Anpassung auf Brickies Robot
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2 changed files with 43 additions and 19 deletions
56
iqrobot.py
56
iqrobot.py
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@ -11,14 +11,28 @@ damit man dann später auch wieder Code Completion hat bei Nutzung der Variablen
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'''
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class IQRobot:
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def __init__(self, hub: PrimeHub, leftMotorPort: str, rightMotorPort: str, colorSensorPort: str):
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def __init__(self, hub: PrimeHub, colorSensorPort: str, typ: str):
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self.hub: PrimeHub = hub
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self.leftMotor: Motor = Motor(leftMotorPort)
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self.rightMotor: Motor = Motor(rightMotorPort)
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self.movementMotors: MotorPair = MotorPair(leftMotorPort, rightMotorPort)
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self.typ=typ
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if self.typ=="backstein":
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LEFT_MOTOR_PORT = 'F'
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RIGHT_MOTOR_PORT = 'B'
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FRONT_MOTOR_RIGHT_PORT = "E"
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self.frontMotorRight: Motor = Motor(FRONT_MOTOR_RIGHT_PORT)
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elif self.typ=="brickies":
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LEFT_MOTOR_PORT = 'E'
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RIGHT_MOTOR_PORT = 'F'
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FRONT_MOTOR_RIGHT_PORT = "B"
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FRONT_MOTOR_LEFT_PORT = "A"
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self.frontMotorRight: Motor = Motor(FRONT_MOTOR_RIGHT_PORT)
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self.frontMotorLeft: Motor = Motor(FRONT_MOTOR_LEFT_PORT)
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self.bothFrontMotors: MotorPair = MotorPair(FRONT_MOTOR_LEFT_PORT, FRONT_MOTOR_RIGHT_PORT)
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self.leftMotor: Motor = Motor(LEFT_MOTOR_PORT)
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self.rightMotor: Motor = Motor(RIGHT_MOTOR_PORT)
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self.movementMotors: MotorPair = MotorPair(LEFT_MOTOR_PORT, RIGHT_MOTOR_PORT)
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#self.colorSensor: ColorSensor = ColorSensor(colorSensorPort)
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#self.frontMotorLeft: Motor = Motor("C")
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self.frontMotorRight: Motor = Motor("E")
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self.motionSensor: MotionSensor = MotionSensor()
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@ -50,14 +64,20 @@ class IQRobot:
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self.movementMotors.stop()
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def drehe_backstein_robot(self, grad=90):
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radius=9.5
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stift_versatz=2.2
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self.movementMotors.move(-radius - stift_versatz)
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def drehe_robot(self, grad=90):
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if self.typ == "backstein":
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radius=9.5
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stift_versatz=2.2
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if self.typ == "brickies":
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radius=11.5
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stift_versatz=0.5
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self.fahre_gerade(-radius - stift_versatz)
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self.drehe(grad)
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self.movementMotors.move(radius - stift_versatz)
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self.fahre_gerade(radius - stift_versatz)
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def fahre_gerade(self, cm):
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if self.typ == "brickies":
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cm = -cm
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self.movementMotors.move(cm)
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def buchstabe_zu_segmenten(self, buchstabe):
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@ -72,23 +92,26 @@ class IQRobot:
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def bewege_stift(self, richtung):
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self.frontMotorRight.run_for_rotations(richtung*0.4)
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if self.typ == "backstein":
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self.frontMotorRight.run_for_rotations(richtung*0.4)
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if self.typ == "brickies":
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self.bothFrontMotors.move(-richtung*0.2, unit='rotations')
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def schreibe_buchstabe(self, buchstabe):
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print("Schreibe " + buchstabe)
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segmente = self.buchstabe_zu_segmenten(buchstabe)
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grad_drehung=-90
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self.fahre_gerade(2)
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self.drehe_backstein_robot(-grad_drehung) # drehe rechts
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for segment, segment_nummer in enumerate(segmente):
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self.drehe_robot(-grad_drehung) # drehe rechts
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for segment_nummer, segment in enumerate(segmente):
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print("Segment: " + str(segment) + " , Segment Nummer: " + str(segment_nummer))
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if segment==1:
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self.bewege_stift(-1)
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self.bewege_stift(1) # Stift runter
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self.fahre_gerade(5)
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if segment==1:
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self.bewege_stift(1)
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self.bewege_stift(-1) # Stift hoch
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if segment_nummer != 2 and segment_nummer != 6:
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self.drehe_backstein_robot(grad_drehung) # drehe links
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self.drehe_robot(grad_drehung) # drehe links
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def schreibeL(self, schreibe=True, zurueck=False):
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@ -137,6 +160,7 @@ class IQRobot:
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def schreibeLego(self):
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#self.schreibeL()
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#self.schreibeL(schreibe=False, zurueck=True)
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self.movementMotors.set_default_speed(10)
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self.schreibe_buchstabe("L")
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self.schreibe_buchstabe("E")
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self.schreibe_buchstabe("G")
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6
main.py
6
main.py
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@ -73,18 +73,18 @@ dh auch an die Funktionen im importierten Code übergeben werde
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# Definiere an welchen Ports die Sensoren angeschlossen sind
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COLOR_SENSOR_PORT = 'E' #not implemented yet
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LEFT_MOTOR_PORT = 'F'
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RIGHT_MOTOR_PORT = 'B'
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# Initialisieren des Hubs, der Aktoren und Sensoren
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hub = PrimeHub()
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# Initialisiere Robot Klasse mit unseren Funktionen
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iqRobot: iq.IQRobot = iq.IQRobot(hub, LEFT_MOTOR_PORT, RIGHT_MOTOR_PORT, COLOR_SENSOR_PORT)
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iqRobot: iq.IQRobot = iq.IQRobot(hub, COLOR_SENSOR_PORT, typ="brickies")
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# Führe Funktionen aus unser Robot Klasse aus:
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iqRobot.show('HAPPY')
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iqRobot.schreibeLego()
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#iqRobot.schreibeL()
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