Oving 4

Sandbox/.gitignore

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+__pycache__/
+*.pyc
+.venv/

Sandbox/.vscode/extensions.json

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+{
+	// 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"
+	]
+}

Sandbox/.vscode/launch.json

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+{
+	// 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
+		}
+	]
+}

Sandbox/.vscode/settings.json

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+// 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"
+}

Sandbox/main.py

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+#!/usr/bin/env pybricks-micropython
+from pybricks.hubs import EV3Brick
+from pybricks.ev3devices import (Motor, TouchSensor, ColorSensor,
+                                 InfraredSensor, UltrasonicSensor, GyroSensor)
+from pybricks.parameters import Port, Stop, Direction, Button, Color
+from pybricks.tools import wait, StopWatch, DataLog
+from pybricks.robotics import DriveBase
+from pybricks.media.ev3dev import SoundFile, ImageFile
+
+
+# This program requires LEGO EV3 MicroPython v2.0 or higher.
+# Click "Open user guide" on the EV3 extension tab for more information.
+
+
+# Create your objects here.
+ev3 = EV3Brick()
+
+
+# Write your program here.
+ev3.speaker.beep()
+
+

oving_4/.gitignore

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+__pycache__/
+*.pyc
+.venv/

oving_4/.vscode/extensions.json

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+{
+	// 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"
+	]
+}

oving_4/.vscode/launch.json

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+{
+	// 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
+		}
+	]
+}

oving_4/.vscode/settings.json

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+// 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"
+}

oving_4/main.py

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+#!/usr/bin/env pybricks-micropython
+from pybricks.hubs import EV3Brick
+from pybricks.ev3devices import (Motor, TouchSensor, ColorSensor,
+                                 InfraredSensor, UltrasonicSensor, GyroSensor)
+from pybricks.parameters import Port, Stop, Direction, Button, Color
+from pybricks.tools import wait, StopWatch, DataLog
+from pybricks.robotics import DriveBase
+from pybricks.media.ev3dev import SoundFile, ImageFile
+
+
+# This program requires LEGO EV3 MicroPython v2.0 or higher.
+# Click "Open user guide" on the EV3 extension tab for more information.
+
+
+from rttl_player import RTTTLPlayer
+
+class Robot():
+    def __init__(self, motors: tuple, dimensions: tuple, colorSensors: tuple, rotMotor: Motor):
+
+        leftMotor, rightMotor = motors
+        wd, axlTrck = dimensions
+        leftClrSnsr, rightClrSnsr = colorSensors
+        self.currentDirection = 0
+
+        self.hub = EV3Brick()
+        self.driveBase = DriveBase(leftMotor, rightMotor, 
+                               wheel_diameter=wd, axle_track=axlTrck)
+
+        self.rightColor = rightClrSnsr
+        self.leftColor = leftClrSnsr
+
+        self.rotation = rotMotor
+
+
+    def print(self, message: str):
+        self.hub.screen.print(message)
+
+    def sing(self, rttlString: str, tempo_scale: float = 1.0):
+        player = RTTTLPlayer(self.hub, rttlString)
+        player.play(tempo_scale)
+
+    def turn(self, direction):
+        if direction == self.currentDirection:
+            return
+        self.currentDirection = direction
+
+        if direction == left:
+            robot.rotation.track_target(left * 20)
+            robot.driveBase.drive(speed, left * 80)
+            return
+        else:
+            robot.rotation.track_target(defaultAngle)
+            robot.rotation.run(right * 30)
+            robot.driveBase.drive(speed, right * 40)
+
+
+
+
+driveMotors = (Motor(port=Port.D, positive_direction=Direction.COUNTERCLOCKWISE),      # Left motor for the drive base
+               Motor(port=Port.A, positive_direction=Direction.COUNTERCLOCKWISE))      # Right motor for the drive base
+
+dimensions = (56,                       # Wheel diameter
+              114)                      # Axle track
+
+clrSnrs = (ColorSensor(port=Port.S2),   # Left color sensor
+           ColorSensor(port=Port.S1))   # Right color sensor
+
+rotMotor = Motor(port=Port.C)
+left, right = -1, 1
+defaultAngle = 0
+speed = 500
+
+robot = Robot(driveMotors, dimensions, clrSnrs, rotMotor)
+
+robot.print("Hello World!")
+
+
+robot.driveBase.drive(speed,0)
+
+
+while True:
+    robot.print(robot.rotation.angle())
+    if(robot.rightColor.reflection() < 10):
+        robot.turn(right)
+
+    if(robot.leftColor.reflection() < 10):
+        robot.turn(left)
+
+
+    """ 
+    wait(100)
+    robot.rotation.run_target(100, -30)
+    wait(100) """
+
+

rotTest/.gitignore

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+__pycache__/
+*.pyc
+.venv/

rotTest/.vscode/extensions.json

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+{
+	// 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"
+	]
+}

rotTest/.vscode/launch.json

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+{
+	// 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
+		}
+	]
+}

rotTest/.vscode/settings.json

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+// 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"
+}

rotTest/main.py

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+#!/usr/bin/env pybricks-micropython
+from pybricks.hubs import EV3Brick
+from pybricks.ev3devices import (Motor, TouchSensor, ColorSensor,
+                                 InfraredSensor, UltrasonicSensor, GyroSensor)
+from pybricks.parameters import Port, Stop, Direction, Button, Color
+from pybricks.tools import wait, StopWatch, DataLog
+from pybricks.robotics import DriveBase
+from pybricks.media.ev3dev import SoundFile, ImageFile
+
+
+# This program requires LEGO EV3 MicroPython v2.0 or higher.
+# Click "Open user guide" on the EV3 extension tab for more information.
+
+
+class Robot():
+    def __init__(self, motors: tuple, dimensions: tuple, colorSensors: tuple, rotMotor: Motor):
+
+        leftMotor, rightMotor = motors
+        wd, axlTrck = dimensions
+        leftClrSnsr, rightClrSnsr = colorSensors
+        self.currentDirection = 0
+
+        self.hub = EV3Brick()
+        self.driveBase = DriveBase(leftMotor, rightMotor, 
+                               wheel_diameter=wd, axle_track=axlTrck)
+
+        self.rightColor = rightClrSnsr
+        self.leftColor = leftClrSnsr
+
+        self.rotation = rotMotor
+
+
+    def print(self, message: str):
+        self.hub.screen.print(message)
+
+    def turn(self, direction):
+        if direction == self.currentDirection:
+            return
+        self.currentDirection = direction
+
+        if direction == left:
+            robot.rotation.track_target(left * 30)
+            robot.driveBase.drive(speed, left * 90)
+            return
+        else:
+            robot.rotation.track_target(defaultAngle)
+            robot.rotation.run(right * 30)
+            robot.driveBase.drive(speed, right * 40)
+
+
+
+
+driveMotors = (Motor(port=Port.D, positive_direction=Direction.COUNTERCLOCKWISE),      # Left motor for the drive base
+               Motor(port=Port.A, positive_direction=Direction.COUNTERCLOCKWISE))      # Right motor for the drive base
+
+dimensions = (56,                       # Wheel diameter
+              114)                      # Axle track
+
+clrSnrs = (ColorSensor(port=Port.S2),   # Left color sensor
+           ColorSensor(port=Port.S1))   # Right color sensor
+
+rotMotor = Motor(port=Port.C)
+left, right = -1, 1
+defaultAngle = 0
+speed = 500
+
+robot = Robot(driveMotors, dimensions, clrSnrs, rotMotor)
+
+robot.turn(left)
+