official_models/ev3/home/r3ptar: add project

official_models/ev3/home/official_models_ev3_home.code-workspace

@@ -3,6 +3,12 @@
         {
             "path": "ev3rstorm"
         },
+        {
+            "path": "r3ptar"
+        },
+        {
+            "path": "spik3r"
+        },
         {
             "path": "track3r"
         }

official_models/ev3/home/r3ptar/.gitignore

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

official_models/ev3/home/r3ptar/.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/r3ptar/.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/r3ptar/.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/r3ptar/main.py

@@ -0,0 +1,122 @@
+#!/usr/bin/env pybricks-micropython
+
+"""
+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
+
+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
+
+
+class R3ptar:
+    """
+    R3ptar can be driven around by the IR Remote Control,
+    strikes when the Beacon button is pressed,
+    and hisses when the Touch Sensor is pressed
+    (inspiration from LEGO Mindstorms EV3 Home Edition: R3ptar: Tutorial #4)
+    """
+
+    def __init__(
+            self,
+            steer_motor_port: Port = Port.A,
+            drive_motor_port: Port = Port.B,
+            strike_motor_port: Port = Port.D,
+            touch_sensor_port: Port = Port.S1,
+            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.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))
+
+        if ir_beacons_pressed == {Button.LEFT_UP, Button.RIGHT_UP}:
+            self.drive_motor.run(speed=speed)
+
+        elif ir_beacons_pressed == {Button.LEFT_DOWN, Button.RIGHT_DOWN}:
+            self.drive_motor.run(speed=-speed)
+
+        elif ir_beacons_pressed == {Button.LEFT_UP}:
+            self.steer_motor.run(speed=-500)
+
+            self.drive_motor.run(speed=speed)
+
+        elif ir_beacons_pressed == {Button.RIGHT_UP}:
+            self.steer_motor.run(speed=500)
+
+            self.drive_motor.run(speed=speed)
+
+        elif ir_beacons_pressed == {Button.LEFT_DOWN}:
+            self.steer_motor.run(speed=-500)
+
+            self.drive_motor.run(speed=-speed)
+
+        elif ir_beacons_pressed == {Button.RIGHT_DOWN}:
+            self.steer_motor.run(speed=500)
+
+            self.drive_motor.run(speed=-speed)
+
+        else:
+            self.steer_motor.hold()
+
+            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(
+                speed=speed,
+                time=1000,
+                then=Stop.HOLD,
+                wait=True)
+
+            self.strike_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):
+                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.hiss_if_touched()
+            wait(1)
+
+
+if __name__ == '__main__':
+    R3PTAR = R3ptar()
+    R3PTAR.main(speed=1000)