Merge pull request #12 from IDATT1004-Team13-H2025/robot-funksjonalitet

Laget klasser

py/src/drive.py

@@ -1,2 +1,24 @@
 #Fil for programmering av kjøring
+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.robotics import DriveBase
 
+
+class Drive():
+    def __init__(self, motors: tuple, dimensions: tuple):
+        leftMotor, rightMotor = motors
+        wheelDiameter, axleTrack = dimensions
+
+
+        self.driveBase = DriveBase(leftMotor, rightMotor, 
+                        wheel_diameter=wheelDiameter, axle_track=axleTrack)
+
+
+    def forward(self, speed):
+        pass
+
+    def backward(self, speed):
+        pass
+

py/src/main.py

@@ -7,14 +7,24 @@
 from pybricks.robotics import DriveBase
 from pybricks.media.ev3dev import SoundFile, ImageFile
 
+from drive import Drive
+from sensors import Sensors
+from robot import Robot
+
 
 # This program requires LEGO EV3 MicroPython v2.0 or higher.
 # Click "Open user guide" on the EV3 extension tab for more information.
 
+dimensions = (    # Wheel diamter
+                ) #Axle track
+
+motors = (Motor(port=Port.D),      # Left motor for the drive base
+          Motor(port=Port.A))      # Right motor for the drive base
 
-# Create your objects here.
-ev3 = EV3Brick()
+sensors = (ColorSensor(port=Port.S1),       # Lyssensor for å måle fargen på jorda
+           UltrasonicSensor(port=Port.S2))  # Ultrasonisksensor for å sjekke for potensielle hindringer robotten må navigere unna
 
+robotDrive = Drive(motors, dimensions)  # Robottens kjørefunksjonalitet
+robotSensors = Sensors(sensors)         # Robottens sensorfunksjonalitet
 
-# Write your program here.
-ev3.speaker.beep()
+robot = Robot(robotDrive, robotSensors) # EV3 robot

py/src/robot.py

@@ -0,0 +1,21 @@
+#Overklasse for all robot funksjonalitet
+#!/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
+
+from drive import Drive
+from sensors import Sensors
+
+class Robot():
+    def __init__(self, drive: Drive, sensors: Sensors):
+        self.hub = EV3Brick()
+        self.drive = drive
+        self.sensors = sensors
+
+
+

py/src/sensors.py

@@ -0,0 +1,17 @@
+
+#!/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
+
+class Sensors():
+    def __init__(self, colorSensor: ColorSensor, ultrasonicSensor: UltrasonicSensor):
+
+        self.color = colorSensor
+        self.ultrasonic = ultrasonicSensor
+
+

py/src/water_bucket.py

@@ -0,0 +1,10 @@
+
+#!/usr/bin/env pybricks-micropython
+from pybricks.ev3devices import (Motor, TouchSensor, ColorSensor,
+                                 InfraredSensor, UltrasonicSensor, GyroSensor)
+from pybricks.parameters import Port, Stop, Direction, Button, Color
+
+
+class WaterBucket:
+    def __init__(self):
+        pass