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bobb3e.py
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209 lines (159 loc) · 6.56 KB
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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.console import Console
from ev3dev2.sound import Sound
from threading import Thread
from time import sleep
class Bobb3e:
def __init__(
self,
left_motor_port: str = OUTPUT_B, right_motor_port: str = OUTPUT_C,
lift_motor_port: str = OUTPUT_A,
ir_sensor_port: str = INPUT_4, ir_beacon_channel: int = 1):
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.tank_driver.left_motor.polarity = \
self.tank_driver.right_motor.polarity = \
self.steer_driver.left_motor.polarity = \
self.steer_driver.right_motor.polarity = Motor.POLARITY_INVERSED
self.lift_motor = MediumMotor(address=lift_motor_port)
self.ir_sensor = InfraredSensor(address=ir_sensor_port)
self.ir_beacon_channel = ir_beacon_channel
self.console = Console()
self.speaker = Sound()
self.reversing = False
def drive_or_operate_forks_by_ir_beacon(self, driving_speed: float = 100):
"""
Read the commands from the remote control and convert them into actions
such as go forward, lift and turn.
"""
while True:
# lower the forks
if self.ir_sensor.top_left(
channel=self.ir_beacon_channel) and \
self.ir_sensor.bottom_left(
channel=self.ir_beacon_channel):
self.reversing = False
self.tank_driver.off(brake=True)
self.lift_motor.on(
speed=10,
brake=False,
block=False)
# raise the forks
elif self.ir_sensor.top_right(
channel=self.ir_beacon_channel) and \
self.ir_sensor.bottom_right(
channel=self.ir_beacon_channel):
self.reversing = False
self.tank_driver.off(brake=True)
self.lift_motor.on(
speed=-10,
brake=False,
block=False)
# forward
elif self.ir_sensor.top_left(
channel=self.ir_beacon_channel) and \
self.ir_sensor.top_right(
channel=self.ir_beacon_channel):
self.reversing = False
self.tank_driver.on(
left_speed=driving_speed,
right_speed=driving_speed)
self.lift_motor.off(brake=True)
# backward
elif self.ir_sensor.bottom_left(
channel=self.ir_beacon_channel) and \
self.ir_sensor.bottom_right(
channel=self.ir_beacon_channel):
self.reversing = True
self.tank_driver.on(
left_speed=-driving_speed,
right_speed=-driving_speed)
self.lift_motor.off(brake=True)
# turn left on the spot
elif self.ir_sensor.top_left(
channel=self.ir_beacon_channel) and \
self.ir_sensor.bottom_right(
channel=self.ir_beacon_channel):
self.reversing = False
self.steer_driver.on(
steering=-100,
speed=driving_speed)
self.lift_motor.off(brake=True)
# turn right on the spot
elif self.ir_sensor.top_right(
channel=self.ir_beacon_channel) and \
self.ir_sensor.bottom_left(
channel=self.ir_beacon_channel):
self.reversing = False
self.steer_driver.on(
steering=100,
speed=driving_speed)
self.lift_motor.off(brake=True)
# turn left forward
elif self.ir_sensor.top_left(channel=self.ir_beacon_channel):
self.reversing = False
self.steer_driver.on(
steering=-50,
speed=driving_speed)
self.lift_motor.off(brake=True)
# turn right forward
elif self.ir_sensor.top_right(channel=self.ir_beacon_channel):
self.reversing = False
self.steer_driver.on(
steering=50,
speed=driving_speed)
self.lift_motor.off(brake=True)
# turn left backward
elif self.ir_sensor.bottom_left(channel=self.ir_beacon_channel):
self.reversing = True
self.tank_driver.on(
left_speed=0,
right_speed=-driving_speed)
self.lift_motor.off(brake=True)
# turn right backward
elif self.ir_sensor.bottom_right(channel=self.ir_beacon_channel):
self.reversing = True
self.tank_driver.on(
left_speed=-driving_speed,
right_speed=0)
self.lift_motor.off(brake=True)
# otherwise stop
else:
self.reversing = False
self.tank_driver.off(brake=True)
self.lift_motor.off(brake=True)
sleep(0.01)
def sound_alarm_whenever_reversing(self):
while True:
if self.reversing:
self.speaker.play_file(
wav_file='/home/robot/sound/Backing alert.wav',
volume=100,
play_type=Sound.PLAY_WAIT_FOR_COMPLETE)
sleep(0.01)
def main(self, driving_speed: float = 100):
self.console.text_at(
text='BOBB3E',
column=3,
row=2,
reset_console=False,
inverse=False,
alignment='L')
Thread(target=self.sound_alarm_whenever_reversing).start()
self.drive_or_operate_forks_by_ir_beacon(driving_speed=driving_speed)
if __name__ == '__main__':
BOBB3E = Bobb3e()
BOBB3E.main()