Bia caldo

99droid/.gitignore

@@ -0,0 +1,3 @@
+__pycache__/
+*.pyc
+.venv/

99droid/.vscode/extensions.json

@@ -0,0 +1,13 @@
+{
+	// See http://go.microsoft.com/fwlink/?LinkId=827846 to learn about workspace recommendations.
+	// Extension identifier format: ${publisher}.${name}. Example: vscode.csharp
+
+	// List of extensions which should be recommended for users of this workspace.
+	"recommendations": [
+		"lego-education.ev3-micropython"
+	],
+	// List of extensions recommended by VS Code that should not be recommended for users of this workspace.
+	"unwantedRecommendations": [
+		"ms-python.python"
+	]
+}

99droid/.vscode/launch.json

@@ -0,0 +1,15 @@
+{
+	// Use IntelliSense to learn about possible attributes.
+	// Hover to view descriptions of existing attributes.
+	// For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
+	"version": "0.2.0",
+	"configurations": [
+		{
+			"name": "Download and Run",
+			"type": "ev3devBrowser",
+			"request": "launch",
+			"program": "/home/robot/${workspaceRootFolderName}/main.py",
+			"interactiveTerminal": false
+		}
+	]
+}

99droid/.vscode/settings.json

@@ -0,0 +1,7 @@
+// Place your settings in this file to overwrite default and user settings.
+{
+	"files.eol": "\n",
+	"debug.openDebug": "neverOpen",
+	"python.linting.enabled": false,
+	"python.languageServer": "None"
+}

99droid/main.py

@@ -0,0 +1,42 @@
+#!/usr/bin/env pybricks-micropython
+from pybricks.hubs import EV3Brick
+from pybricks.ev3devices import (InfraredSensor, UltrasonicSensor)
+from pybricks.parameters import Stop, Direction, Button
+from pybricks.tools import wait, StopWatch, DataLog
+#from pybricks.media.ev3dev import SoundFile, ImageFile
+
+from modules.motors import *
+from modules.colors import *
+from modules.detect import *
+from modules.path import *
+from modules.claw import *
+
+#Declaração de variáveis globais e objetos
+
+#----------------------------------------------------------------------------------------------------------------------------------
+
+#Programa principal (minúsuclo pq é o programa principal lmfao)
+#close_claw()
+motors.settings(150, 300, 100, 1000)
+go_to_passengers()
+while total_of_passengers < 4 :
+    pick_passenger()
+    drop_passenger()
+    # time_open_claw += 500
+# print(sensor_color_right.rgb())
+# close_claw()
+# open_claw()
+# while True :
+#    print(sensor_color_right.rgb())
+
+#while True:
+ #   print(distance_front())
+  #  if (distance_front() > 200) : 
+   #     passenger_size = 15
+    #    print("É O JÚLIO!")
+    #else :
+     #   passenger_size = 10
+      #  print("É A JESS!")
+    #wait(5000)
+
+# finish()

99droid/modules/claw.py

@@ -0,0 +1,20 @@
+from pybricks.parameters import Port, Stop
+from pybricks.ev3devices import Motor
+from pybricks.tools import  StopWatch
+from pybricks.parameters import Stop
+
+motor_claw = Motor(Port.D)
+
+time_open_claw = 2500
+stopwatch = StopWatch() 
+
+def open_claw():
+    global time_open_claw
+    motor_claw.run_time(600, time_open_claw, Stop.HOLD, True)
+    motor_claw.hold()
+
+def close_claw() : 
+    global time_open_claw
+    motor_claw.run_time(-600, time_open_claw, Stop.HOLD, True)
+    motor_claw.hold()
+

99droid/modules/colors.py

@@ -0,0 +1,52 @@
+from pybricks.parameters import  Color
+from pybricks.parameters import Port
+from pybricks.ev3devices import ColorSensor
+
+sensor_color_left = ColorSensor(Port.S1) 
+sensor_color_right = ColorSensor(Port.S2) 
+
+def calibration(sensor):
+    print(sensor.rgb())
+
+#Declaration of RGB values of color sensors
+#left
+
+def red_left() :
+    return sensor_color_left.rgb()[0]
+
+def green_left() :
+    return sensor_color_left.rgb()[1]
+
+def blue_left() :
+    return sensor_color_left.rgb()[2]
+
+#right
+
+def red_right() :
+    return sensor_color_right.rgb()[0]
+
+def green_right() :
+    return sensor_color_right.rgb()[1]
+
+def blue_right() :
+    return sensor_color_right.rgb()[2]
+
+#Declaration of detected colors
+
+def saw_black_left() :
+    return red_left() < 18 and green_left() < 18 and blue_left() < 18
+
+def saw_black_right() :
+    return red_right() < 18 and green_right() < 18 and blue_right() < 18
+
+def saw_red_left() :
+    return red_left() > (green_left() + blue_left())
+
+def saw_red_right() :
+    return red_right() > (green_right() + blue_right())
+
+def saw_blue_left() :
+    return blue_left() > (red_left() + green_left())
+
+def saw_blue_right() :
+    return blue_right() > (red_right() + green_right())

99droid/modules/detect.py

@@ -0,0 +1,6 @@
+from pybricks.ev3devices import (ColorSensor, UltrasonicSensor)
+from pybricks.parameters import Port
+
+
+color_front_sensor = ColorSensor(Port.S4) 
+color_over_sensor = ColorSensor(Port.S3) #cima

99droid/modules/motors.py

@@ -0,0 +1,63 @@
+from pybricks.ev3devices import Motor
+from pybricks.parameters import Port
+from pybricks.robotics import DriveBase
+from pybricks.tools import wait
+
+
+motor_left = Motor(Port.A) 
+motor_right = Motor(Port.B)
+
+
+motors = DriveBase(motor_left, motor_right, wheel_diameter = 42.1, axle_track = 115.3)
+
+def move_forward(velocity):
+    motors.drive(velocity, 0)
+
+def move_forward_cm(mm) :
+    motors.straight(mm*10)
+
+def move_backward(velocity):
+    motors.drive(-velocity, 0)
+
+def move_backward_cm(mm) :
+    motors.straight(-mm*10)
+
+def move_right(velocity):
+    motors.drive(0, velocity)
+
+def turn_right(angle):
+    motors.turn(angle)
+
+def move_left(velocity):
+    motors.drive(0, -velocity)
+
+def turn_left(angle):
+    motors.turn(-angle)
+
+def turn_90_left():
+    motors.turn(-90)
+
+def turn_90_right():
+    motors.turn(90)
+
+def turn_90_left_and_move_distance(distance):
+    motors.straight(distance)
+    motors.turn(-90)
+    stop()
+
+
+def turn_90_right_and_move_distance(distance):
+    motors.straight(distance)
+    motors.turn(90)
+    stop()
+
+def turn_180():
+    motors.turn(180)
+
+def stop():
+    motors.stop()
+
+def calibrate():
+    turn_right(360)
+    stop()
+    wait(1000)