36 lines
1.3 KiB
Python
36 lines
1.3 KiB
Python
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from pybricks.hubs import PrimeHub
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from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor, ForceSensor
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from pybricks.parameters import Button, Color, Direction, Port, Side, Stop
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from pybricks.robotics import DriveBase
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from pybricks.tools import wait, StopWatch
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hub = PrimeHub()
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# Initialize both motors. In this example, the motor on the
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# left must turn counterclockwise to make the robot go forward.
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left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE)
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right_motor = Motor(Port.B)
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arm_motor = Motor(Port.E, Direction.CLOCKWISE)
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arm_motor.run_angle(299,90, Stop.HOLD)
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# Initialize the drive base. In this example, the wheel diameter is 56mm.
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# The distance between the two wheel-ground contact points is 112mm.
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drive_base = DriveBase(left_motor, right_motor, wheel_diameter=54, axle_track=112)
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print('The default settings are: ' + str(drive_base.settings()))
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drive_base.settings(100,1000,166,750)
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# Optionally, uncomment the line below to use the gyro for improved accuracy.
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drive_base.use_gyro(True)
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# Drive forward by 500mm (half a meter).
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drive_base.straight(500)
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# Turn around clockwise by 180 degrees.
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drive_base.turn(180)
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# Drive forward again to get back to the start.
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drive_base.straight(500)
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# Turn around counterclockwise.
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drive_base.turn(-180)
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arm_motor.run_angle(299,-90, Stop.HOLD)
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