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Robomaster S1 Python Program Examples.py
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1570 lines (1075 loc) · 59.2 KB
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# ROBOMASTER-S1-Python-Examples
# Learning how to program the Robomaster S1 in Python
# Note: you must install the Robomaster S1 app, either on your wireless mobile device or on your
# computer, via Wi-Fi. Next after installing the Robomaster S1 App, you will have to update the
# firmware for the Robomaster S1. Next you must calibrate the Robomaster S1 so it can work
# properly.
# Note: to be able to program the Robomaster S1 in Scratch or Python, you must run the Robomaster
# S1 app, then connect the Robomaster S1 to it, via wireless mobile device or on your computer,
# via Wi-Fi.
'''----------------------------------------------------------------------------------------------------------------------'''
# LEDS Examples
# For-loop blinking LED's rate example:
def start():
for i in range(10):
led_ctrl.set_flash(rm_define.armor_all,i+1)
led_ctrl.set_top_led(rm_define.armor_top_all,255,0,0,rm_define.effect_flash)
led_ctrl.set_bottom_led(rm_define.armor_bottom_all,255,255,0,rm_define.effect_flash)
time.sleep(1)
'''----------------------------------------------------------------------------------------------------------------------'''
# Make the top right and the top left armor LED's chase forward, while changing two, different colours.
# Make the bottom right, left, front and back armor LED's change two, different colours. Type and
# execute/run the program below and see what happens.
def start():
top_led_pos=[1,2,3,4,5,6,7,8]
a,b,c,d,e,f=[255,0,255,0,255,255]
while True:
for i in top_led_pos:
led_ctrl.set_top_led(rm_define.armor_top_right,a,b,c,rm_define.effect_always_off)
led_ctrl.set_single_led(rm_define.armor_top_right,[i],rm_define.effect_always_on)
led_ctrl.set_top_led(rm_define.armor_top_left,d,e,f,rm_define.effect_always_off)
led_ctrl.set_single_led(rm_define.armor_top_left,[i],rm_define.effect_always_on)
led_ctrl.set_bottom_led(rm_define.armor_bottom_right,a,b,c,rm_define.effect_always_on)
led_ctrl.set_bottom_led(rm_define.armor_bottom_left,d,e,f,rm_define.effect_always_on)
led_ctrl.set_bottom_led(rm_define.armor_bottom_front,a,b,c,rm_define.effect_always_on)
led_ctrl.set_bottom_led(rm_define.armor_bottom_back,d,e,f,rm_define.effect_always_on)
time.sleep(.02)
for i in top_led_pos:
led_ctrl.set_top_led(rm_define.armor_top_right,d,e,f,rm_define.effect_always_off)
led_ctrl.set_single_led(rm_define.armor_top_right,[i],rm_define.effect_always_on)
led_ctrl.set_top_led(rm_define.armor_top_left,a,b,c,rm_define.effect_always_off)
led_ctrl.set_single_led(rm_define.armor_top_left,[i],rm_define.effect_always_on)
led_ctrl.set_bottom_led(rm_define.armor_bottom_right,d,e,f,rm_define.effect_always_on)
led_ctrl.set_bottom_led(rm_define.armor_bottom_left,a,b,c,rm_define.effect_always_on)
led_ctrl.set_bottom_led(rm_define.armor_bottom_front,d,e,f,rm_define.effect_always_on)
led_ctrl.set_bottom_led(rm_define.armor_bottom_back,a,b,c,rm_define.effect_always_on)
time.sleep(.02)
'''----------------------------------------------------------------------------------------------------------------------'''
# Gimbal Examples
# Rotate the gimbal and set the speed to 20, while making the LED's change from yellow to red and
# back to yellow.
def start():
robot_ctrl.set_mode(rm_define.robot_mode_free)
led_ctrl.set_flash(rm_define.armor_all,2)
gimbal_ctrl.set_rotate_speed(20)
led_ctrl.set_top_led(rm_define.armor_top_all,255,255,0,rm_define.effect_flash)
led_ctrl.set_bottom_led(rm_define.armor_bottom_all,255,255,0,rm_define.effect_flash)
gimbal_ctrl.rotate_with_degree(rm_define.gimbal_left,90)
gun_ctrl.set_fire_count(8)
gun_ctrl.fire_once()
time.sleep(1)
led_ctrl.set_top_led(rm_define.armor_top_all,255,0,0,rm_define.effect_flash)
led_ctrl.set_bottom_led(rm_define.armor_bottom_all,255,0,0,rm_define.effect_flash)
gimbal_ctrl.rotate_with_degree(rm_define.gimbal_right,180)
gun_ctrl.set_fire_count(8)
gun_ctrl.fire_once()
time.sleep(1)
led_ctrl.set_top_led(rm_define.armor_top_all,255,255,0,rm_define.effect_flash)
led_ctrl.set_bottom_led(rm_define.armor_bottom_all,255,255,0,rm_define.effect_flash)
gimbal_ctrl.rotate_with_degree(rm_define.gimbal_left,90)
gun_ctrl.set_fire_count(8)
gun_ctrl.fire_once()
time.sleep(1)
led_ctrl.set_top_led(rm_define.armor_top_all,255,0,0,rm_define.effect_flash)
led_ctrl.set_bottom_led(rm_define.armor_bottom_all,255,0,0,rm_define.effect_flash)
gimbal_ctrl.rotate_with_degree(rm_define.gimbal_up,55)
gun_ctrl.set_fire_count(8)
gun_ctrl.fire_once()
time.sleep(1)
led_ctrl.set_top_led(rm_define.armor_top_all,255,255,0,rm_define.effect_flash)
led_ctrl.set_bottom_led(rm_define.armor_bottom_all,255,255,0,rm_define.effect_flash)
gimbal_ctrl.rotate_with_degree(rm_define.gimbal_down,55)
gun_ctrl.set_fire_count(8)
gun_ctrl.fire_once()
time.sleep(1)
'''----------------------------------------------------------------------------------------------------------------------'''
# Rotate the gimbal and set the speed to 20, while changing all the LED's from red to yellow.
def start():
robot_ctrl.set_mode(rm_define.robot_mode_free)
gimbal_ctrl.set_rotate_speed(20)
led_ctrl.set_flash(rm_define.armor_all,2)
led_ctrl.set_top_led(rm_define.armor_top_all,255,255,0,rm_define.effect_flash)
led_ctrl.set_bottom_led(rm_define.armor_bottom_all,255,255,0,rm_define.effect_flash)
gimbal_ctrl.rotate_with_degree(rm_define.gimbal_left,90)
led_ctrl.set_top_led(rm_define.armor_top_all,255,0,0,rm_define.effect_flash)
led_ctrl.set_bottom_led(rm_define.armor_bottom_all,255,0,0,rm_define.effect_flash)
gimbal_ctrl.rotate_with_degree(rm_define.gimbal_right,180)
led_ctrl.set_top_led(rm_define.armor_top_all,255,255,0,rm_define.effect_flash)
led_ctrl.set_bottom_led(rm_define.armor_bottom_all,255,255,0,rm_define.effect_flash)
gimbal_ctrl.rotate_with_degree(rm_define.gimbal_left,90)
led_ctrl.set_top_led(rm_define.armor_top_all,255,0,0,rm_define.effect_flash)
led_ctrl.set_bottom_led(rm_define.armor_bottom_all,255,0,0,rm_define.effect_flash)
gimbal_ctrl.rotate_with_degree(rm_define.gimbal_up,55)
led_ctrl.set_top_led(rm_define.armor_top_all,255,255,0,rm_define.effect_flash)
led_ctrl.set_bottom_led(rm_define.armor_bottom_all,255,255,0,rm_define.effect_flash)
gimbal_ctrl.rotate_with_degree(rm_define.gimbal_down,55)
'''----------------------------------------------------------------------------------------------------------------------'''
# Rotate gimbal and pitch example:
def start():
robot_ctrl.set_mode(rm_define.robot_mode_free)
gimbal_ctrl.recenter()
time.sleep(0.5)
led_ctrl.set_flash(rm_define.armor_all, 2)
gimbal_ctrl.set_rotate_speed(30)
led_ctrl.set_top_led(rm_define.armor_top_all,255,255,0,rm_define.effect_flash)
led_ctrl.set_bottom_led(rm_define.armor_bottom_all,255,255,0,rm_define.effect_flash)
gimbal_ctrl.rotate_with_degree(rm_define.gimbal_right,90)
led_ctrl.set_top_led(rm_define.armor_top_all,255,0,0,rm_define.effect_flash)
led_ctrl.set_bottom_led(rm_define.armor_bottom_all,255,0,0,rm_define.effect_flash)
gimbal_ctrl.rotate_with_degree(rm_define.gimbal_left,180)
led_ctrl.set_top_led(rm_define.armor_top_all,255,255,0,rm_define.effect_flash)
led_ctrl.set_bottom_led(rm_define.armor_bottom_all,255,255,0,rm_define.effect_flash)
gimbal_ctrl.rotate_with_degree(rm_define.gimbal_right,90)
led_ctrl.set_top_led(rm_define.armor_top_all,255,0,0,rm_define.effect_flash)
led_ctrl.set_bottom_led(rm_define.armor_bottom_all,255,0,0,rm_define.effect_flash)
gimbal_ctrl.rotate_with_degree(rm_define.gimbal_up,55)
led_ctrl.set_top_led(rm_define.armor_top_all,255,255,0,rm_define.effect_flash)
led_ctrl.set_bottom_led(rm_define.armor_bottom_all,255,255,0,rm_define.effect_flash)
gimbal_ctrl.rotate_with_degree(rm_define.gimbal_down,55)
led_ctrl.set_top_led(rm_define.armor_top_all,255,0,0,rm_define.effect_flash)
led_ctrl.set_bottom_led(rm_define.armor_bottom_all,255,0,0,rm_define.effect_flash)
gimbal_ctrl.pitch_ctrl(0)
led_ctrl.set_top_led(rm_define.armor_top_all,255,255,0,rm_define.effect_flash)
led_ctrl.set_bottom_led(rm_define.armor_bottom_all,255,255,0,rm_define.effect_flash)
gimbal_ctrl.rotate_with_degree(rm_define.gimbal_left,180)
led_ctrl.set_top_led(rm_define.armor_top_all,255,0,0,rm_define.effect_flash)
led_ctrl.set_bottom_led(rm_define.armor_bottom_all,255,0,0,rm_define.effect_flash)
gimbal_ctrl.rotate_with_degree(rm_define.gimbal_right,360)
led_ctrl.set_top_led(rm_define.armor_top_all,255,255,0,rm_define.effect_flash)
led_ctrl.set_bottom_led(rm_define.armor_bottom_all,255,255,0,rm_define.effect_flash)
gimbal_ctrl.rotate_with_degree(rm_define.gimbal_left,180)
'''----------------------------------------------------------------------------------------------------------------------'''
# Chassis Examples
# Turn on Robomaster's gun light and make the LED's pulsate, while the chassis rocks back and
# forth. Type and execute/run this program example below and see what happens.
def start():
robot_ctrl.set_mode(rm_define.robot_mode_free)
for i in range(2):
led_ctrl.gun_led_on()
led_ctrl.set_top_led(rm_define.armor_top_all,0,0,255,rm_define.effect_breath)
led_ctrl.set_bottom_led(rm_define.armor_bottom_all,0,0,255,rm_define.effect_breath)
chassis_ctrl.set_wheel_speed(50,-50,50,-50)
time.sleep(1)
chassis_ctrl.set_wheel_speed(-50,50,-50,50)
time.sleep(1)
'''----------------------------------------------------------------------------------------------------------------------'''
# Make all the LED's flash ten times a second, while making the chassis rock back and forth. Type and
# execute/run the program example below and see what happens.
def start():
robot_ctrl.set_mode(rm_define.robot_mode_free)
for i in range(2):
led_ctrl.set_flash(rm_define.armor_all,10)
led_ctrl.set_top_led(rm_define.armor_top_all,255,0,0,rm_define.effect_flash)
led_ctrl.set_bottom_led(rm_define.armor_bottom_all,255,255,0,rm_define.effect_flash)
chassis_ctrl.set_wheel_speed(50,-50,50,-50)
time.sleep(1)
chassis_ctrl.set_wheel_speed(-50,50,-50,50)
time.sleep(1)
'''----------------------------------------------------------------------------------------------------------------------'''
# Turn on Robomaster's gun light and make the LED's pulsate, while rotating clockwise and anti
# clockwise. Type and execute/run the program example below and see what happens.
def start():
robot_ctrl.set_mode(rm_define.robot_mode_free)
led_ctrl.gun_led_on()
for i in range(2):
led_ctrl.set_top_led(rm_define.armor_top_all,0,0,255,rm_define.effect_breath)
led_ctrl.set_bottom_led(rm_define.armor_bottom_all,0,0,255,rm_define.effect_breath)
chassis_ctrl.rotate_with_degree(rm_define.clockwise,90)
chassis_ctrl.rotate_with_degree(rm_define.anticlockwise,90)
'''----------------------------------------------------------------------------------------------------------------------'''
# Make Robomaster do the TWIST using a for-loop to make his chassis and his gimbal rock back and forth
# three times.
def start():
robot_ctrl.set_mode(rm_define.robot_mode_free)
chassis_ctrl.set_rotate_speed(120)
gimbal_ctrl.set_rotate_speed(120)
for i in range(3):
chassis_ctrl.rotate_with_time(rm_define.anticlockwise, 0.2)
gimbal_ctrl.rotate(rm_define.gimbal_left)
chassis_ctrl.rotate_with_time(rm_define.clockwise, 0.4)
gimbal_ctrl.rotate(rm_define.gimbal_right)
chassis_ctrl.rotate_with_time(rm_define.anticlockwise, 0.2)
'''----------------------------------------------------------------------------------------------------------------------'''
# Make the chassis turn a complete 180 degrees, while making the gimbal stay positioned at 0 degrees.
# On each turn, make the LED's change to cyan, then red and back to cyan when the Robomaster makes
# its last, 180 degree turn
def start():
robot_ctrl.set_mode(rm_define.robot_mode_free)
chassis_ctrl.set_rotate_speed(50)
led_ctrl.set_top_led(rm_define.armor_top_all,0,255,255,rm_define.effect_always_on)
led_ctrl.set_bottom_led(rm_define.armor_bottom_all,0,255,255,rm_define.effect_always_on)
chassis_ctrl.rotate_with_degree(rm_define.clockwise,180)
time.sleep(1)
led_ctrl.set_top_led(rm_define.armor_top_all,255,0,0,rm_define.effect_always_on)
led_ctrl.set_bottom_led(rm_define.armor_bottom_all,255,0,0,rm_define.effect_always_on)
chassis_ctrl.rotate_with_degree(rm_define.anticlockwise,360)
time.sleep(1)
led_ctrl.set_top_led(rm_define.armor_top_all,0,255,255,rm_define.effect_always_on)
led_ctrl.set_bottom_led(rm_define.armor_bottom_all,0,255,255,rm_define.effect_always_on)
chassis_ctrl.rotate_with_degree(rm_define.clockwise,180)
'''----------------------------------------------------------------------------------------------------------------------'''
# Drive Chassis Examples
# To avoid damaging your Robomaster S1, never set any speeds higher than they are shown here,
# especially in smaller play areas.
# IMPORTANT! Never pick up or move the Robomaster S1, while its program is running. Doing so
# may cause damage to the unit; you must stop the program first.
'''----------------------------------------------------------------------------------------------------------------------'''
# Make Robomaster drive non-stop while making all the LED's flash-rotate two, different colours.
# Type and execute/run the program example below and see what happens.
def start():
robot_ctrl.set_mode(rm_define.robot_mode_gimbal_follow)
while True:
chassis_ctrl.set_wheel_speed(20,20,20,20)
led_ctrl.set_top_led(rm_define.armor_top_right,255,0,255,rm_define.effect_always_off)
led_ctrl.set_single_led(rm_define.armor_top_right,[1,3,5,7],rm_define.effect_always_on)
led_ctrl.set_top_led(rm_define.armor_top_left,0,255,255,rm_define.effect_always_off)
led_ctrl.set_single_led(rm_define.armor_top_left,[1,3,5,7],rm_define.effect_always_on)
led_ctrl.set_bottom_led(rm_define.armor_bottom_all,255,0,255,rm_define.effect_always_on)
time.sleep(.095)
led_ctrl.set_top_led(rm_define.armor_top_right,0,255,255,rm_define.effect_always_off)
led_ctrl.set_single_led(rm_define.armor_top_right,[2,4,6,8],rm_define.effect_always_on)
led_ctrl.set_top_led(rm_define.armor_top_left,255,0,255,rm_define.effect_always_off)
led_ctrl.set_single_led(rm_define.armor_top_left,[2,4,6,8],rm_define.effect_always_on)
led_ctrl.set_bottom_led(rm_define.armor_bottom_all,0,255,255,rm_define.effect_always_on)
time.sleep(.095)
'''----------------------------------------------------------------------------------------------------------------------'''
# Drive sideways side to side example 1:
def start():
robot_ctrl.set_mode(rm_define.robot_mode_gimbal_follow)
while True:
chassis_ctrl.set_wheel_speed(-30,30,30,-30)
time.sleep(3)
chassis_ctrl.set_wheel_speed(30,-30,-30,30)
time.sleep(3)
'''----------------------------------------------------------------------------------------------------------------------'''
# Drive sideways side to side example 2:
def start():
robot_ctrl.set_mode(rm_define.robot_mode_gimbal_follow)
while True:
chassis_ctrl.set_trans_speed(0.3)
chassis_ctrl.move_with_time(90,3)
chassis_ctrl.move_with_time(-90,3)
'''----------------------------------------------------------------------------------------------------------------------'''
# Drive and turn around example 1:
def start():
robot_ctrl.set_mode(rm_define.robot_mode_gimbal_follow)
while True:
chassis_ctrl.set_wheel_speed(30,-30,30,-30)
time.sleep(4)
chassis_ctrl.set_wheel_speed(30,30,30,30)
time.sleep(4)
chassis_ctrl.set_wheel_speed(-30,30,-30,30)
time.sleep(4)
chassis_ctrl.set_wheel_speed(30,30,30,30)
time.sleep(4)
'''----------------------------------------------------------------------------------------------------------------------'''
# Drive and turn around example 2:
def start():
robot_ctrl.set_mode(rm_define.robot_mode_gimbal_follow)
chassis_ctrl.set_rotate_speed(50)
while True:
chassis_ctrl.rotate_with_degree(rm_define.clockwise,180)
chassis_ctrl.set_wheel_speed(30,30,30,30)
time.sleep(4)
chassis_ctrl.rotate_with_degree(rm_define.anticlockwise,180)
chassis_ctrl.set_wheel_speed(30,30,30,30)
time.sleep(4)
'''----------------------------------------------------------------------------------------------------------------------'''
# Drive and turn around example 3:
def start():
robot_ctrl.set_mode(rm_define.robot_mode_gimbal_follow)
chassis_ctrl.set_trans_speed(0.3)
chassis_ctrl.set_rotate_speed(50)
while True:
chassis_ctrl.rotate_with_degree(rm_define.clockwise,180)
chassis_ctrl.move_with_time(0,4)
chassis_ctrl.rotate_with_degree(rm_define.anticlockwise,180)
chassis_ctrl.move_with_time(0,4)
'''----------------------------------------------------------------------------------------------------------------------'''
# Drive and turn around example 4:
# Take your time, don’t rush. Type and execute/run this Robomaster S1 program example below and
# see what happens.
def start():
# Store list variables and values:
turn_clockwise=[30,-30,30,-30]
turn_anticlockwise=[-30,30,-30,30]
drive_straight_speed=[30,30,30,30]
leds=0,255;time_delay=4,8
# Set gimbal to follow chassis.
robot_ctrl.set_mode(
rm_define.robot_mode_gimbal_follow
)
# Create a never ending while-loop.
while True:
# Make the top and bottom LED's colour to yellow and flash.
led_ctrl.set_top_led(
rm_define.armor_top_all,
leds[1],leds[1],leds[0],
rm_define.effect_flash
)
led_ctrl.set_bottom_led(
rm_define.armor_bottom_all,
leds[1],leds[1],leds[0],
rm_define.effect_flash
)
# Make the chassis turn clockwise at speed 30,-30.
chassis_ctrl.set_wheel_speed(
turn_clockwise[0],turn_clockwise[1],
turn_clockwise[2],turn_clockwise[3]
)
# Set a time.sleep() function with the variable 'time_delay'.
time.sleep(time_delay[0])
# Make the top and bottom LED's colour to red and breath.
led_ctrl.set_top_led(
rm_define.armor_top_all,
leds[1],leds[0],leds[0],
rm_define.effect_breath
)
led_ctrl.set_bottom_led(
rm_define.armor_bottom_all,
leds[1],leds[0],leds[0],
rm_define.effect_breath
)
# Make the chassis drive straight ahead at speed 30,-30.
chassis_ctrl.set_wheel_speed(
drive_straight_speed[0],drive_straight_speed[1],
drive_straight_speed[2],drive_straight_speed[3]
)
# Set a time.sleep() function with the variable 'time_delay'.
time.sleep(time_delay[1])
# Make the top and bottom LED's colour to yellow and flash.
led_ctrl.set_top_led(
rm_define.armor_top_all,
leds[1],leds[1],leds[0],
rm_define.effect_flash
)
led_ctrl.set_bottom_led(
rm_define.armor_bottom_all,
leds[1],leds[1],leds[0],
rm_define.effect_flash
)
# Make the chassis turn anticlockwise at speed 30,-30.
chassis_ctrl.set_wheel_speed(
turn_anticlockwise[0],turn_anticlockwise[1],
turn_anticlockwise[2],turn_anticlockwise[3]
)
# Set a time.sleep() function with the variable 'time_delay'.
time.sleep(time_delay[0])
# Make the top and bottom LED's colour to red and breath.
led_ctrl.set_top_led(
rm_define.armor_top_all,
leds[1],leds[0],leds[0],
rm_define.effect_breath
)
led_ctrl.set_bottom_led(
rm_define.armor_bottom_all,
leds[1],leds[0],leds[0],
rm_define.effect_breath
)
# Make the chassis drive straight ahead at speed 30,-30.
chassis_ctrl.set_wheel_speed(
drive_straight_speed[0],drive_straight_speed[1],
drive_straight_speed[2],drive_straight_speed[3]
)
# Set a time.sleep() function with the variable 'time_delay'.
time.sleep(time_delay[1])
'''----------------------------------------------------------------------------------------------------------------------'''
# Drive front sideways circle right example:
def start():
robot_ctrl.set_mode(rm_define.robot_mode_gimbal_follow)
while True:
chassis_ctrl.set_wheel_speed(80,-80,-20,20)
'''----------------------------------------------------------------------------------------------------------------------'''
# Drive front sideways circle left example:
def start():
robot_ctrl.set_mode(rm_define.robot_mode_gimbal_follow)
while True:
chassis_ctrl.set_wheel_speed(-80,80,20,-20)
'''----------------------------------------------------------------------------------------------------------------------'''
# Drive rear sideways circle right example:
def start():
robot_ctrl.set_mode(rm_define.robot_mode_gimbal_follow)
while True:
chassis_ctrl.set_wheel_speed(20,-20,-80,80)
'''----------------------------------------------------------------------------------------------------------------------'''
# Drive rear sideways circle left example:
def start():
robot_ctrl.set_mode(rm_define.robot_mode_gimbal_follow)
while True:
chassis_ctrl.set_wheel_speed(-20,20,80,-80)
'''----------------------------------------------------------------------------------------------------------------------'''
# Drive front sideways circle right and left example:
def start():
robot_ctrl.set_mode(rm_define.robot_mode_gimbal_follow)
while True:
chassis_ctrl.set_wheel_speed(-80,80,20,-20)
time.sleep(10)
chassis_ctrl.set_wheel_speed(80,-80,-20,20)
time.sleep(10)
'''----------------------------------------------------------------------------------------------------------------------'''
# Drive rear sideways circle right and left example:
def start():
robot_ctrl.set_mode(rm_define.robot_mode_gimbal_follow)
while True:
chassis_ctrl.set_wheel_speed(20,-20,-80,80)
time.sleep(10)
chassis_ctrl.set_wheel_speed(-20,20,80,-80)
time.sleep(10)
'''----------------------------------------------------------------------------------------------------------------------'''
# Drive the chassis at -45, 45 and 135, -135 degrees. Create a for-loop to repeat the sequence two times.
# Set the chassis translation speed to (0.3) Use a time.sleep(1) delay to allow the chassis to move for
# one second on each degee turn.
# Type and execute/run the program example below and see what happens.
def start():
robot_ctrl.set_mode(rm_define.robot_mode_gimbal_follow)
chassis_ctrl.set_trans_speed(0.3)
for i in range(2):
chassis_ctrl.move(-45)
time.sleep(1)
chassis_ctrl.move(45)
time.sleep(1)
chassis_ctrl.move(135)
time.sleep(1)
chassis_ctrl.move(-135)
time.sleep(1)
'''----------------------------------------------------------------------------------------------------------------------'''
# Make Robomaster drive in a square using a for-loop.
drive_speed=0.3
wheel_degree=(90,180,-90,0)
seconds=2
def start():
robot_ctrl.set_mode(rm_define.robot_mode_gimbal_follow)
for i in wheel_degree:
chassis_ctrl.set_trans_speed(drive_speed)
chassis_ctrl.move_with_time(i,seconds)
'''----------------------------------------------------------------------------------------------------------------------'''
# Make Robomaster drive in an X shape using a for-loop.
drive_speed=0.3
wheel_degree=90,-135,90,-45
seconds=2
def start():
robot_ctrl.set_mode(rm_define.robot_mode_gimbal_follow)
for i in wheel_degree:
chassis_ctrl.set_trans_speed(drive_speed)
chassis_ctrl.move_with_time(i,seconds)
'''----------------------------------------------------------------------------------------------------------------------'''
# Blaster Fire Examples
# Rapid-fire blaster gun 8 times example:
def start():
gun_ctrl.set_fire_count(8)
gun_ctrl.fire_once()
'''----------------------------------------------------------------------------------------------------------------------'''
# Make the blaster fire four times. Type and execute/run the program example below and see what
# happens.
def start():
for count in range(4):
led_ctrl.gun_led_on()
gun_ctrl.fire_once()
led_ctrl.gun_led_off()
'''----------------------------------------------------------------------------------------------------------------------'''
# Blaster fire and rotate 180 degrees example:
def start():
robot_ctrl.set_mode(rm_define.robot_mode_free)
gun_ctrl.set_fire_count(2)
gimbal_ctrl.set_rotate_speed(200)
gimbal_ctrl.rotate_with_degree(rm_define.gimbal_up,55)
gun_ctrl.fire_once()
gun_ctrl.stop()
time.sleep(0.5)
gimbal_ctrl.rotate_with_degree(rm_define.gimbal_down,55)
gun_ctrl.fire_once()
gun_ctrl.stop()
time.sleep(0.5)
gimbal_ctrl.rotate_with_degree(rm_define.gimbal_left,90)
gun_ctrl.fire_once()
gun_ctrl.stop()
time.sleep(0.5)
gimbal_ctrl.rotate_with_degree(rm_define.gimbal_right,180)
gun_ctrl.fire_once()
gun_ctrl.stop()
time.sleep(0.5)
gimbal_ctrl.rotate_with_degree(rm_define.gimbal_left,90)
gun_ctrl.fire_once()
gun_ctrl.stop()
time.sleep(0.5)
gimbal_ctrl.rotate_with_degree(rm_define.gimbal_right,180)
gun_ctrl.fire_once()
gun_ctrl.stop()
time.sleep(0.5)
'''----------------------------------------------------------------------------------------------------------------------'''
# Make Robomaster fire his blaster every time he sees a person. Set the vision marker
# detection distance from 0.5 to 3 for farther distances.
def start():
led1,led2=0,255
blink_rate=6,8
# Blaster fire example function:
def blaster_fire_example():
robot_ctrl.set_mode(rm_define.robot_mode_free)
vision_ctrl.enable_detection(rm_define.vision_detection_people)
vision_ctrl.set_marker_detection_distance(1)
led_ctrl.set_top_led(rm_define.armor_top_all,led2,led2,led1,rm_define.effect_breath)
led_ctrl.set_bottom_led(rm_define.armor_bottom_all,led2,led2,1,rm_define.effect_breath)
while True:
vision_ctrl.cond_wait(rm_define.cond_recognized_people)
while True:
randgimbal_speed=random.randint(20,100)
randup=random.randint(1,55)
gimbal_ctrl.set_rotate_speed(randgimbal_speed)
media_ctrl.play_sound(rm_define.media_sound_gimbal_rotate,wait_for_complete_flag=False)
led_ctrl.set_flash(rm_define.armor_all,blink_rate[0])
led_ctrl.set_top_led(rm_define.armor_top_all,led2,led1,led1,rm_define.effect_marquee)
led_ctrl.set_bottom_led(rm_define.armor_bottom_all,led2,led1,led1,rm_define.effect_flash)
gimbal_ctrl.rotate_with_degree(rm_define.gimbal_up,randup)
led_ctrl.set_flash(rm_define.armor_all,blink_rate[1])
led_ctrl.set_top_led(rm_define.armor_top_all,led1,led2,led2,rm_define.effect_flash)
led_ctrl.set_bottom_led(rm_define.armor_bottom_all,led1,led2,led2,rm_define.effect_flash)
media_ctrl.play_sound(rm_define.media_sound_shoot,wait_for_complete_flag=True)
media_ctrl.play_sound(rm_define.media_sound_shoot,wait_for_complete_flag=True)
commands_exit=random.randint(1,2)
if commands_exit==1:
continue
elif commands_exit==2:
led_ctrl.set_flash(rm_define.armor_all,blink_rate[0])
led_ctrl.set_top_led(rm_define.armor_top_all,led2,led1,led1,rm_define.effect_marquee)
led_ctrl.set_bottom_led(rm_define.armor_bottom_all,led2,led1,led1,rm_define.effect_flash)
gimbal_ctrl.recenter()
led_ctrl.set_top_led(rm_define.armor_top_all,led2,led2,led1,rm_define.effect_breath)
led_ctrl.set_bottom_led(rm_define.armor_bottom_all,led2,led2,1,rm_define.effect_breath)
break
# Call up the blaster_fire_example function. Be sure to properly indent the function or it won't work.
blaster_fire_example()
'''----------------------------------------------------------------------------------------------------------------------'''
# Make Robomaster's leds change different colours whenever you show him the vision markers from one
# through five. You can combine different vision markers to make Robomaster S1's leds change differnt
# colours for one second each. You can also turn off the leds, simply by clapping your hands twice. Type
# and execute/run this program example and see what happens.
media=media_ctrl
vision=vision_ctrl
led=led_ctrl
define=rm_define
l1,l2=0,255
def start():
vision.set_marker_detection_distance(1)
vision.enable_detection(define.vision_detection_marker)
media.enable_sound_recognition(define.sound_detection_applause)
led.set_top_led(define.armor_top_all,l1,l1,l1,define.effect_always_off)
led.set_bottom_led(define.armor_bottom_all,l1,l1,l1,define.effect_always_off)
while True:
vision.cond_wait(define.cond_recognized_marker_number_one)
vision.cond_wait(define.cond_recognized_marker_number_two)
vision.cond_wait(define.cond_recognized_marker_number_three)
vision.cond_wait(define.cond_recognized_marker_number_four)
vision.cond_wait(define.cond_recognized_marker_number_five)
media.cond_wait(define.cond_sound_recognized_applause_twice)
def vision_recognized_marker_number_one(msg):
led.set_top_led(define.armor_top_all,l2,l1,l1,define.effect_always_on)
led.set_bottom_led(define.armor_bottom_all,l2,l1,l1,define.effect_always_on)
time.sleep(1)
def vision_recognized_marker_number_two(msg):
led.set_top_led(define.armor_top_all,l2,l2,l1,define.effect_always_on)
led.set_bottom_led(define.armor_bottom_all,l2,l2,l1,define.effect_always_on)
time.sleep(1)
def vision_recognized_marker_number_three(msg):
led.set_top_led(define.armor_top_all,l1,l1,l2,define.effect_always_on)
led.set_bottom_led(define.armor_bottom_all,l1,l1,l2,define.effect_always_on)
time.sleep(1)
def vision_recognized_marker_number_four(msg):
led.set_top_led(define.armor_top_all,l1,l2,l1,define.effect_always_on)
led.set_bottom_led(define.armor_bottom_all,l1,l2,l1,define.effect_always_on)
time.sleep(1)
def vision_recognized_marker_number_five(msg):
led.set_top_led(define.armor_top_all,l2,l1,l2,define.effect_always_on)
led.set_bottom_led(define.armor_bottom_all,l2,l1,l2,define.effect_always_on)
time.sleep(1)
def sound_recognized_applause_twice(msg):
led.set_top_led(define.armor_top_all,l1,l1,l1,define.effect_always_off)
led.set_bottom_led(define.armor_bottom_all,l1,l1,l1,define.effect_always_off)
'''----------------------------------------------------------------------------------------------------------------------'''
# Make Robomaster drive all by itself with the help and guidance of vision marker numbers
# one through five. Simply place all five vision marker numbers where you want the robomaster
# to drive to. Next set the gimbal to rotate with degree like these examples:
# gimbal.rotate_with_degree(define.gimbal_right,90)
# gimbal.rotate_with_degree(define.gimbal_left,90)
# Make sure you face the robomaster S1 about a meter away, directly at the very first vision marker
# you want it to start to drive to. For example this program defaults to vision marker_number_one
# followed by vision marker_number_two and so on. If you want the robot to drive at a much farther
# distance away from the vision markers, make sure it's lined right up with the first vision marker
# straight away. Also, make sure you have lots of light around in the play area so the robot can
# see the vision markers through its infrared sensors.
# Note: the top leds and bottom leds change different colours to show that the vision makers
# are working properly. The robot will drive for 2 seconds beyond after the leds change colour.
# This way, you can make the robomaster S1 drive as close to the vision markers as possible,
# while at the same time, the leds become a great indicator that the vision markers work
# properly; if the vision markers don't work, the leds won't change different colours.
# This also gives you enough time to stop the program entirely.
# To avoid damaging your Robomaster S1, never set any speeds higher than they are shown here,
# especially in smaller play areas. Note: be cautious when setting the drive_speed variable higher
# than 0.3 and the seconds variable, who's default is 2 seconds per drive time distance beyond.
# IMPORTANT! Never pick up or move the Robomaster S1, while its program is
# running. Doing so may cause damage to the unit; you must stop the program first.
robot=robot_ctrl
gimbal=gimbal_ctrl
chassis=chassis_ctrl
vision=vision_ctrl
led=led_ctrl
define=rm_define
drive_speed=0.3
gimbal_speed=30
gimbal_rotate=90,180
l1,l2=0,255
seconds=2
def start():
vision.enable_detection(define.vision_detection_marker)
vision.set_marker_detection_distance(1)
robot.set_mode(define.robot_mode_chassis_follow)
gimbal.set_rotate_speed(gimbal_speed)
chassis.set_trans_speed(drive_speed)
led.set_top_led(define.armor_top_all,l2,l2,l2,define.effect_always_on)
led.set_bottom_led(define.armor_bottom_all,l2,l2,l2,define.effect_always_on)
chassis.move(0)
while True:
vision.cond_wait(define.cond_recognized_marker_number_one)
vision.cond_wait(define.cond_recognized_marker_number_two)
vision.cond_wait(define.cond_recognized_marker_number_three)
vision.cond_wait(define.cond_recognized_marker_number_four)
vision.cond_wait(define.cond_recognized_marker_number_five)
break
def vision_recognized_marker_number_one(msg):
led.set_top_led(define.armor_top_all,l2,l1,l1,define.effect_always_on)
led.set_bottom_led(define.armor_bottom_all,l2,l1,l1,define.effect_always_on)
time.sleep(seconds)
chassis.stop()
gimbal.rotate_with_degree(define.gimbal_right,gimbal_rotate[0])
chassis.move(0)
def vision_recognized_marker_number_two(msg):
led.set_top_led(define.armor_top_all,l2,l2,l1,define.effect_always_on)
led.set_bottom_led(define.armor_bottom_all,l2,l2,l1,define.effect_always_on)
time.sleep(seconds)
chassis.stop()
gimbal.rotate_with_degree(define.gimbal_right,gimbal_rotate[0])
chassis.move(0)
def vision_recognized_marker_number_three(msg):
led.set_top_led(define.armor_top_all,l1,l1,l2,define.effect_always_on)
led.set_bottom_led(define.armor_bottom_all,l1,l1,l2,define.effect_always_on)
time.sleep(seconds)
chassis.stop()
gimbal.rotate_with_degree(define.gimbal_right,gimbal_rotate[0])
chassis.move(0)
def vision_recognized_marker_number_four(msg):
led.set_top_led(define.armor_top_all,l1,l2,l1,define.effect_always_on)
led.set_bottom_led(define.armor_bottom_all,l1,l2,l1,define.effect_always_on)
time.sleep(seconds)
chassis.stop()
gimbal.rotate_with_degree(define.gimbal_left,gimbal_rotate[0])
chassis.move(0)