official_models/ev3/home/track3r: add project

official_models/ev3/home/official_models_ev3_home.code-workspace

@@ -2,6 +2,9 @@
     "folders": [
         {
             "path": "ev3rstorm"
+        },
+        {
+            "path": "track3r"
         }
     ],
     "settings": {

official_models/ev3/home/track3r/.gitignore

@@ -0,0 +1,3 @@
+__pycache__/
+*.pyc
+venv/

official_models/ev3/home/track3r/.vscode/extensions.json

@@ -0,0 +1,13 @@
+{
+	// 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/track3r/.vscode/launch.json

@@ -0,0 +1,15 @@
+{
+	// 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/track3r/.vscode/settings.json

@@ -0,0 +1,6 @@
+// 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/track3r/main.py

@@ -0,0 +1,259 @@
+#!/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()