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Lego_Robots
Commit 52c1d877 authored by isaac.thompson's avatar isaac.thompson
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Finished Python 3 changes, fixed existing commands. Also added new WeDo commands

parent dcba4b6b
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Showing with 355 additions and 13 deletions
listen.py
View file @ 52c1d877
from __future__ import print_function
from http.server import BaseHTTPRequestHandler, HTTPServer
import socketserver
import socket
......@@ -6,7 +7,8 @@ import sys
import ev3dev.ev3 as ev3
if len(sys.argv) != 2:
print>>sys.stderr,'Syntax: %s <port>' % (sys.argv[0])
def eprint(*args, **kwargs):
print(*args, file=sys.stderr, **kwargs)
sys.exit(1)
class Handler(BaseHTTPRequestHandler):
......@@ -18,7 +20,7 @@ class Handler(BaseHTTPRequestHandler):
return
f = open('%s/mode' % dir, 'w')
print>>f,mode
f.write(mode)
f.close()
self.color_sensor_mode = mode
......@@ -27,8 +29,7 @@ class Handler(BaseHTTPRequestHandler):
self.send_response(200)
self.send_header('Content-Type', 'text/plain')
self.end_headers()
self.wfile.write(reply)
self.wfile.close()
self.wfile.write(bytes(reply, 'UTF-8'))
def find_sensor(self, driver_name):
for s in range(0, 4):
......@@ -42,18 +43,25 @@ class Handler(BaseHTTPRequestHandler):
def do_GET(self):
parts = self.path[1:].split('/')
print (parts)
if len(parts) == 4 and parts[0] == 'motor':
if len(parts) == 4 and parts[0] == 'mediummotor':
print ('Run %s to %s at speed %s' % (parts[1], parts[2], parts[3]))
d = ev3.MediumMotor('out' + parts[1])
d.run_timed(time_sp=3000, speed_sp=500)
d.run_timed(time_sp=int(parts[2]), speed_sp=int(parts[3]))
#d.run_position_limited(int(parts[2]), int(parts[3]), absolute=False)
self.respond('OK')
elif len(parts) == 4 and parts[0] == 'largemotor':
print ('Run %s to %s at speed %s' % (parts[1], parts[2], parts[3]))
d = ev3.LargeMotor('out' + parts[1])
d.run_timed(time_sp=int(parts[2]), speed_sp=int(parts[3]))
#d.run_position_limited(int(parts[2]), int(parts[3]), absolute=False)
self.respond('OK')
elif len(parts) == 2 and parts[0] == 'say':
phrase = parts[1]
phrase = phrase.replace('%20', ' ')
print ('Say %s' % phrase)
os.system('espeak -a 200 -s 130 -v en-sc --stdout "%s" | aplay' % phrase)
self.respond('OK')
self.respond(bytes('OK', 'UTF-8'))
elif len(parts) == 2 and parts[0] == 'ir-sensor' and parts[1] == 'proximity':
dir = self.find_sensor('lego-ev3-ir')
f = open('%s/value0' % dir, 'r')
......@@ -73,6 +81,37 @@ class Handler(BaseHTTPRequestHandler):
v = f.readline().strip()
f.close()
self.respond(v)
elif len(parts) == 3 and parts[0] == 'mediumtimed':
print('Run %s at speed %s' % (parts[1],parts[2]))
d = ev3.MediumMotor('out' + parts[1])
d.run_timed(time_sp=int(parts[2]), speed_sp=500)
self.respond('OK')
elif len(parts) == 3 and parts[0] == 'largetimed':
print('Run %s at speed %s' % (parts[1],parts[2]))
d = ev3.LargeMotor('out' + parts[1])
d.run_timed(time_sp=int(parts[2]), speed_sp=500)
self.respond('OK')
elif len(parts) == 2 and parts[0] == 'mediumon':
print('Run %s' % (parts[1]))
d = ev3.MediumMotor('out' + parts[1])
d.run_forever()
self.respond('OK')
elif len(parts) == 2 and parts[0] == 'largeon':
print('Run %s' % (parts[1]))
d = ev3.LargeMotor('out' + parts[1])
d.run_forever()
self.respond('OK')
elif len(parts) == 2 and parts[0] == 'mediumoff':
print('Stop %s' % (parts[1]))
d = ev3.MediumMotor('out' + parts[1])
d.stop()
self.respond('OK')
elif len(parts) == 2 and parts[0] == 'largeoff':
print('Stop %s' % (parts[1]))
d = ev3.LargeMotor('out' + parts[1])
d.stop()
self.respond('OK')
class TCPServer(socketserver.TCPServer):
def server_bind(self):
......
snap-ev3.py
View file @ 52c1d877
......@@ -16,6 +16,7 @@ EV3_IP = '10.42.0.3'
class Handler(SimpleHTTPServer.SimpleHTTPRequestHandler):
def do_GET(self):
if self.path == '/snap-ev3':
print "Opening XML"
f = open('snap-ev3.xml', 'rb')
self.send_response(200)
self.send_header("Content-type", 'text/xml')
......@@ -45,8 +46,8 @@ class TCPServer(SocketServer.TCPServer):
self.socket.bind(self.server_address)
print "Starting listener on EV3"
#os.system('scp listen.py %s@%s:' % (EV3_USER, EV3_IP))
#os.system('ssh %s@%s -- nohup python listen.py %d &' % (EV3_USER, EV3_IP, EV3_PORT))
os.system('scp listen.py %s@%s:' % (EV3_USER, EV3_IP))
#os.system('ssh %s@%s -- nohup python3 listen.py %d &' % (EV3_USER, EV3_IP, EV3_PORT))
httpd = TCPServer(("", SNAP_PORT), Handler)
print "http://snap.berkeley.edu/snapsource/snap.html#open:http://localhost:1330/snap-ev3"
......
snap-ev3.xml
View file @ 52c1d877
<blocks app="Snap! 4.0, http://snap.berkeley.edu" version="1">
<block-definition category="control" s="move motor %&apos;motor&apos; %&apos;degrees&apos; degrees at %&apos;speed&apos; speed" type="command">
<block-definition category="control" s="move largemotor %&apos;motor&apos; %&apos;milliseconds&apos; milliseconds at %&apos;speed&apos; speed" type="command">
<inputs>
<input type="%txt">a</input>
<input type="%txt">A<options>A
B
C
D
E
F
G
H
</options>
</input>
<input type="%n">360</input>
<input type="%n">100</input>
</inputs>
......@@ -12,10 +21,10 @@
<block s="reportURL">
<block s="reportJoinWords">
<list>
<l>localhost:1330/motor/</l>
<l>localhost:1330/largemotor/</l>
<block var="motor"/>
<l>/</l>
<block var="degrees"/>
<block var="milliseconds"/>
<l>/</l>
<block var="speed"/>
</list>
......@@ -26,6 +35,299 @@
</block>
</script>
</block-definition>
<block-definition category="control" s="move mediummotor %&apos;motor&apos; %&apos;milliseconds&apos; milliseconds at %&apos;speed&apos; speed" type="command">
<inputs>
<input type="%txt">A<options>A
B
C
D
E
F
G
H
</options>
</input>
<input type="%n">360</input>
<input type="%n">100</input>
</inputs>
<script>
<block s="doRun">
<block s="reifyReporter">
<autolambda>
<block s="reportURL">
<block s="reportJoinWords">
<list>
<l>localhost:1330/mediummotor/</l>
<block var="motor"/>
<l>/</l>
<block var="milliseconds"/>
<l>/</l>
<block var="speed"/>
</list>
</block>
</block>
</autolambda>
</block>
</block>
</script>
</block-definition>
<block-definition category="control" s="move mediummotor %&apos;motor&apos; %&apos;milliseconds&apos; milliseconds" type="command">
<inputs>
<input type="%txt">A<options>A
B
C
D
E
F
G
H
</options>
</input>
<input type="%n">360</input>
</inputs>
<script>
<block s="doRun">
<block s="reifyReporter">
<autolambda>
<block s="reportURL">
<block s="reportJoinWords">
<list>
<l>localhost:1330/mediumtimed/</l>
<block var="motor"/>
<l>/</l>
<block var = "milliseconds"/>
</list>
</block>
</block>
</autolambda>
</block>
</block>
</script>
</block-definition>
<block-definition category="control" s="move largemotor %&apos;motor&apos; %&apos;milliseconds&apos; milliseconds" type="command">
<inputs>
<input type="%txt">A<options>A
B
C
D
E
F
G
H
</options>
</input>
<input type="%n">360</input>
</inputs>
<script>
<block s="doRun">
<block s="reifyReporter">
<autolambda>
<block s="reportURL">
<block s="reportJoinWords">
<list>
<l>localhost:1330/largetimed/</l>
<block var="motor"/>
<l>/</l>
<block var = "milliseconds"/>
</list>
</block>
</block>
</autolambda>
</block>
</block>
</script>
</block-definition>
<block-definition category="control" s="turn on mediummotor %&apos;motor&apos;" type="command">
<inputs>
<input type="%txt">A<options>A
B
C
D
E
F
G
H
</options>
</input>
</inputs>
<script>
<block s="doRun">
<block s="reifyReporter">
<autolambda>
<block s="reportURL">
<block s="reportJoinWords">
<list>
<l>localhost:1330/mediumon/</l>
<block var="motor"/>
</list>
</block>
</block>
</autolambda>
</block>
</block>
</script>
</block-definition>
<block-definition category="control" s="turn off mediummotor %&apos;motor&apos;" type="command">
<inputs>
<input type="%txt">A<options>A
B
C
D
E
F
G
H
</options>
</input>
</inputs>
<script>
<block s="doRun">
<block s="reifyReporter">
<autolambda>
<block s="reportURL">
<block s="reportJoinWords">
<list>
<l>localhost:1330/mediumoff/</l>
<block var="motor"/>
</list>
</block>
</block>
</autolambda>
</block>
</block>
</script>
</block-definition>
<block-definition category="control" s="turn off largemotor %&apos;motor&apos;" type="command">
<inputs>
<input type="%txt">A<options>A
B
C
D
E
F
G
H
</options>
</input>
</inputs>
<script>
<block s="doRun">
<block s="reifyReporter">
<autolambda>
<block s="reportURL">
<block s="reportJoinWords">
<list>
<l>localhost:1330/largeoff/</l>
<block var="motor"/>
</list>
</block>
</block>
</autolambda>
</block>
</block>
</script>
</block-definition>
<block-definition category="control" s="turn on largemotor %&apos;motor&apos;" type="command">
<inputs>
<input type="%txt">A<options>A
B
C
D
E
F
G
H
</options>
</input>
</inputs>
<script>
<block s="doRun">
<block s="reifyReporter">
<autolambda>
<block s="reportURL">
<block s="reportJoinWords">
<list>
<l>localhost:1330/largeon/</l>
<block var="motor"/>
</list>
</block>
</block>
</autolambda>
</block>
</block>
</script>
</block-definition>
<block-definition s="Being Touched?" type="reporter" category ="operators">
<script>
<block s="doIfElse">
<block s="reportEquals">
<custom-block s="touch sensor level"/>
<l>1</l>
</block>
<script>
<block s="doReport">
<l>True</l>
</block>
</script>
<script>
<block s="doReport">
<l>False</l>
</block>
</script>
</block>
</script>
</block-definition>
<block-definition s="How Far Away?" type="reporter" category="operators">
<header/>
<code/>
<inputs/>
<script>
<block s="doIf">
<block s="reportLessThan">
<custom-block s="IR sensor proximity"/>
<l>33</l>
</block>
<script>
<block s="doReport">
<l>Close</l>
</block>
</script>
</block>
<block s="doIfElse">
<block s="reportAnd">
<block s="reportLessThan">
<custom-block s="IR sensor proximity"/>
<l>66</l>
</block>
<block s="reportLessThan">
<l>33</l>
<custom-block s="IR sensor proximity"/>
</block>
</block>
<script>
<block s="doReport">
<l>Medium</l>
</block>
</script>
<script>
<block s="doReport">
<l>Far Away</l>
</block>
</script>
</block>
</script>
</block-definition>
<block-definition category="control" s="speak %&apos;words&apos;" type="command">
<inputs>
<input type="%txt">hello</input>
......
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