EV3RSTORM demo

Author: ddemidov

demo/EV3RSTORM/README.md

@@ -0,0 +1,14 @@
+EV3RSTORM
+=========
+
+EV3RSTORM is the most advanced of the LEGO(r) MINDSTORMS(r) Robots.
+Equipped with a blasting bazooka and a spinning tri-blade, EV3RSTORM is
+superior in both intelligence as well as in fighting power.
+
+Our version, being built with ev3dev, is also vastly more intelligent (one
+could say, it has a [brain size of a planet](https://en.wikipedia.org/wiki/Marvin_(character)))
+so ut may be afflicted with severe depression and boredom at times.
+
+The build instructions may be found at the official LEGO MINDSTROMS site
+[here](http://www.lego.com/en-us/mindstorms/build-a-robot/ev3rstorm).
+

demo/EV3RSTORM/ev3rstorm.py

@@ -0,0 +1,157 @@
+#!/usr/bin/env python3
+
+import time, random
+import ev3dev.ev3 as ev3
+
+random.seed( time.time() )
+
+def quote(topic):
+    """
+    Recite a random Marvin the Paranoid Android quote on the specified topic.
+    See https://en.wikipedia.org/wiki/Marvin_(character)
+    """
+
+    marvin_quotes = {
+            'initiating' : (
+                "Life? Don't talk to me about life!",
+                "Now I've got a headache.",
+                "This will all end in tears.",
+                ),
+            'depressed' : (
+                "I think you ought to know I'm feeling very depressed.",
+                "Incredible... it's even worse than I thought it would be.",
+                "I'd make a suggestion, but you wouldn't listen.",
+                ),
+            }
+
+    ev3.Sound.speak(random.choice(marvin_quotes[topic])).wait()
+
+def check(condition, message):
+    """
+    Check that condition is true,
+    loudly complain and throw an exception otherwise.
+    """
+    if not condition:
+        ev3.Sound.speak(message).wait()
+        quote('depressed')
+        raise Exception(message)
+
+class ev3rstorm:
+    def __init__(self):
+        # Connect the required equipement
+        self.lm = ev3.LargeMotor('outB')
+        self.rm = ev3.LargeMotor('outC')
+        self.mm = ev3.MediumMotor()
+
+        self.ir = ev3.InfraredSensor()
+        self.ts = ev3.TouchSensor()
+        self.cs = ev3.ColorSensor()
+
+        self.screen = ev3.Screen()
+
+        # Check if everything is attached
+        check(self.lm.connected, 'My left leg is missing!')
+        check(self.rm.connected, 'Right leg is not found!')
+        check(self.mm.connected, 'My left arm is not connected!')
+
+        check(self.ir.connected, 'My eyes, I can not see!')
+        check(self.ts.connected, 'Touch sensor is not attached!')
+        check(self.cs.connected, 'Color sensor is not responding!')
+
+        # Reset the motors
+        for m in (self.lm, self.rm, self.mm):
+            m.reset()
+            m.position = 0
+            m.stop_action = 'brake'
+
+        self.draw_face()
+
+        quote('initiating')
+
+    def draw_face(self):
+        w,h = self.screen.shape
+        y = h // 2
+
+        eye_xrad = 20
+        eye_yrad = 30
+
+        pup_xrad = 10
+        pup_yrad = 10
+
+        def draw_eye(x):
+            self.screen.draw.ellipse((x-eye_xrad, y-eye_yrad, x+eye_xrad, y+eye_yrad))
+            self.screen.draw.ellipse((x-pup_xrad, y-pup_yrad, x+pup_xrad, y+pup_yrad), fill='black')
+
+        draw_eye(w//3)
+        draw_eye(2*w//3)
+
+        self.screen.update()
+
+    def shoot(self, direction='up'):
+        """
+        Shot a ball in the specified direction (valid choices are 'up' and 'down')
+        """
+        self.mm.run_to_rel_pos(speed_sp=900, position_sp=(-1080 if direction == 'up' else 1080))
+        while 'running' in self.mm.state:
+            time.sleep(0.1)
+
+    def rc_loop(self):
+        """
+        Enter the remote control loop. RC buttons on channel 1 control the
+        robot movement, channel 2 is for shooting things.
+        The loop ends when the touch sensor is pressed.
+        """
+
+        def roll(motor, led_group, speed):
+            """
+            Generate remote control event handler. It rolls given motor into
+            given direction (1 for forward, -1 for backward). When motor rolls
+            forward, the given led group flashes green, when backward -- red.
+            When motor stops, the leds are turned off.
+
+            The on_press function has signature required by RemoteControl
+            class.  It takes boolean state parameter; True when button is
+            pressed, False otherwise.
+            """
+            def on_press(state):
+                if state:
+                    # Roll when button is pressed
+                    motor.run_forever(speed_sp=speed)
+                    ev3.Leds.set_color(led_group,
+                            ev3.Leds.GREEN if speed > 0 else ev3.Leds.RED)
+                else:
+                    # Stop otherwise
+                    motor.stop()
+                    ev3.Leds.set_color(led_group, ev3.Leds.BLACK)
+
+            return on_press
+
+        rc1 = ev3.RemoteControl(self.ir, 1)
+        rc1.on_red_up    = roll(self.lm, ev3.Leds.LEFT,   900)
+        rc1.on_red_down  = roll(self.lm, ev3.Leds.LEFT,  -900)
+        rc1.on_blue_up   = roll(self.rm, ev3.Leds.RIGHT,  900)
+        rc1.on_blue_down = roll(self.rm, ev3.Leds.RIGHT, -900)
+
+
+        def shoot(direction):
+            def on_press(state):
+                if state: self.shoot(direction)
+            return on_press
+
+        rc2 = ev3.RemoteControl(self.ir, 2)
+        rc2.on_red_up    = shoot('up')
+        rc2.on_blue_up   = shoot('up')
+        rc2.on_red_down  = shoot('down')
+        rc2.on_blue_down = shoot('down')
+
+        # Now that the event handlers are assigned,
+        # lets enter the processing loop:
+        while not self.ts.is_pressed():
+            rc1.process()
+            rc2.process()
+            time.sleep(0.1)
+
+
+if __name__ == '__main__':
+    Marvin = ev3rstorm()
+    Marvin.rc_loop()