_rate=0)
# turn left on the spot
elif ir_beacon_button_pressed == {Button.LEFT_UP, Button.RIGHT_DOWN}:
self.drive_base.drive(
speed=0,
turn_rate=-turn_rate)
# turn right on the spot
elif ir_beacon_button_pressed == {Button.RIGHT_UP, Button.LEFT_DOWN}:
self.drive_base.drive(
speed=0,
turn_rate=turn_rate)
# turn left forward
elif ir_beacon_button_pressed == {Button.LEFT_UP}:
self.drive_base.drive(
speed=speed,
turn_rate=-turn_rate)
# turn right forward
elif ir_beacon_button_pressed == {Button.RIGHT_UP}:
self.drive_base.drive(
speed=speed,
turn_rate=turn_rate)
# turn left backward
elif ir_beacon_button_pressed == {Button.LEFT_DOWN}:
self.drive_base.drive(
speed=-speed,
turn_rate=turn_rate)
# turn right backward
elif ir_beacon_button_pressed == {Button.RIGHT_DOWN}:
self.drive_base.drive(
speed=-speed,
turn_rate=-turn_rate)
# otherwise stop
else:
self.drive_base.stop()
official_models/ev3/home/gripp3r/.vscode/launch.json
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"name": "Download and Run",
"type": "ev3devBrowser",
"request": "launch",
"program": "/home/robot/${workspaceRootFolderName}/main.py",
"program": "/home/robot/${workspaceRootFolderName}/gripp3r.py",
"interactiveTerminal": false
}
]
official_models/ev3/home/gripp3r/.vscode/settings.json
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{
"files.eol": "\n",
"debug.openDebug": "neverOpen",
"python.linting.enabled": false
"editor.rulers": [79],
"python.linting.enabled": true
}
official_models/ev3/home/gripp3r/gripp3r.py
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#!/usr/bin/env pybricks-micropython
"""
Example LEGO® MINDSTORMS® EV3 Gripp3r Program
---------------------------------------------
This program requires LEGO® EV3 MicroPython v2.0 downloadable at:
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, InfraredSensor
from pybricks.media.ev3dev import SoundFile
from pybricks.parameters import Button, Direction, Port, Stop
from pybricks.tools import wait
from rc_tank_util import RemoteControlledTank
class Gripp3r(RemoteControlledTank):
WHEEL_DIAMETER = 26 # milimeters
AXLE_TRACK = 115 # milimeters
def __init__(
self,
left_track_motor_port: Port = Port.B,
right_track_motor_port: Port = Port.C,
gripping_motor_port: Port = Port.A,
touch_sensor_port: Port = Port.S1,
ir_sensor_port: Port = Port.S4,
ir_beacon_channel: int = 1):
super().__init__(
wheel_diameter=self.WHEEL_DIAMETER,
axle_track=self.AXLE_TRACK,
left_motor_port=left_track_motor_port,
right_motor_port=right_track_motor_port,
ir_sensor_port=ir_sensor_port,
ir_beacon_channel=ir_beacon_channel)
self.ev3_brick = EV3Brick()
self.gripping_motor = Motor(port=gripping_motor_port,
positive_direction=Direction.CLOCKWISE)
self.touch_sensor = TouchSensor(port=touch_sensor_port)
self.ir_sensor = InfraredSensor(port=ir_sensor_port)
self.ir_beacon_channel = ir_beacon_channel
def grip_or_release_by_ir_beacon(self, speed: float = 500):
if Button.BEACON in \
self.ir_sensor.buttons(channel=self.ir_beacon_channel):
if self.touch_sensor.pressed():
self.ev3_brick.speaker.play_file(file=SoundFile.AIR_RELEASE)
self.gripping_motor.run_time(
speed=speed,
time=1000,
then=Stop.COAST,
wait=True)
else:
self.ev3_brick.speaker.play_file(file=SoundFile.AIRBRAKE)
self.gripping_motor.run(speed=-speed)
while not self.touch_sensor.pressed():
pass
self.gripping_motor.stop()
while Button.BEACON in \
self.ir_sensor.buttons(channel=self.ir_beacon_channel):
pass
def main(
self,
driving_speed: float = 1000 # mm/s
):
"""
Gripp3r's main program performing various capabilities
"""
self.gripping_motor.run_time(
speed=-500,
time=1000,
then=Stop.COAST,
wait=True)
while True:
self.drive_by_ir_beacon(speed=driving_speed)
self.grip_or_release_by_ir_beacon(speed=500)
wait(1)
if __name__ == '__main__':
GRIPP3R = Gripp3r()
GRIPP3R.main(driving_speed=1000)
official_models/ev3/home/gripp3r/main.py
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#!/usr/bin/env pybricks-micropython
"""
Example LEGO® MINDSTORMS® EV3 Gripp3r 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, InfraredSensor
from pybricks.robotics import DriveBase
from pybricks.media.ev3dev import SoundFile
from pybricks.parameters import Button, Direction, Port, Stop
from pybricks.tools import wait
class RemoteControlledTank:
"""
This reusable mixin provides the capability of driving a robot with a Driving Base by the IR beacon
"""
def __init__(
self,
wheel_diameter: float, axle_track: float, # both in milimeters
left_motor_port: Port = Port.B, right_motor_port: Port = Port.C,
ir_sensor_port: Port = Port.S4, ir_beacon_channel: int = 1):
self.driver = DriveBase(left_motor=Motor(port=left_motor_port,
positive_direction=Direction.CLOCKWISE),
right_motor=Motor(port=right_motor_port,
positive_direction=Direction.CLOCKWISE),
wheel_diameter=wheel_diameter,
axle_track=axle_track)
self.ir_sensor = InfraredSensor(port=ir_sensor_port)
self.ir_beacon_channel = ir_beacon_channel
def drive_by_ir_beacon(
self,
speed: float = 1000, # mm/s
turn_rate: float = 90 # rotational speed deg/s
):
ir_beacon_button_pressed = set(self.ir_sensor.buttons(channel=self.ir_beacon_channel))
# forward
if ir_beacon_button_pressed == {Button.LEFT_UP, Button.RIGHT_UP}:
self.driver.drive(
speed=speed,
turn_rate=0)
# backward
elif ir_beacon_button_pressed == {Button.LEFT_DOWN, Button.RIGHT_DOWN}:
self.driver.drive(
speed=-speed,
turn_rate=0)
# turn left on the spot
elif ir_beacon_button_pressed == {Button.LEFT_UP, Button.RIGHT_DOWN}:
self.driver.drive(
speed=0,
turn_rate=-turn_rate)
# turn right on the spot
elif ir_beacon_button_pressed == {Button.RIGHT_UP, Button.LEFT_DOWN}:
self.driver.drive(
speed=0,
turn_rate=turn_rate)
# turn left forward
elif ir_beacon_button_pressed == {Button.LEFT_UP}:
self.driver.drive(
speed=speed,
turn_rate=-turn_rate)
# turn right forward
elif ir_beacon_button_pressed == {Button.RIGHT_UP}:
self.driver.drive(
speed=speed,
turn_rate=turn_rate)
# turn left backward
elif ir_beacon_button_pressed == {Button.LEFT_DOWN}:
self.driver.drive(
speed=-speed,
turn_rate=turn_rate)
# turn right backward
elif ir_beacon_button_pressed == {Button.RIGHT_DOWN}:
self.driver.drive(
speed=-speed,
turn_rate=-turn_rate)
# otherwise stop
else:
self.driver.stop()
class Gripp3r(RemoteControlledTank):
WHEEL_DIAMETER = 26 # milimeters
AXLE_TRACK = 115 # milimeters
def __init__(
self,
left_track_motor_port: Port = Port.B, right_track_motor_port: Port = Port.C,
grip_motor_port: Port = Port.A,
touch_sensor_port: Port = Port.S1,
ir_sensor_port: Port = Port.S4, ir_beacon_channel: int = 1):
super().__init__(
wheel_diameter=self.WHEEL_DIAMETER, axle_track=self.AXLE_TRACK,
left_motor_port=left_track_motor_port, right_motor_port=right_track_motor_port,
ir_sensor_port=ir_sensor_port, ir_beacon_channel=ir_beacon_channel)
self.ev3_brick = EV3Brick()
self.grip_motor = Motor(port=grip_motor_port,
positive_direction=Direction.CLOCKWISE)
self.touch_sensor = TouchSensor(port=touch_sensor_port)
self.ir_sensor = InfraredSensor(port=ir_sensor_port)
self.ir_beacon_channel = ir_beacon_channel
def grip_or_release_by_ir_beacon(self, speed: float = 500):
if Button.BEACON in self.ir_sensor.buttons(channel=self.ir_beacon_channel):
if self.touch_sensor.pressed():
self.ev3_brick.speaker.play_file(file=SoundFile.AIR_RELEASE)
self.grip_motor.run_time(
speed=speed,
time=1000,
then=Stop.BRAKE,
wait=True)
else:
self.ev3_brick.speaker.play_file(file=SoundFile.AIRBRAKE)
self.grip_motor.run(speed=-speed)
while not self.touch_sensor.pressed():
pass
self.grip_motor.stop()
while Button.BEACON in self.ir_sensor.buttons(channel=self.ir_beacon_channel):
pass
def main(self):
"""
Gripp3r's main program performing various capabilities
"""
self.grip_motor.run_time(
speed=-500,
time=1000,
then=Stop.BRAKE,
wait=True)
while True:
self.drive_by_ir_beacon(speed=1000)
self.grip_or_release_by_ir_beacon(speed=500)
wait(1)
if __name__ == '__main__':
GRIPP3R = Gripp3r()
GRIPP3R.main()
official_models/ev3/home/gripp3r/rc_tank_util.py
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from pybricks.ev3devices import Motor, InfraredSensor
from pybricks.robotics import DriveBase
from pybricks.parameters import Button, Direction, Port
class RemoteControlledTank:
"""
This reusable mixin provides the capability of driving a robot
with a Driving Base by the IR beacon
"""
def __init__(
self,
wheel_diameter: float, axle_track: float, # both in milimeters
left_motor_port: Port = Port.B, right_motor_port: Port = Port.C,
ir_sensor_port: Port = Port.S4, ir_beacon_channel: int = 1):
self.driver = \
DriveBase(
left_motor=Motor(port=left_motor_port,
positive_direction=Direction.CLOCKWISE),
right_motor=Motor(port=right_motor_port,
positive_direction=Direction.CLOCKWISE),
wheel_diameter=wheel_diameter,
axle_track=axle_track)
self.ir_sensor = InfraredSensor(port=ir_sensor_port)
self.ir_beacon_channel = ir_beacon_channel
def drive_by_ir_beacon(
self,
speed: float = 1000, # mm/s
turn_rate: float = 90 # rotational speed deg/s
):
ir_beacon_button_pressed = \
set(self.ir_sensor.buttons(channel=self.ir_beacon_channel))
# forward
if ir_beacon_button_pressed == {Button.LEFT_UP, Button.RIGHT_UP}:
self.driver.drive(
speed=speed,
turn_rate=0)
# backward
elif ir_beacon_button_pressed == {Button.LEFT_DOWN, Button.RIGHT_DOWN}:
self.driver.drive(
speed=-speed,
turn_rate=0)
# turn left on the spot
elif ir_beacon_button_pressed == {Button.LEFT_UP, Button.RIGHT_DOWN}:
self.driver.drive(
speed=0,
turn_rate=-turn_rate)
# turn right on the spot
elif ir_beacon_button_pressed == {Button.RIGHT_UP, Button.LEFT_DOWN}:
self.driver.drive(
speed=0,
turn_rate=turn_rate)
# turn left forward
elif ir_beacon_button_pressed == {Button.LEFT_UP}:
self.driver.drive(
speed=speed,
turn_rate=-turn_rate)
# turn right forward
elif ir_beacon_button_pressed == {Button.RIGHT_UP}:
self.driver.drive(
speed=speed,
turn_rate=turn_rate)
# turn left backward
elif ir_beacon_button_pressed == {Button.LEFT_DOWN}:
self.driver.drive(
speed=-speed,
turn_rate=turn_rate)
# turn right backward
elif ir_beacon_button_pressed == {Button.RIGHT_DOWN}:
self.driver.drive(
speed=-speed,
turn_rate=-turn_rate)
# otherwise stop
else:
self.driver.stop()
official_models/ev3/home/r3ptar/.vscode/launch.json
Vendored
+1 -1
View File
@@ -8,7 +8,7 @@
"name": "Download and Run",
"type": "ev3devBrowser",
"request": "launch",
"program": "/home/robot/${workspaceRootFolderName}/main.py",
"program": "/home/robot/${workspaceRootFolderName}/r3ptar.py",
"interactiveTerminal": false
}
]
official_models/ev3/home/r3ptar/.vscode/settings.json
Vendored
+2 -1
View File
@@ -2,5 +2,6 @@
{
"files.eol": "\n",
"debug.openDebug": "neverOpen",
"python.linting.enabled": false
"editor.rulers": [79],
"python.linting.enabled": true
}
official_models/ev3/home/r3ptar/main.py → official_models/ev3/home/r3ptar/r3ptar.py
+40 -42
View File
@@ -4,8 +4,8 @@
Example LEGO® MINDSTORMS® EV3 R3ptar Program
--------------------------------------------
This program requires LEGO® EV3 MicroPython v2.0.
Download: https://education.lego.com/en-us/support/mindstorms-ev3/python-for-ev3
This program requires LEGO® EV3 MicroPython v2.0 downloadable at:
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
@@ -28,91 +28,89 @@ class R3ptar:
def __init__(
self,
steer_motor_port: Port = Port.A,
drive_motor_port: Port = Port.B,
strike_motor_port: Port = Port.D,
steering_motor_port: Port = Port.A,
driving_motor_port: Port = Port.B,
striking_motor_port: Port = Port.D,
touch_sensor_port: Port = Port.S1,
ir_sensor_port: Port = Port.S4, ir_beacon_channel: int = 1):
ir_sensor_port: Port = Port.S4,
ir_beacon_channel: int = 1):
self.ev3_brick = EV3Brick()
self.steer_motor = Motor(port=steer_motor_port,
positive_direction=Direction.CLOCKWISE)
self.drive_motor = Motor(port=drive_motor_port,
positive_direction=Direction.CLOCKWISE)
self.strike_motor = Motor(port=strike_motor_port,
positive_direction=Direction.CLOCKWISE)
self.steering_motor = Motor(port=steering_motor_port,
positive_direction=Direction.CLOCKWISE)
self.driving_motor = Motor(port=driving_motor_port,
positive_direction=Direction.CLOCKWISE)
self.striking_motor = Motor(port=striking_motor_port,
positive_direction=Direction.CLOCKWISE)
self.touch_sensor = TouchSensor(port=touch_sensor_port)
self.ir_sensor = InfraredSensor(port=ir_sensor_port)
self.ir_beacon_channel = ir_beacon_channel
def drive_by_ir_beacon(self, speed: float = 1000):
ir_beacons_pressed = set(self.ir_sensor.buttons(channel=self.ir_beacon_channel))
def drive_by_ir_beacon(
self,
speed: float = 1000, # mm/s
):
ir_beacons_pressed = \
set(self.ir_sensor.buttons(channel=self.ir_beacon_channel))
if ir_beacons_pressed == {Button.LEFT_UP, Button.RIGHT_UP}:
self.drive_motor.run(speed=speed)
self.driving_motor.run(speed=speed)
elif ir_beacons_pressed == {Button.LEFT_DOWN, Button.RIGHT_DOWN}:
self.drive_motor.run(speed=-speed)
self.driving_motor.run(speed=-speed)
elif ir_beacons_pressed == {Button.LEFT_UP}:
self.steer_motor.run(speed=-500)
self.drive_motor.run(speed=speed)
self.steering_motor.run(speed=-500)
self.driving_motor.run(speed=speed)
elif ir_beacons_pressed == {Button.RIGHT_UP}:
self.steer_motor.run(speed=500)
self.drive_motor.run(speed=speed)
self.steering_motor.run(speed=500)
self.driving_motor.run(speed=speed)
elif ir_beacons_pressed == {Button.LEFT_DOWN}:
self.steer_motor.run(speed=-500)
self.drive_motor.run(speed=-speed)
self.steering_motor.run(speed=-500)
self.driving_motor.run(speed=-speed)
elif ir_beacons_pressed == {Button.RIGHT_DOWN}:
self.steer_motor.run(speed=500)
self.drive_motor.run(speed=-speed)
self.steering_motor.run(speed=500)
self.driving_motor.run(speed=-speed)
else:
self.steer_motor.hold()
self.steering_motor.hold()
self.driving_motor.stop()
self.drive_motor.stop()
def bite_by_ir_beacon(self, speed: float = 1000):
if Button.BEACON in self.ir_sensor.buttons(channel=self.ir_beacon_channel):
self.strike_motor.run_time(
def strike_by_ir_beacon(self, speed: float = 1000):
if Button.BEACON in \
self.ir_sensor.buttons(channel=self.ir_beacon_channel):
self.striking_motor.run_time(
speed=speed,
time=1000,
then=Stop.HOLD,
then=Stop.COAST,
wait=True)
self.strike_motor.run_time(
self.striking_motor.run_time(
speed=-speed,
time=1000,
then=Stop.COAST,
wait=True)
while Button.BEACON in self.ir_sensor.buttons(channel=self.ir_beacon_channel):
while Button.BEACON in \
self.ir_sensor.buttons(channel=self.ir_beacon_channel):
pass
def hiss_if_touched(self):
if self.touch_sensor.pressed():
self.ev3_brick.speaker.play_file(file=SoundFile.SNAKE_HISS)
def main(self, speed: float = 1000):
"""
R3ptar's main program performing various capabilities
"""
while True:
self.drive_by_ir_beacon(speed=speed)
self.bite_by_ir_beacon(speed=speed)
self.strike_by_ir_beacon(speed=speed)
self.hiss_if_touched()
wait(1)
official_models/ev3/home/spik3r/.vscode/launch.json
Vendored
+1 -1
View File
@@ -8,7 +8,7 @@
"name": "Download and Run",
"type": "ev3devBrowser",
"request": "launch",
"program": "/home/robot/${workspaceRootFolderName}/main.py",
"program": "/home/robot/${workspaceRootFolderName}/spik3r.py",
"interactiveTerminal": false
}
]
official_models/ev3/home/spik3r/.vscode/settings.json
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+2 -1
View File
@@ -2,5 +2,6 @@
{
"files.eol": "\n",
"debug.openDebug": "neverOpen",
"python.linting.enabled": false
"editor.rulers": [79],
"python.linting.enabled": true
}
official_models/ev3/home/spik3r/main.py → official_models/ev3/home/spik3r/spik3r.py
+45 -41
View File
@@ -4,8 +4,8 @@
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
This program requires LEGO® EV3 MicroPython v2.0 downloadable at:
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
@@ -25,16 +25,21 @@ class Spik3r:
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):
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.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
@@ -42,13 +47,13 @@ class Spik3r:
self.touch_sensor = TouchSensor(port=touch_sensor_port)
self.color_sensor = ColorSensor(port=color_sensor_port)
def sting_by_ir_beacon(self):
def sting_by_ir_beacon(self, speed: float = 1000):
"""
Spik3r stings with its Lightning Tail when the Beacon button is pressed
(inspiration from LEGO Mindstorms EV3 Home Edition: Spik3r: Tutorial #1)
(inspiration from LEGO Mindstorms EV3 Home Ed.: Spik3r: Tutorial #1)
"""
if Button.BEACON in self.ir_sensor.buttons(channel=self.ir_beacon_channel):
if Button.BEACON in \
self.ir_sensor.buttons(channel=self.ir_beacon_channel):
self.lightning_tail_motor.run_angle(
speed=-750,
rotation_angle=220,
@@ -58,71 +63,70 @@ class Spik3r:
self.ev3_brick.speaker.play_file(file=SoundFile.ERROR_ALARM)
self.lightning_tail_motor.run_time(
speed=-1000,
speed=-speed,
time=1000,
then=Stop.HOLD,
then=Stop.COAST,
wait=True)
self.lightning_tail_motor.run_time(
speed=1000,
speed=speed,
time=1000,
then=Stop.HOLD,
then=Stop.COAST,
wait=True)
while Button.BEACON in self.ir_sensor.buttons(channel=self.ir_beacon_channel):
while Button.BEACON in \
self.ir_sensor.buttons(channel=self.ir_beacon_channel):
pass
def move_by_ir_beacon(self):
def move_by_ir_beacon(self, speed: float = 1000):
"""
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)
(inspiration from LEGO Mindstorms EV3 Home Ed.: Spik3r: Tutorial #2)
"""
ir_buttons_pressed = set(self.ir_sensor.buttons(channel=self.ir_beacon_channel))
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)
self.moving_motor.run(speed=speed)
elif ir_buttons_pressed == {Button.RIGHT_UP}:
self.moving_motor.run(speed=-1000)
self.moving_motor.run(speed=-speed)
else:
self.moving_motor.stop()
def pinch_if_touched(self):
def pinch_if_touched(self, speed: float = 1000):
"""
Spik3r crushes objects with its Claw when the Touch Sensor is pressed
(inspiration from LEGO Mindstorms EV3 Home Edition: Spik3r: Tutorial #3)
(inspiration from LEGO Mindstorms EV3 Home Ed.: Spik3r: Tutorial #3)
"""
if self.touch_sensor.pressed():
self.crushing_claw_motor.run_time(
speed=500,
speed=speed,
time=1000,
then=Stop.HOLD,
then=Stop.COAST,
wait=True)
self.crushing_claw_motor.run_time(
speed=-500,
time=0.3 * 1000,
then=Stop.HOLD,
speed=-speed,
time=1000,
then=Stop.COAST,
wait=True)
def main(self):
def main(self, speed: float = 1000):
"""
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()
self.move_by_ir_beacon(speed=speed)
self.sting_by_ir_beacon(speed=speed)
self.pinch_if_touched(speed=speed)
wait(1)
if __name__ == '__main__':
SPIK3R = Spik3r()
SPIK3R.main()
SPIK3R.main(speed=1000)
official_models/ev3/home/track3r/.vscode/launch.json
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+1 -1
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@@ -8,7 +8,7 @@
"name": "Download and Run",
"type": "ev3devBrowser",
"request": "launch",
"program": "/home/robot/${workspaceRootFolderName}/main.py",
"program": "/home/robot/${workspaceRootFolderName}/track3r_base.py",
"interactiveTerminal": false
}
]
official_models/ev3/home/track3r/.vscode/settings.json
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+2 -1
View File
@@ -2,5 +2,6 @@
{
"files.eol": "\n",
"debug.openDebug": "neverOpen",
"python.linting.enabled": false
"editor.rulers": [79],
"python.linting.enabled": true
}
official_models/ev3/home/track3r/main.py
-259
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@@ -1,259 +0,0 @@
#!/usr/bin/env pybricks-micropython
"""
Example LEGO® MINDSTORMS® EV3 Track3r 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, InfraredSensor
from pybricks.media.ev3dev import ImageFile, SoundFile
from pybricks.robotics import DriveBase
from pybricks.parameters import Button, Direction, Port, Stop
from pybricks.tools import wait
class RemoteControlledTank:
"""
This reusable mixin provides the capability of driving a robot with a Driving Base by the IR beacon
"""
def __init__(
self,
wheel_diameter: float, axle_track: float, # both in milimeters
left_motor_port: Port = Port.B, right_motor_port: Port = Port.C,
ir_sensor_port: Port = Port.S4, ir_beacon_channel: int = 1):
self.driver = DriveBase(left_motor=Motor(port=left_motor_port,
positive_direction=Direction.CLOCKWISE),
right_motor=Motor(port=right_motor_port,
positive_direction=Direction.CLOCKWISE),
wheel_diameter=wheel_diameter,
axle_track=axle_track)
self.ir_sensor = InfraredSensor(port=ir_sensor_port)
self.ir_beacon_channel = ir_beacon_channel
def drive_by_ir_beacon(
self,
speed: float = 1000, # mm/s
turn_rate: float = 90 # rotational speed deg/s
):
ir_beacon_button_pressed = set(self.ir_sensor.buttons(channel=self.ir_beacon_channel))
# forward
if ir_beacon_button_pressed == {Button.LEFT_UP, Button.RIGHT_UP}:
self.driver.drive(
speed=speed,
turn_rate=0)
# backward
elif ir_beacon_button_pressed == {Button.LEFT_DOWN, Button.RIGHT_DOWN}:
self.driver.drive(
speed=-speed,
turn_rate=0)
# turn left on the spot
elif ir_beacon_button_pressed == {Button.LEFT_UP, Button.RIGHT_DOWN}:
self.driver.drive(
speed=0,
turn_rate=-turn_rate)
# turn right on the spot
elif ir_beacon_button_pressed == {Button.RIGHT_UP, Button.LEFT_DOWN}:
self.driver.drive(
speed=0,
turn_rate=turn_rate)
# turn left forward
elif ir_beacon_button_pressed == {Button.LEFT_UP}:
self.driver.drive(
speed=speed,
turn_rate=-turn_rate)
# turn right forward
elif ir_beacon_button_pressed == {Button.RIGHT_UP}:
self.driver.drive(
speed=speed,
turn_rate=turn_rate)
# turn left backward
elif ir_beacon_button_pressed == {Button.LEFT_DOWN}:
self.driver.drive(
speed=-speed,
turn_rate=turn_rate)
# turn right backward
elif ir_beacon_button_pressed == {Button.RIGHT_DOWN}:
self.driver.drive(
speed=-speed,
turn_rate=-turn_rate)
# otherwise stop
else:
self.driver.stop()
class Track3r(RemoteControlledTank):
WHEEL_DIAMETER = 26 # milimeters
AXLE_TRACK = 140 # milimeters
def __init__(
self,
left_track_motor_port: Port = Port.B, right_track_motor_port: Port = Port.C,
medium_motor_port: Port = Port.A,
ir_sensor_port: Port = Port.S4, ir_beacon_channel: int = 1):
super().__init__(
wheel_diameter=self.WHEEL_DIAMETER, axle_track=self.AXLE_TRACK,
left_motor_port=left_track_motor_port, right_motor_port=right_track_motor_port,
ir_sensor_port=ir_sensor_port, ir_beacon_channel=ir_beacon_channel)
self.ev3_brick = EV3Brick()
self.medium_motor = Motor(port=medium_motor_port,
positive_direction=Direction.CLOCKWISE)
def main(self):
"""
Driving Track3r around by the IR beacon
"""
while True:
self.drive_by_ir_beacon(speed=1000)
wait(1)
class Track3rWithBlastingBazooka(Track3r):
"""
Track3r blasts his bazooka when the Beacon button is pressed
(inspiration from LEGO Mindstorms EV3 Home Edition: Track3r: Tutorial #2)
"""
def blast_bazooka_by_ir_beacon(
self,
speed: float = 1000 # degrees per second
):
if Button.BEACON in self.ir_sensor.buttons(channel=self.ir_beacon_channel):
self.medium_motor.run_angle(
speed=speed,
rotation_angle=3 * 360, # about 3 rotations for 1 shot
then=Stop.HOLD,
wait=True)
self.ev3_brick.speaker.play_file(file=SoundFile.LAUGHING_1)
while Button.BEACON in self.ir_sensor.buttons(channel=self.ir_beacon_channel):
pass
def main(self):
self.ev3_brick.screen.load_image(ImageFile.PINCHED_MIDDLE)
while True:
self.drive_by_ir_beacon()
self.blast_bazooka_by_ir_beacon()
wait(1)
class Track3rWithGrippingClaw(Track3r):
"""
Track3r grips or releases its claw when the Beacon button is pressed
(inspiration from LEGO Mindstorms EV3 Home Edition: Track3r: Tutorial #3)
"""
is_gripping = False
def grip_or_release_claw_by_ir_beacon(
self,
speed: float = 1000 # degrees per second
):
if Button.BEACON in self.ir_sensor.buttons(channel=self.ir_beacon_channel):
if self.is_gripping:
self.medium_motor.run(speed=-speed)
self.ev3_brick.speaker.play_file(file=SoundFile.AIR_RELEASE)
self.is_gripping = False
else:
self.medium_motor.run(speed=speed)
self.ev3_brick.speaker.play_file(file=SoundFile.AIRBRAKE)
self.is_gripping = True
while Button.BEACON in self.ir_sensor.buttons(channel=self.ir_beacon_channel):
pass
def main(self):
while True:
self.drive_by_ir_beacon()
self.grip_or_release_claw_by_ir_beacon()
wait(1)
class Track3rWithHeavyHammer(Track3r):
"""
Track3r hammers down when the Beacon button is pressed
(inspiration from LEGO Mindstorms EV3 Home Edition: Track3r: Tutorial #4)
"""
def hammer_by_ir_beacon(self):
if Button.BEACON in self.ir_sensor.buttons(channel=self.ir_beacon_channel):
self.ev3_brick.screen.load_image(ImageFile.ANGRY)
self.medium_motor.run_time(
speed=1000,
time=1000,
then=Stop.HOLD,
wait=True)
self.ev3_brick.speaker.play_file(file=SoundFile.LAUGHING_2)
self.medium_motor.run_time(
speed=-1000,
time=1000,
then=Stop.HOLD,
wait=True)
def main(self):
self.medium_motor.run_time(
speed=-200,
time=1000,
then=Stop.HOLD,
wait=True)
while True:
self.drive_by_ir_beacon()
self.hammer_by_ir_beacon()
wait(1)
class Track3rWithBiBladeSpinner(Track3r):
"""
Track3r spins its blade when the Beacon button is pressed
(inspiration from LEGO Mindstorms EV3 Home Edition: Track3r: Tutorial #5)
"""
def spin_blade_by_ir_beacon(
self,
speed: float = 1000 # degrees per second
):
if Button.BEACON in self.ir_sensor.buttons(channel=self.ir_beacon_channel):
self.medium_motor.run(speed=speed)
else:
self.medium_motor.stop()
def main(self):
while True:
self.drive_by_ir_beacon()
self.spin_blade_by_ir_beacon()
wait(1)
if __name__ == '__main__':
TRACK3R = Track3rWithBlastingBazooka()
TRACK3R.main()
official_models/ev3/home/track3r/rc_tank_util.py
+86
View File
@@ -0,0 +1,86 @@
from pybricks.ev3devices import Motor, InfraredSensor
from pybricks.robotics import DriveBase
from pybricks.parameters import Button, Direction, Port
class RemoteControlledTank:
"""
This reusable mixin provides the capability of driving a robot
with a Driving Base by the IR beacon
"""
def __init__(
self,
wheel_diameter: float, axle_track: float, # both in milimeters
left_motor_port: Port = Port.B, right_motor_port: Port = Port.C,
ir_sensor_port: Port = Port.S4, ir_beacon_channel: int = 1):
self.drive_base = \
DriveBase(
left_motor=Motor(port=left_motor_port,
positive_direction=Direction.CLOCKWISE),
right_motor=Motor(port=right_motor_port,
positive_direction=Direction.CLOCKWISE),
wheel_diameter=wheel_diameter,
axle_track=axle_track)
self.ir_sensor = InfraredSensor(port=ir_sensor_port)
self.ir_beacon_channel = ir_beacon_channel
def drive_by_ir_beacon(
self,
speed: float = 1000, # mm/s
turn_rate: float = 90 # rotational speed deg/s
):
ir_beacon_button_pressed = \
set(self.ir_sensor.buttons(channel=self.ir_beacon_channel))
# forward
if ir_beacon_button_pressed == {Button.LEFT_UP, Button.RIGHT_UP}:
self.drive_base.drive(
speed=speed,
turn_rate=0)
# backward
elif ir_beacon_button_pressed == {Button.LEFT_DOWN, Button.RIGHT_DOWN}:
self.drive_base.drive(
speed=-speed,
turn_rate=0)
# turn left on the spot
elif ir_beacon_button_pressed == {Button.LEFT_UP, Button.RIGHT_DOWN}:
self.drive_base.drive(
speed=0,
turn_rate=-turn_rate)
# turn right on the spot
elif ir_beacon_button_pressed == {Button.RIGHT_UP, Button.LEFT_DOWN}:
self.drive_base.drive(
speed=0,
turn_rate=turn_rate)
# turn left forward
elif ir_beacon_button_pressed == {Button.LEFT_UP}:
self.drive_base.drive(
speed=speed,
turn_rate=-turn_rate)
# turn right forward
elif ir_beacon_button_pressed == {Button.RIGHT_UP}:
self.drive_base.drive(
speed=speed,
turn_rate=turn_rate)
# turn left backward
elif ir_beacon_button_pressed == {Button.LEFT_DOWN}:
self.drive_base.drive(
speed=-speed,
turn_rate=turn_rate)
# turn right backward
elif ir_beacon_button_pressed == {Button.RIGHT_DOWN}:
self.drive_base.drive(
speed=-speed,
turn_rate=-turn_rate)
# otherwise stop
else:
self.drive_base.stop()
official_models/ev3/home/track3r/track3r_base.py
+57
View File
@@ -0,0 +1,57 @@
#!/usr/bin/env pybricks-micropython
"""
Example LEGO® MINDSTORMS® EV3 Track3r Program
---------------------------------------------
This program requires LEGO® EV3 MicroPython v2.0 downloadable at:
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
from pybricks.parameters import Direction, Port
from pybricks.tools import wait
from rc_tank_util import RemoteControlledTank
class Track3r(RemoteControlledTank):
WHEEL_DIAMETER = 26 # milimeters
AXLE_TRACK = 140 # milimeters
def __init__(
self,
left_track_motor_port: Port = Port.B,
right_track_motor_port: Port = Port.C,
medium_motor_port: Port = Port.A,
ir_sensor_port: Port = Port.S4,
ir_beacon_channel: int = 1):
super().__init__(
wheel_diameter=self.WHEEL_DIAMETER,
axle_track=self.AXLE_TRACK,
left_motor_port=left_track_motor_port,
right_motor_port=right_track_motor_port,
ir_sensor_port=ir_sensor_port,
ir_beacon_channel=ir_beacon_channel)
self.ev3_brick = EV3Brick()
self.medium_motor = Motor(port=medium_motor_port,
positive_direction=Direction.CLOCKWISE)
def main(self, speed: float = 1000):
"""
Driving Track3r around by the IR beacon
"""
while True:
self.drive_by_ir_beacon(speed=speed)
wait(1)
if __name__ == '__main__':
TRACK3R = Track3r()
TRACK3R.main(speed=1000)
official_models/ev3/home/track3r/track3r_with_biblade_spinner.py
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#!/usr/bin/env pybricks-micropython
"""
Example LEGO® MINDSTORMS® EV3 Track3r Program
---------------------------------------------
This program requires LEGO® EV3 MicroPython v2.0 downloadable at:
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.parameters import Button
from pybricks.tools import wait
from track3r_base import Track3r
class Track3rWithBiBladeSpinner(Track3r):
"""
Track3r spins its blade when the Beacon button is pressed
(inspiration from LEGO Mindstorms EV3 Home Edition: Track3r: Tutorial #5)
"""
def spin_blade_by_ir_beacon(self, speed: float = 1000):
if Button.BEACON in \
self.ir_sensor.buttons(channel=self.ir_beacon_channel):
self.medium_motor.run(speed=speed)
else:
self.medium_motor.stop()
def main(self, speed: float = 1000):
while True:
self.drive_by_ir_beacon(speed=speed)
self.spin_blade_by_ir_beacon(speed=speed)
wait(1)
if __name__ == '__main__':
TRACK3R = Track3rWithBiBladeSpinner()
TRACK3R.main(speed=1000)
official_models/ev3/home/track3r/track3r_with_blasting_bazooka.py
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#!/usr/bin/env pybricks-micropython
"""
Example LEGO® MINDSTORMS® EV3 Track3r Program
---------------------------------------------
This program requires LEGO® EV3 MicroPython v2.0 downloadable at:
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.media.ev3dev import ImageFile, SoundFile
from pybricks.parameters import Button, Stop
from pybricks.tools import wait
from track3r_base import Track3r
class Track3rWithBlastingBazooka(Track3r):
"""
Track3r blasts his bazooka when the Beacon button is pressed
(inspiration from LEGO Mindstorms EV3 Home Edition: Track3r: Tutorial #2)
"""
def blast_bazooka_by_ir_beacon(self, speed: float = 1000):
if Button.BEACON in \
self.ir_sensor.buttons(channel=self.ir_beacon_channel):
self.medium_motor.run_angle(
speed=speed,
rotation_angle=3 * 360, # about 3 rotations for 1 shot
then=Stop.HOLD,
wait=True)
self.ev3_brick.speaker.play_file(file=SoundFile.LAUGHING_1)
while Button.BEACON in \
self.ir_sensor.buttons(channel=self.ir_beacon_channel):
pass
def main(self, speed: float = 1000):
self.ev3_brick.screen.load_image(ImageFile.PINCHED_MIDDLE)
while True:
self.drive_by_ir_beacon(speed=speed)
self.blast_bazooka_by_ir_beacon(speed=speed)
wait(1)
if __name__ == '__main__':
TRACK3R = Track3rWithBlastingBazooka()
TRACK3R.main(speed=1000)
official_models/ev3/home/track3r/track3r_with_gripping_claw.py
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#!/usr/bin/env pybricks-micropython
"""
Example LEGO® MINDSTORMS® EV3 Track3r Program
---------------------------------------------
This program requires LEGO® EV3 MicroPython v2.0 downloadable at:
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.media.ev3dev import SoundFile
from pybricks.parameters import Button
from pybricks.tools import wait
from track3r_base import Track3r
class Track3rWithGrippingClaw(Track3r):
"""
Track3r grips or releases its claw when the Beacon button is pressed
(inspiration from LEGO Mindstorms EV3 Home Edition: Track3r: Tutorial #3)
"""
is_gripping = False
def grip_or_release_claw_by_ir_beacon(self, speed: float = 1000):
if Button.BEACON in \
self.ir_sensor.buttons(channel=self.ir_beacon_channel):
if self.is_gripping:
self.medium_motor.run(speed=-speed)
self.ev3_brick.speaker.play_file(file=SoundFile.AIR_RELEASE)
self.is_gripping = False
else:
self.medium_motor.run(speed=speed)
self.ev3_brick.speaker.play_file(file=SoundFile.AIRBRAKE)
self.is_gripping = True
while Button.BEACON in \
self.ir_sensor.buttons(channel=self.ir_beacon_channel):
pass
def main(self, speed: float = 1000):
while True:
self.drive_by_ir_beacon(speed=speed)
self.grip_or_release_claw_by_ir_beacon(speed=speed)
wait(1)
if __name__ == '__main__':
TRACK3R = Track3rWithGrippingClaw()
TRACK3R.main(speed=1000)
official_models/ev3/home/track3r/track3r_with_heavy_hammer.py
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#!/usr/bin/env pybricks-micropython
"""
Example LEGO® MINDSTORMS® EV3 Track3r Program
---------------------------------------------
This program requires LEGO® EV3 MicroPython v2.0 downloadable at:
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.media.ev3dev import ImageFile, SoundFile
from pybricks.parameters import Button, Stop
from pybricks.tools import wait
from track3r_base import Track3r
class Track3rWithHeavyHammer(Track3r):
"""
Track3r hammers down when the Beacon button is pressed
(inspiration from LEGO Mindstorms EV3 Home Edition: Track3r: Tutorial #4)
"""
def hammer_by_ir_beacon(self, speed: float = 1000):
if Button.BEACON in \
self.ir_sensor.buttons(channel=self.ir_beacon_channel):
self.ev3_brick.screen.load_image(ImageFile.ANGRY)
self.medium_motor.run_time(
speed=speed,
time=1000,
then=Stop.COAST,
wait=True)
self.ev3_brick.speaker.play_file(file=SoundFile.LAUGHING_2)
self.medium_motor.run_time(
speed=-speed,
time=1000,
then=Stop.COAST,
wait=True)
def main(self, speed: float = 1000):
self.medium_motor.run_time(
speed=-200,
time=1000,
then=Stop.COAST,
wait=True)
while True:
self.drive_by_ir_beacon(speed=speed)
self.hammer_by_ir_beacon(speed=speed)
wait(1)
if __name__ == '__main__':
TRACK3R = Track3rWithHeavyHammer()
TRACK3R.main(speed=1000)