add Kraz3 program (ev3dev1)

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.

robots/KRAZ3/kraz3.py

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+#!/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 multiprocessing import Process
+from random import randint
+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)
+                self.wiggle_motor.wait_while(Motor.STATE_RUNNING)
+
+            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()