From da2f8364b61b99e99638f401dbfc6f7d6691c347 Mon Sep 17 00:00:00 2001 From: Vinh Luong Date: Fri, 21 Aug 2020 20:32:07 -0700 Subject: [PATCH 01/11] add SPIK3R README --- robots/SPIK3R/README.md | 12 ++++++++++++ 1 file changed, 12 insertions(+) create mode 100644 robots/SPIK3R/README.md diff --git a/robots/SPIK3R/README.md b/robots/SPIK3R/README.md new file mode 100644 index 0000000..a71134e --- /dev/null +++ b/robots/SPIK3R/README.md @@ -0,0 +1,12 @@ +# SPIK3R + +> This six-legged creature doesn’t just look like a scorpion, it also acts like one. It turns sharply, snaps with it’s crushing claw, and it’s lightning tail is ready to fire at anyone or anything that gets in its way. + +Control SPIK3R as follows: + +- Make SPIK3R move straight forward by pressing the IR Remote Control's two Up buttons at the same time +- Make SPIK3R turn right by pressing the IR Remote Control's Right Up button +- Make SPIK3R sting by pressing the IR Remote Control's Beacon button +- Make SPIKER pinch by pressing the Touch Sensor (please do connect one to enable this) + +The build instructions may be found at the official LEGO MINDSTROMS site [here](https://www.lego.com/cdn/cs/set/assets/blt7dca5180ea66ea5e/31313_SPIK3R_2016.pdf). From 4b4a8a65a5b5d8540358b31f6fd461e0cc0c2ffa Mon Sep 17 00:00:00 2001 From: Antoni Luong Pham Date: Fri, 21 Aug 2020 22:01:08 -0700 Subject: [PATCH 02/11] add Spik3r program --- robots/SPIK3R/spik3r.py | 93 +++++++++++++++++++++++++++++++++++++++++ 1 file changed, 93 insertions(+) create mode 100644 robots/SPIK3R/spik3r.py diff --git a/robots/SPIK3R/spik3r.py b/robots/SPIK3R/spik3r.py new file mode 100644 index 0000000..f79651c --- /dev/null +++ b/robots/SPIK3R/spik3r.py @@ -0,0 +1,93 @@ +#!/usr/bin/env python3 + + +from ev3dev.ev3 import ( + Motor, LargeMotor, MediumMotor, OUTPUT_A, OUTPUT_B, OUTPUT_D, + TouchSensor, InfraredSensor, RemoteControl, INPUT_1, INPUT_4, + Sound +) + + +class Spik3r: + def __init__( + self, + claw_motor_port: str = OUTPUT_A, + move_motor_port: str = OUTPUT_B, + sting_motor_port: str = OUTPUT_D, + touch_sensor_port: str = INPUT_1, + ir_sensor_port: str = INPUT_4, ir_beacon_channel: int = 1): + self.claw_motor = MediumMotor(address=claw_motor_port) + self.move_motor = LargeMotor(address=move_motor_port) + self.sting_motor = LargeMotor(address=sting_motor_port) + + self.remote_control = RemoteControl(sensor=InfraredSensor(address=ir_sensor_port), + channel=ir_beacon_channel) + + self.touch_sensor = TouchSensor(address=touch_sensor_port) + + self.speaker = Sound() + + + def snap_claw_if_touched(self): + if self.touch_sensor.is_pressed: + self.claw_motor.run_timed( + speed_sp=500, + time_sp=1000, + stop_action=Motor.STOP_ACTION_HOLD) + self.claw_motor.wait_while(Motor.STATE_RUNNING) + + self.claw_motor.run_timed( + speed_sp=-500, + time_sp=300, + stop_action=Motor.STOP_ACTION_HOLD) + self.claw_motor.wait_while(Motor.STATE_RUNNING) + + + def move_by_ir_beacon(self): + if self.remote_control.red_up and self.remote_control.blue_up: + self.move_motor.run_forever(speed_sp=1000) + + elif self.remote_control.blue_up: + self.move_motor.run_forever(speed_sp=-1000) + + else: + self.move_motor.stop(stop_action=Motor.STOP_ACTION_COAST) + + + def sting_by_ir_beacon(self): + if self.remote_control.beacon: + self.sting_motor.run_to_rel_pos( + speed_sp=750, + position=-220, + stop_action=Motor.STOP_ACTION_HOLD) + self.sting_motor.wait_while(Motor.STATE_RUNNING) + + self.speaker.play(wav_file='/home/robot/sound/Blip 3.wav').wait() + + self.sting_motor.run_timed( + speed_sp=-1000, + time_sp=1000, + stop_action=Motor.STOP_ACTION_HOLD) + self.sting_motor.wait_while(Motor.STATE_RUNNING) + + self.sting_motor.run_timed( + speed_sp=1000, + time_sp=1000, + stop_action=Motor.STOP_ACTION_HOLD) + self.sting_motor.wait_while(Motor.STATE_RUNNING) + + while self.remote_control.beacon: + pass + + + def main(self): + while True: + self.snap_claw_if_touched() + self.move_by_ir_beacon() + self.sting_by_ir_beacon() + + +if __name__ == '__main__': + SPIK3R = Spik3r() + + SPIK3R.main() From c5d31d0ba48eb0fa8f9e4ac442b4aacec31a79fb Mon Sep 17 00:00:00 2001 From: Vinh Luong Date: Sun, 23 Aug 2020 10:35:29 -0700 Subject: [PATCH 03/11] add SPIK3R sound 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z2!@|A*rnVkT}?|j_6N6iJl8gvKY=@y$6+P37Q}S|=@-&Es%)stozzLPJ;(}<6a5e& z1}OS!`8CZwXeCc!_(ZY``%Hs14Z1vd4;-!7K?yTns(FR_8W^fo$_MBUnk5ZYl#tc5 z4*4O>k7)odC)&{8kar-N{1eIqVbC9CBB^*f<_Iq*w}V%yrf9r+Jm^4i0nG97`Z#?q zNV4yD?`3y@?z8)AYMU?yRMZ-K89=XIK)|LFsfL-gIG{|^j8`l Date: Sun, 23 Aug 2020 10:59:24 -0700 Subject: [PATCH 04/11] add Gripp3r program --- robots/GRIPP3R/Air release.wav | Bin 0 -> 17324 bytes robots/GRIPP3R/Airbrake.wav | Bin 0 -> 14444 bytes robots/GRIPP3R/gripp3r.py | 73 +++++++++++++++++++++++++++++++++ 3 files changed, 73 insertions(+) create mode 100644 robots/GRIPP3R/Air release.wav create mode 100644 robots/GRIPP3R/Airbrake.wav create mode 100644 robots/GRIPP3R/gripp3r.py diff --git a/robots/GRIPP3R/Air release.wav b/robots/GRIPP3R/Air release.wav new file mode 100644 index 0000000000000000000000000000000000000000..35e3e553e396d1138906b5afb6c02e98c1ccf71a GIT binary patch literal 17324 zcmZ9z1$Y$6_CDM??v{zW0znc865L&aySpy#&f?DEy147&5+D#l++8O!8TamK`zJTw 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+from ev3dev.helper import RemoteControlledTank + +from multiprocessing import Process + + +class Gripp3r(RemoteControlledTank): + def __init__( + self, + grip_motor_port: str = OUTPUT_A, + left_motor_port: str = OUTPUT_B, right_motor_port: str = OUTPUT_C, + touch_sensor_port: str = INPUT_1, + ir_sensor_port: str = INPUT_4, ir_beacon_channel: int = 1): + super().__init__( + left_motor=left_motor_port, right_motor=right_motor_port, + polarity='normal') + + self.grip_motor = MediumMotor(address=grip_motor_port) + + self.touch_sensor = TouchSensor(address=touch_sensor_port) + + self.speaker = Sound() + + + def grip_or_release_by_ir_beacon(self): + while True: + if self.remote.beacon: + if self.touch_sensor.is_pressed: + self.speaker.play(wav_file='Air release.wav') + + self.grip_motor.run_timed( + speed_sp=500, + time_sp=1000, + stop_action=Motor.STOP_ACTION_BRAKE) + self.grip_motor.wait_while(Motor.STATE_RUNNING) + + else: + self.speaker.play(wav_file='Airbrake.wav') + + self.grip_motor.run_forever(speed_sp=-500) + + while not self.touch_sensor.is_pressed: + pass + + self.grip_motor.stop(stop_action=Motor.STOP_ACTION_BRAKE) + + while self.remote.beacon: + pass + + + def main(self): + self.grip_motor.run_timed( + speed_sp=-500, + time_sp=1000, + stop_action=Motor.STOP_ACTION_BRAKE) + self.grip_motor.wait_while(Motor.STATE_RUNNING) + + Process(target=self.grip_or_release_by_ir_beacon, + daemon=True).start() + + super().main() + + +if __name__ == '__main__': + GRIPP3R = Gripp3r() + GRIPP3R.main() From 0b5967aa945f0dad5d52117a4c0911d47e905988 Mon Sep 17 00:00:00 2001 From: Vinh Luong Date: Mon, 31 Aug 2020 20:38:44 -0700 Subject: [PATCH 05/11] remove blank spaces in GRIPP3R & SPIK3R programs --- robots/GRIPP3R/gripp3r.py | 10 ++++------ robots/SPIK3R/spik3r.py | 13 +++++-------- 2 files changed, 9 insertions(+), 14 deletions(-) diff --git a/robots/GRIPP3R/gripp3r.py b/robots/GRIPP3R/gripp3r.py index b56aef4..ac34c98 100644 --- a/robots/GRIPP3R/gripp3r.py +++ b/robots/GRIPP3R/gripp3r.py @@ -2,8 +2,8 @@ from ev3dev.ev3 import ( - Motor, LargeMotor, MediumMotor, OUTPUT_A, OUTPUT_B, OUTPUT_C, - TouchSensor, InfraredSensor, RemoteControl, INPUT_1, INPUT_4, + Motor, MediumMotor, OUTPUT_A, OUTPUT_B, OUTPUT_C, + TouchSensor, INPUT_1, INPUT_4, Sound ) from ev3dev.helper import RemoteControlledTank @@ -28,7 +28,6 @@ def __init__( self.speaker = Sound() - def grip_or_release_by_ir_beacon(self): while True: if self.remote.beacon: @@ -48,13 +47,12 @@ def grip_or_release_by_ir_beacon(self): while not self.touch_sensor.is_pressed: pass - + self.grip_motor.stop(stop_action=Motor.STOP_ACTION_BRAKE) while self.remote.beacon: pass - def main(self): self.grip_motor.run_timed( speed_sp=-500, @@ -66,7 +64,7 @@ def main(self): daemon=True).start() super().main() - + if __name__ == '__main__': GRIPP3R = Gripp3r() diff --git a/robots/SPIK3R/spik3r.py b/robots/SPIK3R/spik3r.py index 42afba6..3d87a43 100644 --- a/robots/SPIK3R/spik3r.py +++ b/robots/SPIK3R/spik3r.py @@ -1,7 +1,7 @@ #!/usr/bin/env python3 -from ev3dev.ev3 import ( +from ev3dev.ev3 import ( Motor, LargeMotor, MediumMotor, OUTPUT_A, OUTPUT_B, OUTPUT_D, TouchSensor, InfraredSensor, RemoteControl, INPUT_1, INPUT_4, Sound @@ -20,14 +20,15 @@ def __init__( self.move_motor = LargeMotor(address=move_motor_port) self.sting_motor = LargeMotor(address=sting_motor_port) - self.remote_control = RemoteControl(sensor=InfraredSensor(address=ir_sensor_port), - channel=ir_beacon_channel) + self.remote_control = \ + RemoteControl( + sensor=InfraredSensor(address=ir_sensor_port), + channel=ir_beacon_channel) self.touch_sensor = TouchSensor(address=touch_sensor_port) self.speaker = Sound() - def snap_claw_if_touched(self): if self.touch_sensor.is_pressed: self.claw_motor.run_timed( @@ -42,7 +43,6 @@ def snap_claw_if_touched(self): stop_action=Motor.STOP_ACTION_HOLD) self.claw_motor.wait_while(Motor.STATE_RUNNING) - def move_by_ir_beacon(self): if self.remote_control.red_up and self.remote_control.blue_up: self.move_motor.run_forever(speed_sp=1000) @@ -53,7 +53,6 @@ def move_by_ir_beacon(self): else: self.move_motor.stop(stop_action=Motor.STOP_ACTION_COAST) - def sting_by_ir_beacon(self): if self.remote_control.beacon: self.sting_motor.run_to_rel_pos( @@ -79,7 +78,6 @@ def sting_by_ir_beacon(self): while self.remote_control.beacon: pass - def main(self): while True: self.snap_claw_if_touched() @@ -89,5 +87,4 @@ def main(self): if __name__ == '__main__': SPIK3R = Spik3r() - SPIK3R.main() From 570982ce34b269aa73bc072e96d8a75251a117d3 Mon Sep 17 00:00:00 2001 From: Vinh Luong Date: Mon, 31 Aug 2020 20:39:23 -0700 Subject: [PATCH 06/11] add README for GRIPP3R --- robots/GRIPP3R/README.md | 10 ++++++++++ 1 file changed, 10 insertions(+) create mode 100644 robots/GRIPP3R/README.md diff --git a/robots/GRIPP3R/README.md b/robots/GRIPP3R/README.md new file mode 100644 index 0000000..5a8ebf1 --- /dev/null +++ b/robots/GRIPP3R/README.md @@ -0,0 +1,10 @@ +# GRIPP3R + +> The GRIPP3R robot is constructed for some heavy-duty lifting. It’s got the muscle to grab and drop a can of soda with its powerful grasping grippers. + +Control GRIPP3R as follows: + +- Make GRIPP3R drive around by the IR Remote Control's blue and red buttons +- Make GRIPP3R grip or release an object by pressing the IR Remote Control's Beacon button + +The build instructions may be found at the official LEGO MINDSTROMS site [here](https://www.lego.com/cdn/cs/set/assets/blt3cf20feda579587c/31313_GRIPP3R_2016.pdf). From 5e90e6e4ec1c8850280aa52fb23f6d1c3e600bf8 Mon Sep 17 00:00:00 2001 From: Antoni Luong Pham Date: Sat, 17 Oct 2020 14:22:12 -0700 Subject: [PATCH 07/11] add Dinor3x program :) --- robots/DINOR3X/README.md | 24 ++++ robots/DINOR3X/T-rex roar.wav | Bin 0 -> 31724 bytes robots/DINOR3X/dinor3x.py | 213 ++++++++++++++++++++++++++++++++++ 3 files changed, 237 insertions(+) create mode 100644 robots/DINOR3X/README.md create mode 100644 robots/DINOR3X/T-rex roar.wav create mode 100755 robots/DINOR3X/dinor3x.py diff --git a/robots/DINOR3X/README.md b/robots/DINOR3X/README.md new file mode 100644 index 0000000..6237870 --- /dev/null +++ b/robots/DINOR3X/README.md @@ -0,0 +1,24 @@ +# DINOR3X + +> Designed by Lasse Stenbæk Lauesen +> +> This charming robotic triceratops dinosaur is capable of walking and turning on all fours. + +The build instructions may be found at the official LEGO MINDSTROMS site [here](https://www.lego.com/cdn/cs/set/assets/bltad10c02978864265/DINOR3X.pdf). + +Please add a Color Sensor to Dinor3x's back or tail. Control DINOR3X as follows: + +- Make DINOR3X roar by pressing the IR Remote Control's Beacon button + +- Make DINOR3X walk or turn 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 + +- Make DINOR3X change its speed when detecting some colors + - Red: walk fast + - Green: walk normally + - White: walk slowly diff --git a/robots/DINOR3X/T-rex roar.wav b/robots/DINOR3X/T-rex roar.wav new file mode 100644 index 0000000000000000000000000000000000000000..5a0346a74945e199d1f1e995e016cda424b534a3 GIT binary patch literal 31724 zcmZU)1y~eo*gih7ov^UM(%mH>C;}p(h>9549mnqOu48w%9uosmM8!Y>>F%y&dzbB) znIC?BUg!M3|8VWj%=SO5#>ZJ76Ezy<_R4EmoBh7FhvY#0UuW(+s*fd|^b|7rPU0S@&1IWuDfz5+tSL+}CzkMM86W#CF|G!H8i|~ur 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zDX1lIIUa@t?0i&DYGN0{;v7%T=1DyBEAjGfWaUTWJaW_@Bpa&m2ja{Bzy;Je!rL7~ QeAtCl56Q%SX|Ox>e^F8t`~Uy| literal 0 HcmV?d00001 diff --git a/robots/DINOR3X/dinor3x.py b/robots/DINOR3X/dinor3x.py new file mode 100755 index 0000000..2579c8a --- /dev/null +++ b/robots/DINOR3X/dinor3x.py @@ -0,0 +1,213 @@ +#!/usr/bin/env python3 + + +from ev3dev.ev3 import ( + Motor, LargeMotor, MediumMotor, OUTPUT_A, OUTPUT_B, OUTPUT_C, + TouchSensor, ColorSensor, InfraredSensor, RemoteControl, + INPUT_1, INPUT_3, INPUT_4, + Sound +) + + +class Dinor3x: + FAST_WALK_SPEED = 800 + NORMAL_WALK_SPEED = 400 + SLOW_WALK_SPEED = 200 + + def __init__( + self, + jaw_motor_port: str = OUTPUT_A, + left_motor_port: str = OUTPUT_B, right_motor_port: str = OUTPUT_C, + touch_sensor_port: str = INPUT_1, color_sensor_port: str = INPUT_3, + ir_sensor_port: str = INPUT_4, ir_beacon_channel: int = 1): + self.jaw_motor = MediumMotor(address=jaw_motor_port) + + self.left_motor = LargeMotor(address=left_motor_port) + self.right_motor = LargeMotor(address=right_motor_port) + + self.touch_sensor = TouchSensor(address=touch_sensor_port) + self.color_sensor = ColorSensor(address=color_sensor_port) + + self.ir_sensor = InfraredSensor(address=ir_sensor_port) + self.remote_control = RemoteControl(sensor=self.ir_sensor, + channel=ir_beacon_channel) + + self.speaker = Sound() + + 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 self.remote_control.beacon: + 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 == ColorSensor.COLOR_RED: + self.speaker.speak(text='RUN!') + self.walk_speed = self.FAST_WALK_SPEED + self.walk(speed=self.walk_speed) + + elif self.color_sensor.color == ColorSensor.COLOR_GREEN: + self.speaker.speak(text='Normal') + self.walk_speed = self.NORMAL_WALK_SPEED + self.walk(speed=self.walk_speed) + + elif self.color_sensor.color == ColorSensor.COLOR_WHITE: + self.speaker.speak(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 + """ + # forward + if self.remote_control.red_up and self.remote_control.blue_up: + self.walk(speed=self.walk_speed) + + # backward + elif self.remote_control.red_down and self.remote_control.blue_down: + self.walk(speed=-self.walk_speed) + + # turn left on the spot + elif self.remote_control.red_up: + self.turn(speed=self.walk_speed) + + # turn right on the spot + elif self.remote_control.blue_up: + self.turn(speed=-self.walk_speed) + + # stop + elif self.remote_control.red_down: + self.left_motor.stop(stop_action=Motor.STOP_ACTION_HOLD) + self.right_motor.stop(stop_action=Motor.STOP_ACTION_HOLD) + + # calibrate legs + elif self.remote_control.blue_down: + self.calibrate_legs() + + def calibrate_legs(self): + self.left_motor.run_forever(speed_sp=100) + self.right_motor.run_forever(speed_sp=200) + + while self.touch_sensor.is_pressed: + pass + + self.left_motor.stop(stop_action=Motor.STOP_ACTION_HOLD) + self.right_motor.stop(stop_action=Motor.STOP_ACTION_HOLD) + + self.left_motor.run_forever(speed_sp=400) + + while not self.touch_sensor.is_pressed: + pass + + self.left_motor.stop(stop_action=Motor.STOP_ACTION_HOLD) + + self.left_motor.run_to_rel_pos( + position_sp=-0.2 * 360, + speed_sp=500, + stop_action=Motor.STOP_ACTION_HOLD) + self.left_motor.wait_while(Motor.STATE_RUNNING) + + self.right_motor.run_forever(speed_sp=400) + + while not self.touch_sensor.is_pressed: + pass + + self.right_motor.stop(stop_action=Motor.STOP_ACTION_HOLD) + + self.right_motor.run_to_rel_pos( + position_sp=-0.2 * 360, + speed_sp=500, + stop_action=Motor.STOP_ACTION_HOLD) + self.right_motor.wait_while(Motor.STATE_RUNNING) + + self.left_motor.reset() + self.right_motor.reset() + + def walk(self, speed: float = 1000): + self.calibrate_legs() + + self.left_motor.run_forever(speed_sp=-speed) + self.right_motor.run_forever(speed_sp=-speed) + + def turn(self, speed: float = 1000): + self.calibrate_legs() + + if speed >= 0: + self.left_motor.run_to_rel_pos( + position_sp=180, + speed_sp=speed, + stop_action=Motor.STOP_ACTION_HOLD) + self.left_motor.wait_while(Motor.STATE_RUNNING) + + else: + self.right_motor.run_to_rel_pos( + position_sp=180, + speed_sp=-speed, + stop_action=Motor.STOP_ACTION_HOLD) + self.right_motor.wait_while(Motor.STATE_RUNNING) + + self.left_motor.run_forever(speed_sp=speed) + self.right_motor.run_forever(speed_sp=-speed) + + def close_mouth(self): + self.jaw_motor.run_timed( + speed_sp=-200, + time_sp=1000, + stop_action=Motor.STOP_ACTION_COAST) + + def open_mouth(self): + self.jaw_motor.run_timed( + speed_sp=200, + time_sp=1000, + stop_action=Motor.STOP_ACTION_COAST) + + def roar(self): + self.speaker.play(wav_file='/home/robot/sound/T-rex roar.wav') + + self.jaw_motor.run_timed( + speed_sp=-200, + time_sp=0.5 * 1000, + stop_action=Motor.STOP_ACTION_COAST) + self.jaw_motor.wait_while(Motor.STATE_RUNNING) + + self.jaw_motor.run_timed( + speed_sp=200, + time_sp=0.5 * 1000, + stop_action=Motor.STOP_ACTION_COAST) + self.jaw_motor.wait_while(Motor.STATE_RUNNING) + + def main(self): + self.close_mouth() + + while True: + self.roar_by_ir_beacon() + self.change_speed_by_color() + self.walk_by_ir_beacon() + + +if __name__ == '__main__': + DINOR3X = Dinor3x() + DINOR3X.main() From 3b0c45ff5a0a004f185998bb81285d6bc428d395 Mon Sep 17 00:00:00 2001 From: Antoni Luong Pham Date: Sat, 17 Oct 2020 15:06:30 -0700 Subject: [PATCH 08/11] add .GitIgnore --- .gitignore | 5 +++++ 1 file changed, 5 insertions(+) create mode 100644 .gitignore diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..af57684 --- /dev/null +++ b/.gitignore @@ -0,0 +1,5 @@ +__pycache__/ +*.pyc + +# Visual Studio Code files +.vscode/ From 5927432e49265ad91ef817aee7fb09d56dbdbabc Mon Sep 17 00:00:00 2001 From: Antoni Luong Pham Date: Sat, 12 Dec 2020 23:59:42 -0800 Subject: [PATCH 09/11] add Kraz3 program (EV3Dev1) --- robots/KRAZ3/README.md | 19 ++++ robots/KRAZ3/kraz3.py | 162 ++++++++++++++++++++++++++++++ robots/KRAZ3/media/Blue.wav | Bin 0 -> 6956 bytes robots/KRAZ3/media/Brown.wav | Bin 0 -> 9260 bytes robots/KRAZ3/media/Crying.wav | Bin 0 -> 23660 bytes robots/KRAZ3/media/Fantastic.wav | Bin 0 -> 15020 bytes robots/KRAZ3/media/Good job.wav | Bin 0 -> 12140 bytes robots/KRAZ3/media/Green.wav | Bin 0 -> 9260 bytes robots/KRAZ3/media/Kung fu.wav | Bin 0 -> 15596 bytes robots/KRAZ3/media/LEGO.wav | Bin 0 -> 11564 bytes robots/KRAZ3/media/MINDSTORMS.wav | Bin 0 -> 16172 bytes robots/KRAZ3/media/Magic wand.wav | Bin 0 -> 32300 bytes robots/KRAZ3/media/Red.wav | Bin 0 -> 6956 bytes robots/KRAZ3/media/Shouting.wav | Bin 0 -> 6956 bytes robots/KRAZ3/media/Smack.wav | Bin 0 -> 2924 bytes robots/KRAZ3/media/Sneezing.wav | Bin 0 -> 7532 bytes robots/KRAZ3/media/Uh-oh.wav | Bin 0 -> 8684 bytes robots/KRAZ3/media/Yellow.wav | Bin 0 -> 8684 bytes robots/KRAZ3/media/Yes.wav | Bin 0 -> 10412 bytes 19 files changed, 181 insertions(+) create mode 100644 robots/KRAZ3/README.md create mode 100644 robots/KRAZ3/kraz3.py create mode 100644 robots/KRAZ3/media/Blue.wav create mode 100644 robots/KRAZ3/media/Brown.wav create mode 100644 robots/KRAZ3/media/Crying.wav create mode 100644 robots/KRAZ3/media/Fantastic.wav create mode 100644 robots/KRAZ3/media/Good job.wav create mode 100644 robots/KRAZ3/media/Green.wav create mode 100644 robots/KRAZ3/media/Kung fu.wav create mode 100644 robots/KRAZ3/media/LEGO.wav create mode 100644 robots/KRAZ3/media/MINDSTORMS.wav create mode 100644 robots/KRAZ3/media/Magic wand.wav create mode 100644 robots/KRAZ3/media/Red.wav create mode 100644 robots/KRAZ3/media/Shouting.wav create mode 100644 robots/KRAZ3/media/Smack.wav create mode 100644 robots/KRAZ3/media/Sneezing.wav create mode 100644 robots/KRAZ3/media/Uh-oh.wav create mode 100644 robots/KRAZ3/media/Yellow.wav create mode 100644 robots/KRAZ3/media/Yes.wav diff --git a/robots/KRAZ3/README.md b/robots/KRAZ3/README.md new file mode 100644 index 0000000..e7c4caa --- /dev/null +++ b/robots/KRAZ3/README.md @@ -0,0 +1,19 @@ +# KRAZ3 + +> Designed by Marc Andre Bazergui +> +> This robot is fun companion with a crazy attitude that reacts to it’s little IR Beacon bug friend. You can control it with the custom program, the IR Beacon, or simply set it to follow it’s little friend around the room. + +The build instructions may be found at the official LEGO MINDSTROMS site [here](https://www.lego.com/cdn/cs/set/assets/blt5fb1f3a1f49f29b7/KRAZ3.pdf) + +Drive Kraz3 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 + +Kraz3 makes a kung-fu move when you press the Touch Sensor or the IR Beacon button. + +Kraz3 reacts in funny ways to different colors. diff --git a/robots/KRAZ3/kraz3.py b/robots/KRAZ3/kraz3.py new file mode 100644 index 0000000..bc8d1de --- /dev/null +++ b/robots/KRAZ3/kraz3.py @@ -0,0 +1,162 @@ +#!/usr/bin/env python3 + + +from ev3dev.ev3 import ( + Motor, MediumMotor, OUTPUT_A, OUTPUT_B, OUTPUT_C, + TouchSensor, ColorSensor, INPUT_1, INPUT_3, + Leds, Sound +) +from ev3dev.helper import RemoteControlledTank + +from random import randint +from multiprocessing import Process +from time import sleep + + +class Kraz3(RemoteControlledTank): + def __init__( + self, + left_motor_port: str = OUTPUT_C, right_motor_port: str = OUTPUT_B, + wiggle_motor_port: str = OUTPUT_A, + touch_sensor_port: str = INPUT_1, + color_sensor_port: str = INPUT_3): + super().__init__( + left_motor=left_motor_port, right_motor=right_motor_port, + polarity='inversed') + + self.wiggle_motor = MediumMotor(address=wiggle_motor_port) + + self.touch_sensor = TouchSensor(address=touch_sensor_port) + + self.color_sensor = ColorSensor(address=color_sensor_port) + + self.leds = Leds() + self.speaker = Sound() + + def kungfu_manoeuvre_if_touched_or_remote_controlled(self): + """ + Kung-Fu manoeuvre via Touch Sensor and Remote Control of head and arms + """ + while True: + if self.touch_sensor.is_pressed: + self.speaker.play(wav_file='media/Kung fu.wav') + + self.wiggle_motor.run_to_rel_pos( + speed_sp=500, + position_sp=360, + stop_action=Motor.STOP_ACTION_HOLD) + + elif self.remote.beacon: + self.wiggle_motor.run_forever(speed_sp=111) + + else: + self.wiggle_motor.stop(stop_action=Motor.STOP_ACTION_HOLD) + + sleep(0.01) + + def keep_reacting_to_colors(self): + while True: + detected_color = self.color_sensor.color + + if detected_color == ColorSensor.COLOR_YELLOW: + self.speaker.play(wav_file='media/Yellow.wav') + + self.wiggle_motor.run_to_rel_pos( + speed_sp=860, + position_sp=-360, + stop_action=Motor.STOP_ACTION_HOLD) + self.wiggle_motor.wait_while(Motor.STATE_RUNNING) + + self.speaker.play(wav_file='media/Uh-oh.wav').wait() + + sleep(0.5) + + self.speaker.play(wav_file='media/Sneezing.wav').wait() + + sleep(0.5) + + elif detected_color == ColorSensor.COLOR_RED: + self.speaker.play(wav_file='media/Shouting.wav').wait() + + for _ in range(randint(1, 6)): + self.speaker.play(wav_file='media/Smack.wav').wait() + + self.leds.set_color( + group=Leds.LEFT, + color=Leds.RED, + pct=1) + self.leds.set_color( + group=Leds.RIGHT, + color=Leds.RED, + pct=1) + + self.wiggle_motor.run_to_rel_pos( + speed_sp=170, + position_sp=360, + stop_action=Motor.STOP_ACTION_HOLD) + self.wiggle_motor.wait_while(Motor.STATE_RUNNING) + + self.speaker.play(wav_file='media/LEGO.wav').wait() + self.speaker.play(wav_file='media/MINDSTORMS.wav').wait() + + self.leds.all_off() + + elif detected_color == ColorSensor.COLOR_BROWN: + self.speaker.play(wav_file='media/Brown.wav').wait() + + sleep(1) + + self.wiggle_motor.run_to_rel_pos( + speed_sp=200, + position_sp=-360, + stop_action=Motor.STOP_ACTION_HOLD) + self.wiggle_motor.wait_while(Motor.STATE_RUNNING) + + self.speaker.play(wav_file='media/Crying.wav').wait() + + elif detected_color == ColorSensor.COLOR_GREEN: + self.speaker.play(wav_file='media/Green.wav').wait() + + self.wiggle_motor.run_to_rel_pos( + speed_sp=400, + position_sp=-360, + stop_action=Motor.STOP_ACTION_HOLD) + self.wiggle_motor.wait_while(Motor.STATE_RUNNING) + + self.speaker.play(wav_file='media/Yes.wav').wait() + + sleep(1) + + elif detected_color == ColorSensor.COLOR_BLUE: + self.speaker.play(wav_file='media/Blue.wav').wait() + + self.speaker.play(wav_file='media/Fantastic.wav').wait() + + self.speaker.play(wav_file='media/Good job.wav') + + self.wiggle_motor.run_to_rel_pos( + speed_sp=750, + position_sp=360, + stop_action=Motor.STOP_ACTION_HOLD) + self.wiggle_motor.wait_while(Motor.STATE_RUNNING) + + self.speaker.play(wav_file='media/Magic wand.wav').wait() + + sleep(0.01) + + def main(self): + Process( + target=self.kungfu_manoeuvre_if_touched_or_remote_controlled, + daemon=True).start() + + Process( + target=self.keep_reacting_to_colors, + daemon=True).start() + + super().main() + + +if __name__ == '__main__': + KRAZ3 = Kraz3() + + KRAZ3.main() diff --git a/robots/KRAZ3/media/Blue.wav 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speed_sp=500, position_sp=360, stop_action=Motor.STOP_ACTION_HOLD) + self.wiggle_motor.wait_while(Motor.STATE_RUNNING) elif self.remote.beacon: self.wiggle_motor.run_forever(speed_sp=111) From 0d802aa2a71a7762ef897e50631439c8e470db2f Mon Sep 17 00:00:00 2001 From: Antoni Luong Pham Date: Sun, 13 Dec 2020 00:59:36 -0800 Subject: [PATCH 11/11] edit Kraz3 program --- robots/KRAZ3/kraz3.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/robots/KRAZ3/kraz3.py b/robots/KRAZ3/kraz3.py index 27d2803..48d5ce6 100644 --- a/robots/KRAZ3/kraz3.py +++ b/robots/KRAZ3/kraz3.py @@ -8,8 +8,8 @@ ) from ev3dev.helper import RemoteControlledTank -from random import randint from multiprocessing import Process +from random import randint from time import sleep