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michaelliaomichaelliao
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add rccar
1 parent 0b88c20 commit 7827c77

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‎samples/micropython/rccar/.vscode/extensions.json‎

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{
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// See http://go.microsoft.com/fwlink/?LinkId=827846 to learn about workspace recommendations.
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// Extension identifier format: ${publisher}.${name}. Example: vscode.csharp
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// List of extensions which should be recommended for users of this workspace.
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"recommendations": [
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"lego-education.ev3-micropython"
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],
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// List of extensions recommended by VS Code that should not be recommended for users of this workspace.
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"unwantedRecommendations": [
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"ms-python.python"
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]
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}

‎samples/micropython/rccar/.vscode/launch.json‎

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{
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// Use IntelliSense to learn about possible attributes.
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// Hover to view descriptions of existing attributes.
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// For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
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"version": "0.2.0",
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"configurations": [
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{
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"name": "Download and Run",
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"type": "ev3devBrowser",
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"request": "launch",
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"program": "/home/robot/${workspaceRootFolderName}/main.py"
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}
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]
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}

‎samples/micropython/rccar/.vscode/settings.json‎

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// Place your settings in this file to overwrite default and user settings.
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{
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"files.eol": "\n",
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"debug.openDebug": "neverOpen",
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"python.linting.enabled": false
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}

‎samples/micropython/rccar/devices.py‎

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# list input devices
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class InputDevice():
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def __init__(self):
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self.name = ''
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self.handler = ''
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def __str__(self):
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return '<Input Device: name=%s, handler=%s>' % (self.name, self.handler)
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def setName(self, name):
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if len(name) >= 2 and name.startswith('"') and name.endswith('"'):
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name = name[1:len(name)-1]
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self.name = name
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def setHandler(self, handlers):
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for handler in handlers.split(' '):
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if handler.startswith('event'):
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self.handler = handler
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def listDevices():
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devices = []
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with open('/proc/bus/input/devices', 'r') as f:
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device = None
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while True:
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s = f.readline()
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if s == '':
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break
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s = s.strip()
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if s == '':
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devices.append(device)
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device = None
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else:
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if device is None:
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device = InputDevice()
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if s.startswith('N: Name='):
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device.setName(s[8:])
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elif s.startswith('H: Handlers='):
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device.setHandler(s[12:])
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return devices
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def detectJoystick(joystickNames):
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for device in listDevices():
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for joystickName in joystickNames:
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if joystickName in device.name:
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return '/dev/input/%s' % device.handler
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return None

‎samples/micropython/rccar/main.py‎

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#!/usr/bin/env pybricks-micropython
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import struct, threading
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from pybricks import ev3brick as brick
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from pybricks.ev3devices import (Motor, TouchSensor, ColorSensor, InfraredSensor, UltrasonicSensor, GyroSensor)
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from pybricks.parameters import (Port, Stop, Direction, Button, Color, SoundFile, ImageFile, Align)
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from pybricks.tools import print, wait, StopWatch
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from pybricks.robotics import DriveBase
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from devices import detectJoystick
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class Robot():
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def __init__(self):
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self.motor = Motor(Port.B)
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self.ultrasonic = UltrasonicSensor(Port.S4)
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self.active = True
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self.speed = 0
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self.colors = [None, Color.GREEN, Color.YELLOW, Color.RED]
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def setSpeed(self, acc):
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if acc < 0:
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self.speed = max(-3, self.speed - 1)
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elif acc > 0:
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self.speed = min(3, self.speed + 1)
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else:
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self.speed = 0
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if self.speed != 0:
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self.motor.run(self.speed * 90)
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else:
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self.motor.stop()
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brick.light(self.colors[abs(self.speed)])
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def inactive(self):
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self.active = False
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self.setSpeed(0)
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brick.sound.beep()
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def autoStopLoop(robot):
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while robot.active:
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if robot.speed > 0 and robot.ultrasonic.distance() < 200:
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robot.setSpeed(0)
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wait(100)
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def joystickLoop(robot, eventFile):
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FORMAT = 'llHHI'
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EVENT_SIZE = struct.calcsize(FORMAT)
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with open(eventFile, 'rb') as infile:
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while True:
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event = infile.read(EVENT_SIZE)
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_, _, t, c, v = struct.unpack(FORMAT, event)
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# button A, B:
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if t == 1 and v == 1:
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if c == 305:
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# press A:
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robot.setSpeed(1)
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elif c == 304:
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# press B:
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robot.setSpeed(-1)
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elif c == 307:
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# press X:
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return robot.inactive()
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elif t == 3:
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if c == 1:
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# Left stick & verticle:
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speed = 0
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if v < 32768:
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# up:
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speed = 1
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elif v > 32768:
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# down:
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speed = -1
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robot.setSpeed(speed)
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def buttonLoop(robot):
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while True:
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if not any(brick.buttons()):
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wait(10)
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else:
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if Button.LEFT in brick.buttons():
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robot.setSpeed(-1)
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elif Button.RIGHT in brick.buttons():
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robot.setSpeed(1)
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elif Button.CENTER in brick.buttons():
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robot.setSpeed(0)
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elif Button.UP in brick.buttons():
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return robot.inactive()
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wait(500)
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def main():
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brick.sound.beep()
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joystickEvent = detectJoystick(['Controller'])
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robot = Robot()
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t = threading.Thread(target=autoStopLoop, args=(robot,))
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t.start()
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if joystickEvent:
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joystickLoop(robot, joystickEvent)
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else:
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buttonLoop(robot)
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main()

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