add Rac3 Truck (EV3Dev2) program

robots/RAC3_TRUCK/README.md

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+# RAC3 TRUCK
+
+> Designed by Laurens Valk.
+>
+> Want a remote controlled truck? Got it! This is one fun cool ride. You can modify the truck to make it go faster by adding gears, and you can add a custom-built trailer so the truck can be used as a transport vehicle.
+
+The build instructions may be found at the official LEGO MINDSTROMS site [here](https://www.lego.com/cdn/cs/set/assets/blt8d8677b8321b803e/RAC3_TRUCK.pdf)
+
+Drive RAC3 TRUCK around according to instructions from Channel 1 of the IR Remote Control:
+    - 2 Top/Up Buttons together: drive forward
+    - 2 Bottom/Down Buttons together: drive backward
+    - Top-Left/Red-Up: turn left forward
+    - Top-Right/Blue-Up: turn right forward
+    - Bottom-Left/Red-Down: turn left backward
+    - Bottom-Right/Blue-Down: turn right backward

robots/RAC3_TRUCK/rac3_truck.py

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+#!/usr/bin/env micropython
+
+
+from ev3dev2.motor import \
+    Motor, LargeMotor, MediumMotor, MoveTank, MoveSteering, \
+    OUTPUT_A, OUTPUT_B, OUTPUT_C
+from ev3dev2.sensor import INPUT_4
+from ev3dev2.sensor.lego import InfraredSensor
+from ev3dev2.sound import Sound
+
+from time import sleep
+
+
+class Rac3Truck:
+    def __init__(
+            self,
+            left_motor_port: str = OUTPUT_B, right_motor_port: str = OUTPUT_C,
+            polarity: str = Motor.POLARITY_INVERSED,
+            steer_motor_port: str = OUTPUT_A,
+            ir_sensor_port: str = INPUT_4, ir_beacon_channel: int = 1,
+            fast=False):
+        self.tank_driver = MoveTank(left_motor_port=left_motor_port,
+                                    right_motor_port=right_motor_port,
+                                    motor_class=LargeMotor)
+        self.steer_driver = MoveSteering(left_motor_port=left_motor_port,
+                                         right_motor_port=right_motor_port,
+                                         motor_class=LargeMotor)
+
+        self.steer_motor = MediumMotor(address=steer_motor_port)
+
+        self.tank_driver.left_motor.polarity = \
+            self.tank_driver.right_motor.polarity = \
+            self.steer_driver.left_motor.polarity = \
+            self.steer_driver.right_motor.polarity = polarity
+
+        self.ir_sensor = InfraredSensor(address=ir_sensor_port)
+        self.ir_beacon_channel = ir_beacon_channel
+
+        self.speaker = Sound()
+
+    def reset(self):
+        self.steer_motor.on(
+            speed=30,
+            brake=False,
+            block=False)
+        sleep(1.5)
+
+        self.steer_motor.on_for_degrees(
+            speed=-50,
+            degrees=120,
+            brake=True,
+            block=True)
+
+        self.steer_motor.reset()
+
+    def steer_left(self):
+        if self.steer_motor.position > -65:
+            self.steer_motor.on_to_position(
+                speed=-20,
+                position=-65,
+                brake=True,
+                block=True)
+
+        else:
+            self.steer_motor.off(brake=True)
+
+    def steer_right(self):
+        if self.steer_motor.position < 65:
+            self.steer_motor.on_to_position(
+                speed=20,
+                position=65,
+                brake=True,
+                block=True)
+
+        else:
+            self.steer_motor.off(brake=True)
+
+    def steer_center(self):
+        if self.steer_motor.position < -7:
+            self.steer_motor.on_to_position(
+                speed=20,
+                position=4,
+                brake=True,
+                block=True)
+
+        elif self.steer_motor.position > 7:
+            self.steer_motor.on_to_position(
+                speed=-20,
+                position=-4,
+                brake=True,
+                block=True)
+
+        self.steer_motor.off(brake=True)
+
+        sleep(0.1)
+
+    def drive_by_ir_beacon(self):
+        # forward
+        if self.ir_sensor.top_left(channel=self.ir_beacon_channel) and \
+                self.ir_sensor.top_right(channel=self.ir_beacon_channel):
+            self.tank_driver.on(
+                left_speed=80,
+                right_speed=80)
+
+            self.steer_center()
+
+        # backward
+        elif self.ir_sensor.bottom_left(channel=self.ir_beacon_channel) and \
+                self.ir_sensor.bottom_right(channel=self.ir_beacon_channel):
+            self.tank_driver.on(
+                left_speed=-80,
+                right_speed=-80)
+
+            self.steer_center()
+
+        # turn left forward
+        elif self.ir_sensor.top_left(channel=self.ir_beacon_channel):
+            self.tank_driver.on(
+                left_speed=60,
+                right_speed=100)
+
+            self.steer_left()
+
+        # turn right forward
+        elif self.ir_sensor.top_right(channel=self.ir_beacon_channel):
+            self.tank_driver.on(
+                left_speed=100,
+                right_speed=60)
+
+            self.steer_right()
+
+        # turn left backward
+        elif self.ir_sensor.bottom_left(channel=self.ir_beacon_channel):
+            self.tank_driver.on(
+                left_speed=-60,
+                right_speed=-100)
+
+            self.steer_left()
+
+        # turn right backward
+        elif self.ir_sensor.bottom_right(channel=self.ir_beacon_channel):
+            self.tank_driver.on(
+                left_speed=-100,
+                right_speed=-60)
+
+            self.steer_right()
+
+        # otherwise stop
+        else:
+            self.tank_driver.off(brake=False)
+
+            self.steer_center()
+
+    def main(self):
+        self.reset()
+        sleep(1)
+
+        while True:
+            self.drive_by_ir_beacon()
+            sleep(0.01)
+
+
+if __name__ == '__main__':
+    RAC3_TRUCK = Rac3Truck()
+    RAC3_TRUCK.main()