Local Interface
Launching Puck
Monitor Cloud:
# MicroPython for LEGO Hardware (LEGO Education's SPIKE Prime) from spike import PrimeHub, LightMatrix, Button, StatusLight, ForceSensor, MotionSensor, Speaker, ColorSensor, App, DistanceSensor, Motor, MotorPair from spike.control import wait_for_seconds, wait_until, Timer #--------------------------------------------------------------------------- #<<<initializing variables>>> #Motor that spins the flywheel is motor A. Motor that activates launch is motor B. Rotating motor is motor C. Position motor is motor D. hub = PrimeHub() flywheel_motor = Motor('F') launch_motor = Motor('E') ang_motor = Motor('D') #Pos_thresh should be the value that, if passed into go_to_pos, gets to the end of the board exactly pos_thresh = 5 ang_thresh = 90 #VVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVV #Ratio by which position along x axis is translated into degrees run by motor pos_to_degrees_ratio = 500 #<------ ADJUST THIS (experimentally derived) #Ratio by which angle they want to aim is translated into degrees run by motor ang_to_degrees_ratio = 3 #<------ ADJUST THIS (experimentally derived) #VVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVVV #how fast robot moves along x axis pos_speed = 50 #how fast robot changes angle ang_speed = 30 #Airtable Values (change manually to p1 or p2) new_pos = CLOUD[P2_Pos] new_ang = CLOUD[P2_Ang] power = CLOUD[P2_Pow] # new_pos = 0 # new_ang = -15 # power = 100 #--------------------------------------------------------------------------- #<<<defining functions>>> #Writes final_pos to currentpos.txt def update_pos(final_pos): with open('currentpos.txt', 'w') as f: position = str(final_pos) f.write(position) #Writes final_pos to currentang.txt def update_ang(final_pos): with open('currentang.txt', 'w') as f: position = str(final_pos) f.write(position) #returns current linear position stored in currentpos.txt hosted locally def current_pos(): with open('currentpos.txt', 'r') as f: print(f.read()) return int(f.read()) #returns current angular position stored in currentang.txt hosted locally def current_ang(): with open('currentang.txt', 'r') as f: print(f.read()) return int(f.read()) #Takes robot to chosen position. n_pos is the position you want to go to. 0 should be the middle of the board. If n_pos > pos_thresh, just goes to the end of the board. def go_to_pos(n_pos): #makes sure robot doesn't go too far if abs(n_pos) > pos_thresh: n_pos = pos_thresh #n_pos_degrees = lin_position_to_degrees(n_pos) n_pos_degrees = lin_position_to_degrees(n_pos - current_pos()) pos_motor.run_to_degrees_counted(n_pos_degrees, pos_speed) update_pos(n_pos) #Converts chosen position along the board to a number of degrees the wheel needs to turn to get there. def lin_position_to_degrees(difference_in_pos): difference_in_pos_degrees = difference_in_pos * pos_to_degrees_ratio return difference_in_pos_degrees #Converts chosen angle to a number of degrees the wheel needs to turn to get there. def ang_position_to_degrees(difference_in_ang): difference_in_ang_degrees = difference_in_ang * ang_to_degrees_ratio return difference_in_ang_degrees #Takes robot to chosen position. n_ang is the angle you want to go to. 0 should be perfectly straight. If n_ang > ang_thresh, just goes to the maximum angle. def go_to_ang(n_ang): #makes sure robot doesn't go too far if abs(n_ang) > ang_thresh: n_ang = ang_thresh # n_ang_degrees = ang_position_to_degrees(n_ang - current_ang()) n_ang_degrees = ang_position_to_degrees(n_ang) ang_motor.run_to_degrees_counted(n_ang_degrees, ang_speed) # update_ang(n_ang) #activates lever which pushes puck into flywheel def launch(): launch_motor.run_to_position(75, direction='shortest path', speed=100) wait_for_seconds(0.5) launch_motor.run_to_position(45, direction='shortest path', speed=75) #--------------------------------------------------------------------------- #<<<code that runs>>> #makes sure launch motor is in the right place launch_motor.run_to_position(45, direction='shortest path', speed=75) #go_to_pos(new_pos) flywheel_motor.start_at_power(-1 * power) go_to_ang(new_ang) wait_for_seconds(3) for i in range(1): launch() #makes sure launch motor is in the right place again launch_motor.run_to_position(45, direction='shortest path', speed=75) wait_for_seconds(1) flywheel_motor.stop() go_to_ang(0)
Testing Position
Reset Position
Run to Zero
# MicroPython for LEGO Hardware (LEGO Education's SPIKE Prime) from spike import PrimeHub, LightMatrix, Button, StatusLight, ForceSensor, MotionSensor, Speaker, ColorSensor, App, DistanceSensor, Motor, MotorPair from spike.control import wait_for_seconds, wait_until, Timer #--------------------------------------------------------------------------- #<<<initializing variables>>> #Motor that spins the flywheel is motor A. Motor that activates launch is motor B. Rotating motor is motor C. Position motor is motor D. hub = PrimeHub() flywheel_motor = Motor('A') launch_motor = Motor('B') ang_motor = Motor('C') pos_motor = Motor('D') #how fast robot moves along x axis pos_speed = 50 #how fast robot changes angle ang_speed = 30 #--------------------------------------------------------------------------- #<<<code that runs>>> #gets everything back to center pos_motor.run_to_degrees_counted(0, pos_speed) ang_motor.run_to_degrees_counted(0, ang_speed)
Zero Robot
Run to Zero
# MicroPython for LEGO Hardware (LEGO Education's SPIKE Prime) from spike import PrimeHub, LightMatrix, Button, StatusLight, ForceSensor, MotionSensor, Speaker, ColorSensor, App, DistanceSensor, Motor, MotorPair from spike.control import wait_for_seconds, wait_until, Timer #--------------------------------------------------------------------------- #<<<initializing variables>>> #Motor that spins the flywheel is motor A. Motor that activates launch is motor B. Rotating motor is motor C. Position motor is motor D. hub = PrimeHub() flywheel_motor = Motor('A') launch_motor = Motor('B') ang_motor = Motor('C') pos_motor = Motor('D') #--------------------------------------------------------------------------- #<<<code that runs>>> #Code that tells the robot that it's in the middle and not angled. Resets its origin point. pos_motor.set_degrees_counted(0) ang_motor.set_degrees_counted(0)
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