Oving 3

oving_2/main.py

@@ -23,6 +23,7 @@
 
 leftMotor = Motor(port=Port.A)
 rightMotor = Motor(port=Port.C)
+
 robotDriveBase = DriveBase(leftMotor, rightMotor, wheel_diameter=56, axle_track=160)
 
 startBtn = TouchSensor(port=Port.S1)

oving_3/main.py

@@ -7,6 +7,11 @@
 from pybricks.robotics import DriveBase
 from pybricks.media.ev3dev import SoundFile, ImageFile
 
+from rtttl_player import RTTTLPlayer
+from random import randint
+import time
+
+
 
 # This program requires LEGO EV3 MicroPython v2.0 or higher.
 # Click "Open user guide" on the EV3 extension tab for more information.
@@ -15,6 +20,102 @@
 # Create your objects here.
 ev3 = EV3Brick()
 
+# Eksempelmelodi (Nokia)
+#take_on_me = "Take On Me:o=5,d=8,b=160,b=160:f#,f#,f#,d,p,b4,p,e,p,e,p,e,g#,g#,a,b,a,a,a,e,p,d,p,f#,p,f#,p,f#,e,e,f#,e,f#,f#,f#,d,p,b4,p,e,p,e,p,e,g#,g#,a,b,a,a,a,e,p,d,p,f#,p,f#,p,f#,e,e5"
+#postman_pat ="Postman Pat:o=5,d=16,b=100,b=100:f#,p,a,p,8b,8p,f#,p,a,p,8b,8p,f#,p,a,p,b,p,d6,d6,c#6,c#6,a,p,4b.,8p,32f#,g,p,a,p,b,p,g,p,8f#.,8e,8p,32f#,g,p,a,p,32b.,32b.,g,p,8f#.,8e,8p,32f#,g,p,a,p,b,p,g,p,f#,p,e,p,d,p,c#,p,2d"
+#simpsons = "Simpsons:o=5,d=8,b=160,b=160:c6.,4e6,4f#6,a6,4g6.,4e6,4c6,a,f#,f#,f#,2g,p,p,f#,f#,f#,g,4a#.,c6,c6,c6,4c6"
+#mission_impossible = "Mission Impossible:o=5,d=16,b=100,b=100:32d,32d#,32d,32d#,32d,32d#,32d,32d#,32d,32d,32d#,32e,32f,32f#,32g,g,8p,g,8p,a#,p,c6,p,g,8p,g,8p,f,p,f#,p,g,8p,g,8p,a#,p,c6,p,g,8p,g,8p,f,p,f#,p,a#,g,2d,32p,a#,g,2c#,32p,a#,g,2c,p,a#4,c"
+
+songs = [
+    "Take On Me:o=5,d=8,b=160,b=160:f#,f#,f#,d,p,b4,p,e,p,e,p,e,g#,g#,a,b,a,a,a,e,p,d,p,f#,p,f#,p,f#,e,e,f#,e,f#,f#,f#,d,p,b4,p,e,p,e,p,e,g#,g#,a,b,a,a,a,e,p,d,p,f#,p,f#,p,f#,e,e5",
+    "Postman Pat:o=5,d=16,b=100,b=100:f#,p,a,p,8b,8p,f#,p,a,p,8b,8p,f#,p,a,p,b,p,d6,d6,c#6,c#6,a,p,4b.,8p,32f#,g,p,a,p,b,p,g,p,8f#.,8e,8p,32f#,g,p,a,p,32b.,32b.,g,p,8f#.,8e,8p,32f#,g,p,a,p,b,p,g,p,f#,p,e,p,d,p,c#,p,2d",
+    "Simpsons:o=5,d=8,b=160,b=160:c6.,4e6,4f#6,a6,4g6.,4e6,4c6,a,f#,f#,f#,2g,p,p,f#,f#,f#,g,4a#.,c6,c6,c6,4c6",
+    "Mission Impossible:o=5,d=16,b=100,b=100:32d,32d#,32d,32d#,32d,32d#,32d,32d#,32d,32d,32d#,32e,32f,32f#,32g,g,8p,g,8p,a#,p,c6,p,g,8p,g,8p,f,p,f#,p,g,8p,g,8p,a#,p,c6,p,g,8p,g,8p,f,p,f#,p,a#,g,2d,32p,a#,g,2c#,32p,a#,g,2c,p,a#4,c"
+]
+
+# Lag spiller og kjør
+#player = RTTTLPlayer(ev3, songs[3])
+#ev3.screen.print("Spiller", player.name, "...")
+#player.play()
+
+def doRandomTrick(actions):
+    trick = actions[randint(0, len(actions) - 1)]
+    trick()
+
+def spin():
+    directions = [-1, 1]
+    directionIndex = randint(0, 1)
+    robotDriveBase.stop()
+    speaker.say("Look at my trick")
+    robotDriveBase.turn(360 * directions[directionIndex])
+
+def playMusic():
+    robotDriveBase.stop()
+    player = RTTTLPlayer(ev3, songs[3])
+    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)
+
+startBtn = TouchSensor(port=Port.S1)
+usSensor = UltrasonicSensor(port=Port.S3)
+
+leftColorSensor = ColorSensor(port=Port.S2)
+rightColorSensor = ColorSensor(port=Port.S4)
+
+speaker = ev3.speaker
+
+leftSensorThreshold = 9
+rigthSensorThreshold = 10
+speed = 115
+
+currentTime = time.time()
+lastCorrection = currentTime
+lastDirection = 1
+lastTrick = currentTime
+rotationSpeed = 40
+
+while True:
+    currentTime = time.time()
+
+    ev3.screen.print(leftColorSensor.reflection(), rightColorSensor.reflection())
+
+    if usSensor.distance() <= 50:
+        break
+    """
+    if currentTime - lastCorrection > 2:
+        while leftColorSensor.reflection() > leftSensorThreshold or rightColorSensor.reflection() < rigthSensorThreshold:
+            i = (time.time() - lastCorrection) * 3
+            robotDriveBase.drive(-speed, i * lastDirection)
+
+
+        lastCorrection = time.time()
+        continue
+    """
+    if currentTime - lastTrick > 10:
+        doRandomTrick(actions)
+        lastTrick = time.time()
+
+    if leftColorSensor.reflection() < leftSensorThreshold:
+        robotDriveBase.drive(-speed, rotationSpeed)
+        lastCorrection == time.time()
+        lastDirection = 1
+        continue
+
+    if rightColorSensor.reflection() < rigthSensorThreshold:
+        robotDriveBase.drive(-speed, -rotationSpeed)
+        lastCorrection = currentTime
+        lastDirection = -1
+        continue
+
+
+
+    robotDriveBase.drive(-speed, 0)
+
 
-# Write your program here.
-ev3.speaker.beep()
+robotDriveBase.stop()
+ev3.speaker.play_file(SoundFile.FANFARE)

oving_3/rtttl_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))

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))