ev3dev-lang-python-demo/robots/ROBODOZ3R/rc_tank_util.py at 9b6b3219eb5628ec6e0d04fe8cdb6c7f1587b75c · ev3dev/ev3dev-lang-python-demo · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
#!/usr/bin/env python3


from ev3dev.ev3 import \
    Motor, LargeMotor, OUTPUT_B, OUTPUT_C, \
    InfraredSensor, RemoteControl, INPUT_4


class RemoteControlledTank:
    """
    This reusable mixin provides the capability of driving a robot
    with a Driving Base by the IR beacon
    """
    def __init__(
            self,
            left_motor_port: str = OUTPUT_B, right_motor_port: str = OUTPUT_C,
            polarity: str = Motor.POLARITY_NORMAL,
            ir_sensor_port: str = INPUT_4, ir_beacon_channel: int = 1):
        self.left_motor = LargeMotor(address=left_motor_port)
        self.right_motor = LargeMotor(address=right_motor_port)

        self.left_motor.polarity = self.right_motor.polarity = polarity

        self.ir_sensor = InfraredSensor(address=ir_sensor_port)
        self.tank_drive_remote_control = \
            RemoteControl(
                sensor=self.ir_sensor,
                channel=ir_beacon_channel)

    def drive_by_ir_beacon(self, speed: float = 1000):
        # forward
        if self.tank_drive_remote_control.red_up and \
                self.tank_drive_remote_control.blue_up:
            self.left_motor.run_forever(speed_sp=speed)
            self.right_motor.run_forever(speed_sp=speed)

        # backward
        elif self.tank_drive_remote_control.red_down and \
                self.tank_drive_remote_control.blue_down:
            self.left_motor.run_forever(speed_sp=-speed)
            self.right_motor.run_forever(speed_sp=-speed)

        # turn left on the spot
        elif self.tank_drive_remote_control.red_up and \
                self.tank_drive_remote_control.blue_down:
            self.left_motor.run_forever(speed_sp=-speed)
            self.right_motor.run_forever(speed_sp=speed)

        # turn right on the spot
        elif self.tank_drive_remote_control.red_down and \
                self.tank_drive_remote_control.blue_up:
            self.left_motor.run_forever(speed_sp=speed)
            self.right_motor.run_forever(speed_sp=-speed)

        # turn left forward
        elif self.tank_drive_remote_control.red_up:
            self.right_motor.run_forever(speed_sp=speed)

        # turn right forward
        elif self.tank_drive_remote_control.blue_up:
            self.left_motor.run_forever(speed_sp=speed)

        # turn left backward
        elif self.tank_drive_remote_control.red_down:
            self.right_motor.run_forever(speed_sp=-speed)

        # turn right backward
        elif self.tank_drive_remote_control.blue_down:
            self.left_motor.run_forever(speed_sp=-speed)

        # otherwise stop
        else:
            self.left_motor.stop(stop_action=Motor.STOP_ACTION_COAST)
            self.right_motor.stop(stop_action=Motor.STOP_ACTION_COAST)