Diaľkové riadenie robota cez PyBrics

Ovládač má dva motory - jeden s pákou na nastavovanie rýchlosti, druhý s volantom na riadenie smeru. Okrem toho má tri tlačidlá na aktivovanie pohybu vpred, vzad a klaksón. Do druhého robota sa okrem týchto udajov prenáša aj to, či je stlačená ľavá a pravá šípka, ale druhý robot túto informáciu zatiaľ nevyužíva.

Ovládač obsahuje tento program:

ovladac.py

from pybricks.hubs import PrimeHub
from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor, ForceSensor
from pybricks.parameters import Button, Color, Direction, Port, Side, Stop
from pybricks.robotics import DriveBase
from pybricks.tools import wait, StopWatch

hub = PrimeHub(broadcast_channel=1)

print("ahoj")

hub.light.on(Color.GREEN)
wait(100)
hub.light.on(Color.RED)
wait(50)

print("joha")

hub.light.on(Color.GREEN)
wait(100)
hub.light.on(Color.RED)
wait(50)

print("cau")

hub.light.on(Color.GREEN)
wait(100)
hub.light.on(Color.RED)
wait(50)

print("uac")

mB = Motor(Port.B)
mD = Motor(Port.D)
TA = ForceSensor(Port.A)
TC = ForceSensor(Port.C)
TE = ForceSensor(Port.E)


while True:
  pressed = hub.buttons.pressed()
  #print("L:" + str(Button.LEFT in pressed) + ", R: " + str(Button.RIGHT in pressed) + ", mb: " + str(mB.angle() % 360) + ",md: " + str(mD.angle() % 360) + ",TA: " + str(TA.pressed()) + ", TC: " + str(TC.pressed()) + ", TE: " + str(TE.pressed()))
  data = (Button.LEFT in pressed, Button.RIGHT in pressed, (mB.angle() % 360), (mD.angle() % 360), TA.pressed(), TC.pressed(), TE.pressed())
  hub.ble.broadcast(data)
  wait(20)

riadený robot obsahuje program:

auto.py

from pybricks.hubs import PrimeHub
from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor, ForceSensor
from pybricks.parameters import Button, Color, Direction, Port, Side, Stop
from pybricks.robotics import DriveBase
from pybricks.tools import wait, StopWatch

hub = PrimeHub(observe_channels=[1])

right_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE)
left_motor = Motor(Port.E)
hub.speaker.volume(100)

drive_base = DriveBase(left_motor, right_motor, wheel_diameter=56, axle_track=192)

while True:
    # Receive broadcast from the other hub.

    data = hub.ble.observe(1)    
    if data is None:
        # No data has been received in the last 1 second.
        hub.light.on(Color.RED)
    else:
        
        # Data was received and is less that one second old.
        hub.light.on(Color.GREEN)
        bl, br, mba, mda, tap, tcp, tep = data 

        if tep:
            hub.speaker.beep(1800, 80)
        if (mba > 270):
            mba = 270
        if (mba < 90):
            mba = 90        

        if (mda > 180):
            mda = 180
        if (mda < 10):
            drive_base.stop()
        else:
            if not tap:
                if not tcp:
                    mda = 0
                    drive_base.stop()
                else:
                    mda = -mda
            drive_base.drive(mda, (180 - mba) / 2)
          
        #print("L:" + str(bl) + ", R: " + str(br) + ", mb: " + str(mba) + ",md: " + str(mda) + ",TA: " + str(tap) + ", TC: " + str(tcp) + ", TE: " + str(tep))
        wait(50)