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import logging |
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from itertools import cycle |
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from curio import sleep |
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from bricknil import attach, start |
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from bricknil.hub import PoweredUpHub |
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from bricknil.sensor import TrainMotor, VisionSensor, Button, LED |
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from bricknil.process import Process |
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from bricknil.const import Color |
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from random import randint |
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@attach(Button, name='train_btn', capabilities=['sense_press']) |
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@attach(LED, name='train_led') |
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@attach(VisionSensor, name='train_sensor', capabilities=['sense_color', 'sense_reflectivity']) |
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@attach(TrainMotor, name='motor') |
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class Train(PoweredUpHub): |
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def __init__(self, name): |
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self.go = False |
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super().__init__(name) |
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async def train_btn_change(self): |
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self.message_info(f'train button push {self.train_btn.value}') |
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btn = self.train_btn.value[Button.capability.sense_press] |
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if btn == 1 and not self.go: |
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# Pushed! |
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self.go = True |
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elif btn==1 and self.go: |
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self.go = False |
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async def train_sensor_change(self): |
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#self.message_info(f'Train sensor value change {self.train_sensor.value}') |
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refl = self.train_sensor.value[VisionSensor.capability.sense_reflectivity] |
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if refl >18: |
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self.message_info('Switch!') |
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color = self.train_sensor.value[VisionSensor.capability.sense_color] |
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c = Color(color) |
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if c == Color.blue: |
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self.message_info('Blue') |
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self.slow = False |
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elif c == Color.yellow: |
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self.message_info('Yellow') |
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self.slow = True |
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#count = self.train_sensor.value[VisionSensor.capability.sense_count] |
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#self.message_info(f'Count {count}') |
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async def run(self): |
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self.message_info("Running") |
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self.motor_speed = 0 |
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self.go = False |
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slow = 40 |
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fast = 70 |
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# Blink the color from purple and yellow |
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colors = cycle([Color.purple, Color.yellow]) |
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while not self.go: # Wait until the hub button is pushed |
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await self.train_led.set_color(next(colors)) |
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await sleep(1) |
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colors = cycle([Color.green, Color.orange]) |
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# Ready to go, let's change the color to green! |
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await self.motor.ramp_speed(fast, 2000) |
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self.slow = False |
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while self.go: |
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#speed = randint(30,30) |
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#await self.motor.ramp_speed(speed, 2000) |
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await self.train_led.set_color(next(colors)) |
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if self.slow: |
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await self.motor.ramp_speed(slow, 2000) |
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await self.train_led.set_color(Color.red) |
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while self.slow: |
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await sleep(1) |
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await self.motor.ramp_speed(fast, 2000) |
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await sleep(1) |
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async def system(): |
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train = Train('My Train') |
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if __name__ == '__main__': |
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logging.basicConfig(level=logging.INFO) |
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start(system) |
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virantha /
bricknil
