Ferdigstilt øving 3

oving_2/main.py

@@ -23,7 +23,7 @@
 
 leftMotor = Motor(port=Port.A)
 rightMotor = Motor(port=Port.C)
-robotDriveBase = DriveBase(leftMotor, rightMotor, wheel_diameter=56, axle_track=110)
+robotDriveBase = DriveBase(leftMotor, rightMotor, wheel_diameter=56, axle_track=180)
 
 startBtn = TouchSensor(port=Port.S1)
 usSensor = UltrasonicSensor(port=Port.S3)

oving_3/main.py

@@ -38,13 +38,9 @@
 #ev3.screen.print("Spiller", player.name, "...")
 #player.play()
 
-def doRandomTrick():
-    trickIndex = randint(0, 1)
-
-    if trickIndex == 1:
-        spin()
-    elif trickindex == 2:
-        playMusic()
+def doRandomTrick(actions):
+    trick = actions[randint(0, len(actions) - 1)]
+    trick()
 
 def spin():
     directions = [-1, 1]
@@ -59,6 +55,8 @@ def playMusic():
     ev3.screen.print("Spiller", player.name, "...")
     player.play()
 
+actions = [spin, playMusic]
+
 leftMotor = Motor(port=Port.A)
 rightMotor = Motor(port=Port.C)
 robotDriveBase = DriveBase(leftMotor, rightMotor, wheel_diameter=56, axle_track=160)
@@ -71,39 +69,53 @@ def playMusic():
 
 speaker = ev3.speaker
 
-leftSensorThreshold = 8
-rigthSensorThreshold = 7
-speed = 50
+leftSensorThreshold = 9
+rigthSensorThreshold = 10
+speed = 115
 
 currentTime = time.time()
-lastCorrectino = currentTime
+lastCorrection = currentTime
 lastDirection = 1
 lastTrick = currentTime
+rotationSpeed = 40
 
 while True:
     currentTime = time.time()
 
-    """ if currentTime - lastCorrectino > 2:
+    ev3.screen.print(leftColorSensor.reflection(), rightColorSensor.reflection())
+
+    if usSensor.distance() <= 50:
+        break
+    """
+    if currentTime - lastCorrection > 2:
         while leftColorSensor.reflection() > leftSensorThreshold or rightColorSensor.reflection() < rigthSensorThreshold:
-            robotDriveBase.drive(-speed, 50 * lastDirection)
-            
-        lastCorrectino = time.time()
-        continue """
+            i = (time.time() - lastCorrection) * 3
+            robotDriveBase.drive(-speed, i * lastDirection)
+
 
+        lastCorrection = time.time()
+        continue
+    """
     if currentTime - lastTrick > 10:
-        doTrick()
+        doRandomTrick(actions)
         lastTrick = time.time()
 
     if leftColorSensor.reflection() < leftSensorThreshold:
-        robotDriveBase.drive(-speed, 25)
-        lastCorrectino == time.time()
-        lastDirection = -1
+        robotDriveBase.drive(-speed, rotationSpeed)
+        lastCorrection == time.time()
+        lastDirection = 1
         continue
 
     if rightColorSensor.reflection() < rigthSensorThreshold:
-        robotDriveBase.drive(-speed, -25)
-        lastCorrectino = currentTime
-        lastDirection = 1
+        robotDriveBase.drive(-speed, -rotationSpeed)
+        lastCorrection = currentTime
+        lastDirection = -1
         continue
-
-    robotDriveBase.drive(-speed, 50)
+
+
+
+    robotDriveBase.drive(-speed, 0)
+
+
+robotDriveBase.stop()
+ev3.speaker.play_file(SoundFile.FANFARE)

oving_3/rtttl_player.py

@@ -8,12 +8,13 @@ class RTTTLPlayer:
         'g#': 25.96, 'a': 27.50, 'a#': 29.14, 'b': 30.87
     }
 
-    def __init__(self, ev3):
+    def __init__(self, ev3, rtttl: str):
         """
         :param ev3: EV3Brick instance from pybricks.hubs
         :param rtttl: RTTTL string (name:d=4,o=5,b=100:notes)
         """
         self.ev3 = ev3
+        self.name, self.defaults, self.notes = self.parse_rtttl(rtttl)
 
     def parse_rtttl(self, rtttl: str):
         name, settings, notes = rtttl.split(':')
@@ -31,15 +32,15 @@ def note_to_freq(self, note: str, octave: int):
         base = self.NOTE_FREQS[note]
         return round(base * (2 ** octave), 2)
 
-    def play(self, name, defaults, notes, tempo_scale: float = 1.0):
+    def play(self, tempo_scale: float = 1.0):
         """
         Play the parsed RTTTL melody.
         :param tempo_scale: Scale factor for speed (1.0 = normal, 2.0 = twice as fast, 0.5 = half speed)
         """
-        bpm = defaults.get('b', 63)
+        bpm = self.defaults.get('b', 63)
         whole_note = (60 / bpm) * 4 * 1000  # ms
 
-        for raw in notes:
+        for raw in self.notes:
             match = re.match(r'(\d+)?([a-gp][#]?)(\d)?(\.*)?', raw.strip(), re.I)
             if not match:
                 continue

oving_4/rttl_player.py

@@ -0,0 +1,60 @@
+import re
+
+
+class RTTTLPlayer:
+    NOTE_FREQS = {
+        'c': 16.35, 'c#': 17.32, 'd': 18.35, 'd#': 19.45,
+        'e': 20.60, 'f': 21.83, 'f#': 23.12, 'g': 24.50,
+        'g#': 25.96, 'a': 27.50, 'a#': 29.14, 'b': 30.87
+    }
+
+    def __init__(self, ev3, rtttl: str):
+        """
+        :param ev3: EV3Brick instance from pybricks.hubs
+        :param rtttl: RTTTL string (name:d=4,o=5,b=100:notes)
+        """
+        self.ev3 = ev3
+        self.name, self.defaults, self.notes = self.parse_rtttl(rtttl)
+
+    def parse_rtttl(self, rtttl: str):
+        name, settings, notes = rtttl.split(':')
+        defaults = {}
+        for s in settings.split(','):
+            k, v = s.split('=')
+            defaults[k] = int(v)
+        notes = notes.split(',')
+        return name, defaults, notes
+
+    def note_to_freq(self, note: str, octave: int):
+        """
+        Convert note name + octave to frequency in Hz.
+        """
+        base = self.NOTE_FREQS[note]
+        return round(base * (2 ** octave), 2)
+
+    def play(self, tempo_scale: float = 1.0):
+        """
+        Play the parsed RTTTL melody.
+        :param tempo_scale: Scale factor for speed (1.0 = normal, 2.0 = twice as fast, 0.5 = half speed)
+        """
+        bpm = self.defaults.get('b', 63)
+        whole_note = (60 / bpm) * 4 * 1000  # ms
+
+        for raw in self.notes:
+            match = re.match(r'(\d+)?([a-gp][#]?)(\d)?(\.*)?', raw.strip(), re.I)
+            if not match:
+                continue
+
+            dur, note, octave, dot = match.groups()
+            dur = int(dur) if dur else self.defaults.get('d', 4)
+            octave = int(octave) if octave else self.defaults.get('o', 6)
+
+            duration = (whole_note / dur) * tempo_scale
+            if dot:
+                duration *= 1.5
+
+            if note.lower() == 'p':  # pause
+                self.ev3.speaker.beep(0, int(duration))
+            else:
+                freq = self.note_to_freq(note.lower(), octave)
+                self.ev3.speaker.beep(int(freq), int(duration))