119 lines
3.9 KiB
Python
119 lines
3.9 KiB
Python
# LEGO type:standard slot:5 autostart
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import os, sys
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from spike import PrimeHub, LightMatrix, Button, StatusLight, ForceSensor, MotionSensor, Speaker, ColorSensor, App, DistanceSensor, Motor, MotorPair
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from spike.control import wait_for_seconds, wait_until, Timer
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from hub import battery
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from math import *
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############## Allgemein: Prüfe Batteriezustand ###############################
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if battery.voltage() < 8000: #set threshold for battery level
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print("Spannung der Batterie zu niedrig: " + str(battery.voltage()) + " \n"
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+ "--------------------------------------- \n "
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+ "#### UNBEDINGT ROBOTER AUFLADEN !!! #### \n"
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+ "#### SONST KOMMT MARKUS OPTITZ !!!! #### \n"
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+ "---------------------------------------- \n")
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else:
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print("Spannung der Batterie " + str(battery.voltage()) + "\n")
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################################################################################
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############################## NICHT ÄNDERN ###############################
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def importFile(slotid=0, precompiled=False, module_name='importFile'):
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print("##### START # IMPORTING CODE FROM SLOT "+str(slotid)+" ##############")
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import os, sys
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suffix = ".py"
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if precompiled:
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suffix = ".mpy"
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with open("/projects/.slots","rt") as f:
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slots = eval(str(f.read()))
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print(slots)
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print(os.listdir("/projects/"+str(slots[slotid]["id"])))
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with open("/projects/"+str(slots[slotid]["id"])+"/__init__"+suffix,"rb") as f:
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print("trying to read import program")
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program = f.read()
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print(program)
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try:
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os.remove("/"+module_name+suffix)
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except:
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pass
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with open("/"+module_name+suffix,"w+") as f:
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print("trying to write import program")
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f.write(program)
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if (module_name in sys.modules):
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del sys.modules[module_name]
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#exec("from " + module_name + " import *")
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print("##### END # IMPORTING CODE FROM SLOT "+str(slotid)+" ##############")
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#####################################################################################
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################ Importiere Code aus andere Dateien #################################
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# Importiere Code aus der Datei "iqrobot.py"
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# Dateiname und Modulname sollten gleich sein, dann kann man Code Completion nutzen
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importFile(slotid=6, precompiled=False, module_name="iqrobot")
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import iqrobot as iq
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print(iq.HELLO)
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# Definiere an welchen Ports die Sensoren angeschlossen sind
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COLOR_SENSOR_PORT = 'D'
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LEFT_MOTOR_PORT = 'B'
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RIGHT_MOTOR_PORT = 'F'
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STICK_MOTOR_PORT = ''
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GABEL_MOTOR_PORT = 'E'
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DISTANCE_SENSOR_PORT = ''
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#penStatus = False
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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, STICK_MOTOR_PORT, GABEL_MOTOR_PORT, DISTANCE_SENSOR_PORT)
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# Das Programm
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# Variablen
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penStatus = False # Oben
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# Methoden
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def togglePen():
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global penStatus
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if(penStatus == True):
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iqRobot.moveGabel(20)
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penStatus = False
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if(penStatus == False):
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iqRobot.moveGabel(-20)
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penStatus = True
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def printChar(c):
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global penStatus
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if(c == "L"):
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print("Printing the character L")
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if not(penStatus == "False"):
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print("Toggling pen")
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togglePen()
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iqRobot.driveForward_for_sec(2.0)
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# iqRobot.leftMotor.run_for_degrees(360)
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# iqRobot.rotateRobot(degrees=100, speed=100)
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iqRobot.gyroRotation(angle=90)
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iqRobot.driveForward_for_sec(1.0)
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if(c == "E"):
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print("Printing the character E")
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if(penStatus == True):
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togglePen()
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iqRobot.driveForward_for_sec(0.1)
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togglePen()
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iqRobot.driveForward_for_sec(1.0)
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togglePen()
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if(c == "G"):
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print("Printing the character G")
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if(c == "O"):
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print("Printing the character O")
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wait_for_seconds(5)
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printChar("L")
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printChar("E")
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printChar("G")
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printChar("O")
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