33 lines
1.3 KiB
Python
33 lines
1.3 KiB
Python
from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor, ForceSensor
|
|
from pybricks.parameters import Button, Color, Direction, Port, Side, Stop
|
|
from pybricks.tools import run_task, multitask
|
|
from pybricks.tools import wait, StopWatch
|
|
from pybricks.robotics import DriveBase
|
|
from pybricks.hubs import PrimeHub
|
|
|
|
# Initialize hub and devices
|
|
hub = PrimeHub()
|
|
left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE)
|
|
right_motor = Motor(Port.B,Direction.CLOCKWISE) # Specify default direction
|
|
left_arm = Motor(Port.C, Direction.CLOCKWISE) # Specify default direction
|
|
right_arm = Motor(Port.D, Direction.CLOCKWISE,[[12,36],[12,20,24]]) #Added gear train list for gear ration
|
|
lazer_ranger = UltrasonicSensor(Port.E)
|
|
color_sensor = ColorSensor(Port.F)
|
|
|
|
# DriveBase configuration
|
|
WHEEL_DIAMETER = 68.8 # mm (adjust for your wheels)
|
|
AXLE_TRACK = 180 # mm (distance between wheels)
|
|
drive_base = DriveBase(left_motor, right_motor, WHEEL_DIAMETER, AXLE_TRACK)
|
|
drive_base.settings(600, 500, 300, 200)
|
|
drive_base.use_gyro(True)
|
|
|
|
WALL_DISTANCE = 200 # mm
|
|
|
|
if hub.battery.voltage() > 7800:
|
|
print(f"Battery voltage is sufficient: {hub.battery.voltage()}")
|
|
elif hub.battery.voltage < 7800 :
|
|
print(f"Charging needed: {hub.battery.voltage()}")
|
|
|
|
print(hub.battery.current())
|
|
print(hub.imu.heading())
|
|
print(hub.system.info()) |