sets/ev3/home_bonus: add Dinor3x program

sets/ev3/home_bonus/dinor3x/.gitignore

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+__pycache__/
+*.pyc
+venv/

sets/ev3/home_bonus/dinor3x/.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"
+	]
+}

sets/ev3/home_bonus/dinor3x/.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
+		}
+	]
+}

sets/ev3/home_bonus/dinor3x/.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",
+	"editor.rulers": [79],
+	"python.linting.enabled": true
+}

sets/ev3/home_bonus/dinor3x/README.md

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+# Example LEGO® MINDSTORMS® EV3 Dinor3x 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.
+
+NOTE: please add a Color Sensor to Dinor3x's back or tail. 
+
+Dinor3x works as follows:
+
+- Dinor3x roars when the Beacon button is pressed
+
+- Dinor3x changes its speed when detecting some colors
+    - Red: walk fast
+    - Green: walk normally
+    - White: walk slowly
+
+- Dinor3x walks or turns according to instructions from the IR Beacon
+    - 2 top/up buttons together: walk forward
+    - 2 bottom/down buttons together: walk backward
+    - Top Left / Red Up: turn left on the spot
+    - Top Right / Blue Up: turn right on the spot
+    - Bottom Left / Red Down: stop
+    - Bottom Right / Blue Down: calibrate to make the legs straight

sets/ev3/home_bonus/dinor3x/dinor3x.py

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+from pybricks.hubs import EV3Brick
+from pybricks.ev3devices import Motor, TouchSensor, ColorSensor, InfraredSensor
+from pybricks.media.ev3dev import SoundFile
+from pybricks.parameters import Button, Color, Direction, Port, Stop
+
+
+class Dinor3x:
+    FAST_WALK_SPEED = 800
+    NORMAL_WALK_SPEED = 400
+    SLOW_WALK_SPEED = 200
+
+    def __init__(
+            self,
+            jaw_motor_port: Port = Port.A,
+            left_motor_port: Port = Port.B, right_motor_port: Port = Port.C,
+            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.jaw_motor = Motor(port=jaw_motor_port,
+                               positive_direction=Direction.CLOCKWISE)
+
+        self.left_motor = Motor(port=left_motor_port,
+                                positive_direction=Direction.CLOCKWISE)
+        self.right_motor = Motor(port=right_motor_port,
+                                 positive_direction=Direction.CLOCKWISE)
+
+        self.touch_sensor = TouchSensor(port=touch_sensor_port)
+
+        self.color_sensor = ColorSensor(port=color_sensor_port)
+
+        self.ir_sensor = InfraredSensor(port=ir_sensor_port)
+        self.ir_beacon_channel = ir_beacon_channel
+
+        self.roaring = False
+        self.walk_speed = self.NORMAL_WALK_SPEED
+
+    def roar_by_ir_beacon(self):
+        """
+        Dinor3x roars when the Beacon button is pressed
+        """
+        if Button.BEACON in \
+                self.ir_sensor.buttons(channel=self.ir_beacon_channel):
+            self.roaring = True
+            self.open_mouth()
+            self.roar()
+
+        elif self.roaring:
+            self.roaring = False
+            self.close_mouth()
+
+    def change_speed_by_color(self):
+        """
+        Dinor3x changes its speed when detecting some colors
+        - Red: walk fast
+        - Green: walk normally
+        - White: walk slowly
+        """
+        if self.color_sensor.color() == Color.RED:
+            self.ev3_brick.speaker.say(text='RUN!')
+            self.walk_speed = self.FAST_WALK_SPEED
+            self.walk(speed=self.walk_speed)
+
+        elif self.color_sensor.color() == Color.GREEN:
+            self.ev3_brick.speaker.say(text='Normal')
+            self.walk_speed = self.NORMAL_WALK_SPEED
+            self.walk(speed=self.walk_speed)
+
+        elif self.color_sensor.color() == Color.WHITE:
+            self.ev3_brick.speaker.say(text='slow...')
+            self.walk_speed = self.SLOW_WALK_SPEED
+            self.walk(speed=self.walk_speed)
+
+    def walk_by_ir_beacon(self):
+        """
+        Dinor3x walks or turns according to instructions from the IR Beacon
+        - 2 top/up buttons together: walk forward
+        - 2 bottom/down buttons together: walk backward
+        - Top Left / Red Up: turn left on the spot
+        - Top Right / Blue Up: turn right on the spot
+        - Bottom Left / Red Down: stop
+        - Bottom Right / Blue Down: calibrate to make the legs straight
+        """
+        ir_buttons_pressed = \
+            set(self.ir_sensor.buttons(channel=self.ir_beacon_channel))
+
+        # forward
+        if ir_buttons_pressed == {Button.LEFT_UP, Button.RIGHT_UP}:
+            self.walk(speed=self.walk_speed)
+
+        # backward
+        elif ir_buttons_pressed == {Button.LEFT_DOWN, Button.RIGHT_DOWN}:
+            self.walk(speed=-self.walk_speed)
+
+        # turn left on the spot
+        elif ir_buttons_pressed == {Button.LEFT_UP}:
+            self.turn(speed=self.walk_speed)
+
+        # turn right on the spot
+        elif ir_buttons_pressed == {Button.RIGHT_UP}:
+            self.turn(speed=-self.walk_speed)
+
+        # stop
+        elif ir_buttons_pressed == {Button.LEFT_DOWN}:
+            self.left_motor.hold()
+            self.right_motor.hold()
+
+        # calibrate legs
+        elif ir_buttons_pressed == {Button.RIGHT_DOWN}:
+            self.calibrate_legs()
+
+    def calibrate_legs(self):
+        self.left_motor.run(speed=100)
+        self.right_motor.run(speed=200)
+
+        while self.touch_sensor.pressed():
+            pass
+
+        self.left_motor.hold()
+        self.right_motor.hold()
+
+        self.left_motor.run(speed=400)
+
+        while not self.touch_sensor.pressed():
+            pass
+
+        self.left_motor.hold()
+
+        self.left_motor.run_angle(
+            rotation_angle=-0.2 * 360,
+            speed=500,
+            then=Stop.HOLD,
+            wait=True)
+
+        self.right_motor.run(speed=400)
+
+        while not self.touch_sensor.pressed():
+            pass
+
+        self.right_motor.hold()
+
+        self.right_motor.run_angle(
+            rotation_angle=-0.2 * 360,
+            speed=500,
+            then=Stop.HOLD,
+            wait=True)
+
+        self.left_motor.reset_angle(angle=0)
+        self.right_motor.reset_angle(angle=0)
+
+    def walk(self, speed: float = 400):
+        self.calibrate_legs()
+
+        self.left_motor.run(speed=-speed)
+        self.right_motor.run(speed=-speed)
+
+    def turn(self, speed: float = 400):
+        self.calibrate_legs()
+
+        if speed >= 0:
+            self.left_motor.run_angle(
+                rotation_angle=180,
+                speed=speed,
+                then=Stop.HOLD,
+                wait=True)
+
+        else:
+            self.right_motor.run_angle(
+                rotation_angle=180,
+                speed=-speed,
+                then=Stop.HOLD,
+                wait=True)
+
+        self.left_motor.run(speed=speed)
+        self.right_motor.run(speed=-speed)
+
+    def close_mouth(self):
+        self.jaw_motor.run_time(
+            speed=-200,
+            time=1000,
+            then=Stop.COAST,
+            wait=False)
+
+    def open_mouth(self):
+        self.jaw_motor.run_time(
+            speed=200,
+            time=1000,
+            then=Stop.COAST,
+            wait=False)
+
+    def roar(self):
+        self.ev3_brick.speaker.play_file(file=SoundFile.T_REX_ROAR)
+
+        self.jaw_motor.run_angle(
+            speed=400,
+            rotation_angle=-60,
+            then=Stop.HOLD,
+            wait=True)
+
+        for _ in range(12):
+            self.jaw_motor.run_time(
+                speed=-400,
+                time=0.05 * 1000,
+                then=Stop.HOLD,
+                wait=True)
+
+            self.jaw_motor.run_time(
+                speed=400,
+                time=0.05 * 1000,
+                then=Stop.HOLD,
+                wait=True)
+
+        self.jaw_motor.run_time(
+            speed=200,
+            time=0.5 * 1000,
+            then=Stop.COAST,
+            wait=True)

sets/ev3/home_bonus/dinor3x/main.py

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+#!/usr/bin/env pybricks-micropython
+
+
+from dinor3x import Dinor3x
+
+
+dino = Dinor3x()
+
+dino.close_mouth()
+
+while True:
+    dino.roar_by_ir_beacon()
+    dino.change_speed_by_color()
+    dino.walk_by_ir_beacon()